Electronic Ornithopter Systems: Manual Navigation and Autonomous Hovering in Micro Air Vehicles Nina Gerszberg Kyra Mortensen ninager01@gmail.com kyramort@verizon.net Akila Saravanan Lev Stambler Calvin Weaver akila.a.saravanan@gmail.com levstamb@gmail.com chlw240@gmail.com Amy Su* amygsu98@gmail.com New Jersey’s Governor’s School of Engineering and Technology July 21, 2018 *Corresponding Author Abstract—Ornithopters, micro air vehicles that fly by flapping their wings, are applicable to a wide range of fields including law enforcement, reconnaissance, and agriculture. Currently, the research and technology required to build such machines are in the early stages of development. The purpose of this research project is to design, develop, and construct an ornithopter with maneuvering and hovering capabilities. The model used in this project draws inspiration from previous ornithopter models as well as several species of insects. Digital prototypes were modeled in CAD software, and physical prototypes were 3D printed for testing purposes. Results from the experiments proved the device’s success with maneuvering as well as stabilizing while hovering. I. I NTRODUCTION Ornithopters have existed for several centuries. The first successful attempt at flying an ornithopter was in 1060 when a Benedictine monk leaped from a tower and used stationary wings to glide to the ground. Currently, modern ornithopter technology is being developed for practical applications in several fields [1]. Also known as micro aerial vehicles (MAVs), Ornithopters use flapping mechanical wings that are responsible for creating the lift and thrust for the device [4]. By using biomimicry to model flying animals and insects and simulate natural flying, ornithopters are able to achieve greater mobility than typical fixed-wing aircraft or drones [2][3]. Ornithopters possess a number of features that make them ideal for use in various fields. Given their resemblance to in- sects and birds, ornithopters blend into the environment better than drones and other fixed wing aircraft. They are also much quieter and less disruptive than drones, allowing for greater usage in areas such as reconnaissance. Ornithopters are used by the military and law enforcement agencies, as well as for aerial photography for either recreational or scientific purposes [5]. They can be deployed to inspect power lines and fields, or to look for victims and assess damage after natural disasters or acts of terrorism [6][7]. Another application of ornithopters is in pollination. There have been significant losses in bee colonies around the world, especially in the United States and Europe. These losses are primarily caused by human factors like improper herbicide and pesticide use, loss of biodiversity, and habitat fragmentation [8][9]. Since bees are essential to agriculture, the decline of the honeybee population in recent years could potentially harm the food supply if their numbers decreased dramatically. In such a situation, ornithopters could be viable substitutes for pollinators. A device designed for such an application needs to be able maneuver in three- dimensional space, hover, and pick up pollen and distribute it elsewhere during its flight. In order to stay airborne, the wings must create lift equal to the weight of the device [10]. Thus, the design and construction of the other components of the device pose several challenges. Electronic ornithopters require batteries and motors to fly as well as other sensors and hardware to navigate or control altitude in more complex ornithopters. Using all these components adds weight to the machine, making it difficult to generate enough lift to stay airborne. The goal of this project is to build a lightweight ornithopter prototype, create a manual RF-based navigation system, and devise a manual maneuvering and autonomous angle correct- ing system. This paper will discuss the relative success of the 1