Patent Publication Number: US-2021163129-A1

Title: Winged devices and methods of operation

Description:
CROSS-REFERENCE TO RELATED APPLICATIONS 
     This application claims the benefit of U.S. Application No. 62/942,497, filed on Dec. 2, 2019, entitled “WINGED DEVICES AND METHODS OF OPERATION,” the contents of which are incorporated herein by reference for all purposes. 
    
    
     BACKGROUND 
     Micro aerial vehicles (MAVs), generally known as drones, are currently used for a multitude of purposes, including reconnaissance, general surveillance, and recreational applications. One type of MAV includes a quadcopter which employs four or more propellers to generate lift and thrust. Flapping wing MAVs (FWMAVs), a type of MAV, imitates the flight characteristics of natural flying creatures by employing a flapping wing. 
     SUMMARY 
     One aspect provided herein is a modular aerial vehicle kit comprising: a hull; and two or more modular wing units, each modular wing unit comprising: a single wing configured to generate lift, thrust, or both via a flapping motion; and an actuator actuating the single wing in the flapping motion; wherein the two or more modular wing units releasably and operably couple to the hull to form an aerial vehicle; and wherein each of the two or more modular wing units is individually controlled to alter a flight characteristic of the aerial vehicle. 
     In some embodiments, each of the two or more modular wing units is pivotable about the hull. In some embodiments, the two or more modular wing units releasably and operably couple to a top portion, a bottom portion, a front portion, a rear portion, a side portion, or any combination thereof of the hull. In some embodiments, the two or more modular wing units releasably and operably couple to the hull without the use of tools. In some embodiments, the two or more modular wing units releasably and operably couple to the hull in less than about 10 minutes. In some embodiments, the actuator comprises a motor, a solenoid, a spring, a piston, or any combination thereof. In some embodiments, the actuator individually actuates and controls only one single wing. In some embodiments, the actuator actuates the single wing via a linkage. In some embodiments, the actuator directly actuates the single wing. In some embodiments, the actuator actuates the single wing in the flapping motion by controlling a flapping velocity, a flapping amplitude, a flapping angle, or any combination thereof of the single wing. In some embodiments, the actuator operates in a sinusoidal waveform profile, a square waveform profile, a hybrid sinusoidal-square waveform profile, or any combination thereof. In some embodiments, the flapping motion comprises an oscillating motion, a continuous rotation, or both. In some embodiments, the flapping motion has a sinusoidal waveform profile, a square waveform profile, a hybrid sinusoidal-square waveform profile, or any combination thereof. In some embodiments, the flapping motion is at or near a resonance frequency of the single wing. In some embodiments, the two or more modular wing units flap their single wings in an out-of-phase mode and an in-phase mode. In some embodiments, the two or more modular wing units flap their single wing in the out-of-phase mode for a first duration and in the in-phase mode for a second duration. In some embodiments, a first portion of the two or more modular wing units flap their single wings in the out-of-phase mode, and wherein a second portion of the two or more modular wing units flap their single wing in the in-phase mode. In some embodiments, the flight characteristic comprises a roll, a pitch, a yaw, or any combination thereof of the aerial vehicle. In some embodiments, the modular wing unit further comprises an energy recovery unit coupled to the actuator, the single wing, or both. In some embodiments, the energy recovery unit imparts a returning force on the single wing towards a center point of the flapping motion. In some embodiments, the energy recovery unit generates lift and improves an operational efficiency of the modular wing unit. In some embodiments, the modular aerial vehicle kit further comprises a controller directing the actuator of each of the two or more modular units. 
     Another aspect provided herein is an aerial vehicle comprising: a hull; and two or more modular wing units, each modular wing unit releasably and operably coupled to the hull and comprising: a single wing configured to generate lift, thrust, or both via a flapping motion; and an actuator actuating the single wing in the flapping motion; wherein each of the two or more modular wing units is individually controlled to alter a flight characteristic of the aerial vehicle. 
     In some embodiments, each of the two or more modular wing units is pivotable about the hull. In some embodiments, the two or more modular wing units releasably and operably couple to a top portion, a bottom portion, a front portion, a rear portion, a side portion, or any combination thereof of the hull. In some embodiments, the two or more modular wing units releasably and operably couple to the hull without the use of tools. In some embodiments, the two or more modular wing units releasably and operably couple to the hull in less than about 10 minutes. In some embodiments, the actuator comprises a motor, a solenoid, a spring, a piston, or any combination thereof. In some embodiments, the actuator individually actuates and controls only one single wing. In some embodiments, the actuator actuates the single wing via a linkage. In some embodiments, the actuator directly actuates the single wing. In some embodiments, the actuator actuates the single wing in the flapping motion by controlling a flapping velocity, a flapping amplitude, a flapping angle, or any combination thereof of the single wing. In some embodiments, the actuator operates in a sinusoidal waveform profile, a square waveform profile, a hybrid sinusoidal-square waveform profile, or any combination thereof. In some embodiments, the flapping motion comprises an oscillating motion, a continuous rotation, or both. In some embodiments, the flapping motion has a sinusoidal waveform profile, a square waveform profile, a hybrid sinusoidal-square waveform profile, or any combination thereof. In some embodiments, the flapping motion is at or near a resonance frequency of the single wing. In some embodiments, the two or more modular wing units flap their single wings in an out-of-phase mode and an in-phase mode. In some embodiments, the two or more modular wing units flap their single wing in the out-of-phase mode for a first duration and in the in-phase mode for a second duration. In some embodiments, a first portion of the two or more modular wing units flap their single wings in the out-of-phase mode, and wherein a second portion of the two or more modular wing units flap their single wing in the in-phase mode. In some embodiments, the flight characteristic comprises a roll, a pitch, a yaw, or any combination thereof of the aerial vehicle. In some embodiments, the modular wing unit further comprises an energy recovery unit coupled to the actuator, the single wing, or both. In some embodiments, the energy recovery unit imparts a returning force on the single wing towards a center point of the flapping motion. In some embodiments, the energy recovery unit generates lift and improves an operational efficiency of the modular wing unit. In some embodiments, the aerial vehicle further comprises a controller directing the actuator of each of the two or more modular units. 
     Another aspect provided herein is an aerial vehicle kit comprising: a hull; two or more modular wing units, each modular wing unit comprising: an actuator; and a wing actuated by the actuator in a flapping motion to propel the hull; and a flight controller individually controlling the actuator of each of the two or more modular wing units; wherein the two or more modular wing units releasably and operably couple to the hull. 
