Vehicle Segmentation and Linear Interpolation-based Ground Occlusion Reconstruction for 3D Map Improvement

This paper describes the aerodynamic modeling of a flapping-wing ornithopter, focusing on unsteady aerodynamic analysis based on modified strip theory and considering the time-varying moment of inertia during flight. The kinematics of the flapping mechanism were modeled through a complex joint mechanism comprising inner-wing and outer-wing kinematic components to mimic bird-flight dynamics. Motion capture tests were conducted to measure the pitching angle changes during flapping motion, which were incorporated into the modified strip theory for aerodynamic modeling. The modified strip theory–based calculations were also validated against wind tunnel data. The longitudinal dynamics model was configured based on the modified strip theory and time-varying moment of inertia, and attitude and altitude control were performed using a PD and a PID controller, respectively.