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After a short overview of the COLIBRI project, this paper considers the cycle-averaged flight dynamics of a flapping-wing robot near hovering, taking advantage of the weak coupling between the roll and pitch axes. The system is naturally unstable; it needs to be stabilized actively, which requires an attitude reconstruction. Due to the flapping of the wings, the system is subject to a strong periodic noise at the flapping frequency and its higher harmonics; the resulting axial forces and pitch moments are characterized from experimental data. The flapping noise propagates to the six-axis Inertial Measurement Unit (IMU) consisting of three accelerometers and three gyros. The paper is devoted to attitude reconstruction in the presence of flapping noise representative of flight conditions. Two methods are considered: (i) the complementary filter based on the hovering assumption and (ii) a full-state dynamic observer (Kalman filter). Unlike the complementary filter, the full-state dynamic observer allows the reconstruction of the axial velocity, allowing us to control the hovering without any additional sensor. A numerical simulation is conducted to assess the merit of the two methods using experimental noise data obtained with the COLIBRI robot. The paper discusses the trade-off between noise rejection and stability. [ABSTRACT FROM AUTHOR]

This paper discusses the design and manufacturing of a thin polymer spherical adaptive reflector of diameter D = 200 mm, controlled by an array of 25 independent electrodes arranged in a keystone configuration actuating a thin film of PVDF-TrFE in d 31 -mode. The 5 μ m layer of electrostrictive material is spray-coated. The results of the present study confirm that the active material can be modelled by a unidirectional quadratic model and that excellent properties can be achieved if the material is properly annealed. The experimental influence functions of the control electrodes are determined by a quasi-static harmonic technique; they are in good agreement with the numerical simulations and their better circular symmetry indicates a clear improvement in the manufacturing process, as compared to a previous study. The low order optical modes can be reconstructed by combining the 25 influence functions; a regularization technique is used to alleviate the ill-conditioning of the Jacobian and allow to approximate the optical modes with reasonable voltages. [ABSTRACT FROM AUTHOR]