     In some embodiments, each of the two or more modular wing units is pivotable about the hull. In some embodiments, the two or more modular wing units releasably and operably couple to a top portion, a bottom portion, a front portion, a rear portion, a side portion, or any combination thereof of the hull. In some embodiments, the two or more modular wing units releasably and operably couple to the hull without the use of tools. In some embodiments, the two or more modular wing units releasably and operably couple to the hull in less than about 10 minutes. In some embodiments, the actuator comprises a motor, a solenoid, a spring, a piston, or any combination thereof. In some embodiments, the actuator individually actuates and controls only one single wing. In some embodiments, the actuator actuates the single wing via a linkage. In some embodiments, the actuator directly actuates the single wing. In some embodiments, the actuator actuates the single wing in the flapping motion by controlling a flapping velocity, a flapping amplitude, a flapping angle, or any combination thereof of the single wing. In some embodiments, the actuator operates in a sinusoidal waveform profile, a square waveform profile, a hybrid sinusoidal-square waveform profile, or any combination thereof. In some embodiments, the flapping motion comprises an oscillating motion, a continuous rotation, or both. In some embodiments, the flapping motion has a sinusoidal waveform profile, a square waveform profile, a hybrid sinusoidal-square waveform profile, or any combination thereof. In some embodiments, the flapping motion is at or near a resonance frequency of the single wing. In some embodiments, the two or more modular wing units flap their single wings in an out-of-phase mode and an in-phase mode. In some embodiments, the two or more modular wing units flap their single wing in the out-of-phase mode for a first duration and in the in-phase mode for a second duration. In some embodiments, a first portion of the two or more modular wing units flap their single wings in the out-of-phase mode, and wherein a second portion of the two or more modular wing units flap their single wing in the in-phase mode. In some embodiments, the modular wing unit further comprises an energy recovery unit coupled to the actuator, the single wing, or both. In some embodiments, the energy recovery unit imparts a returning force on the single wing towards a center point of the flapping motion. In some embodiments, the energy recovery unit generates lift and improves an operational efficiency of the modular wing unit. In some embodiments, the kit further comprises a controller directing the actuator of each of the two or more modular units. In some embodiments, the flight controller individually controls the motors of the two or more modular wing units in: an in-phase wing flapping mode; an out-of-phase wing flapping mode; a sequential wing flapping mode; a periodic in-phase and out-of-phase flapping mode; or any combination thereof. In some embodiments, the two or more modular wing units alter a characteristic of the aerial vehicle. In some embodiments, the flight characteristic comprises a roll, a pitch, a yaw, or any combination thereof of the aerial vehicle. 
     Another aspect provided herein is a modular aerial vehicle comprising: a hull; and two or more modular wing units removably coupled to the hull, each modular wing unit comprising: an actuator; and a wing actuated by the actuator in a flapping motion to propel the hull; and a flight controller individually controlling the actuator of each of the two or more modular wing units. 
     In some embodiments, each of the two or more modular wing units is pivotable about the hull. In some embodiments, the two or more modular wing units releasably and operably couple to a top portion, a bottom portion, a front portion, a rear portion, a side portion, or any combination thereof of the hull. In some embodiments, the two or more modular wing units releasably and operably couple to the hull without the use of tools. In some embodiments, the two or more modular wing units releasably and operably couple to the hull in less than about 10 minutes. In some embodiments, the actuator comprises a motor, a solenoid, a spring, a piston, or any combination thereof. In some embodiments, the actuator individually actuates and controls only one single wing. In some embodiments, the actuator actuates the single wing via a linkage. In some embodiments, the actuator directly actuates the single wing. In some embodiments, the actuator actuates the single wing in the flapping motion by controlling a flapping velocity, a flapping amplitude, a flapping angle, or any combination thereof of the single wing. In some embodiments, the actuator operates in a sinusoidal waveform profile, a square waveform profile, a hybrid sinusoidal-square waveform profile, or any combination thereof. In some embodiments, the flapping motion comprises an oscillating motion, a continuous rotation, or both. In some embodiments, the flapping motion has a sinusoidal waveform profile, a square waveform profile, a hybrid sinusoidal-square waveform profile, or any combination thereof. In some embodiments, the flapping motion is at or near a resonance frequency of the single wing. In some embodiments, the two or more modular wing units flap their single wings in an out-of-phase mode and an in-phase mode. In some embodiments, the two or more modular wing units flap their single wing in the out-of-phase mode for a first duration and in the in-phase mode for a second duration. In some embodiments, a first portion of the two or more modular wing units flap their single wings in the out-of-phase mode, and wherein a second portion of the two or more modular wing units flap their single wing in the in-phase mode. In some embodiments, the modular wing unit further comprises an energy recovery unit coupled to the actuator, the single wing, or both. In some embodiments, the energy recovery unit imparts a returning force on the single wing towards a center point of the flapping motion. In some embodiments, the energy recovery unit generates lift and improves an operational efficiency of the modular wing unit. In some embodiments, the aerial vehicle further comprises a controller directing the actuator of each of the two or more modular units. In some embodiments, the flight controller individually controls the motors of the two or more modular wing units in: an in-phase wing flapping mode; an out-of-phase wing flapping mode; a sequential wing flapping mode; a periodic in-phase and out-of-phase flapping mode; or any combination thereof kit the two or more modular wing units alter a characteristic of the aerial vehicle. In some embodiments, the flight characteristic comprises a roll, a pitch, a yaw, or any combination thereof of the aerial vehicle. 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
       The novel features of the disclosure are set forth with particularity in the appended claims. A better understanding of the features and advantages of the present disclosure will be obtained by reference to the following detailed description that sets forth illustrative embodiments, in which the principles of the disclosure are utilized, and the accompanying drawings of which: 
         FIG. 1  shows a perspective view illustration of a first exemplary modular aerial vehicle, per some embodiments herein; 
         FIG. 2  shows a perspective view illustration of a first exemplary modular wing unit, per some embodiments herein; 
         FIG. 3  shows a first perspective view illustration of a second exemplary modular aerial vehicle, per some embodiments herein; 
         FIG. 4  shows a perspective view illustration of a second exemplary modular wing unit, per some embodiments herein; 
         FIG. 5  shows an image of the second exemplary modular wing unit, per some embodiments herein; and 
         FIG. 6  shows a non-limiting example of a computing device; in this case, a device with one or more processors, memory, storage, and a network interface. 
     
    
    
     DETAILED DESCRIPTION 
     Flapping Wing Micro Aerial Vehicles (FWMAVs) can be produced at low costs, small sizes, and exhibit high maneuverability, high efficiency, stealth, and weather tolerance. While current FWMAVs employ a single drive mechanism to actuate two or more flapping wings, there is a current unmet need for an aerial vehicle comprising two or more wing units that can be driven individually. Such individual lift and propulsion control enables greater vehicle control for increased maneuverability and weather tolerance. 
     Modular Aerial Vehicle Kits 
     One aspect provided herein, per  FIGS. 1-6  is a modular aerial vehicle kit  100  comprising a hull  120  and two or more modular wing units  110 . In some embodiments, each modular wing unit  110  comprises a single wing  116  and an actuator  111 . In some embodiments, the single wing  116  is configured to generate lift, thrust, or both via a flapping motion. In some embodiments, the single wing  116  is actuated by the actuator  111  in a flapping motion. In some embodiments, the actuator  111  actuates the single wing  116  in the flapping motion to propel the hull  120 . 
     As shown in  FIG. 3 , the single wing  116  comprises a single component with multiple supporting spars. In some embodiments, the single wing  116  is a rigid wing or a flexible wing. In some embodiments, the single wing  116  is a rigid wing has a length of less than half the length of the aerial vehicle  100 . In some embodiments, the single wing  116  is a rigid wing. In some embodiments, the single wing  116  has a length of greater than half the length of the aerial vehicle  100 . In some embodiments, the single wing  116  is made of plastic, metal, wood, ceramics, fiberglass, feathers, or any combination thereof. In some embodiments, at least one of the material, the size, and the mass of the single wing  116  provided herein enables the flapping motion with a frequency of about 5 Hz to about 80 Hz. 
     In some embodiments, the modular aerial vehicle kit  100  further comprises a flight controller  130 . In some embodiments, the hull  120  further comprises the flight controller  130 . In some embodiments, the flight controller  130  directs the actuator  111  of each of the two or more modular units. In some embodiments, each of the two or more modular wing units  110  is individually controlled. In some embodiments, each of the two or more modular wing units  110  is individually controlled to alter a flight characteristic of the aerial vehicle  100 . In some embodiments, the flight characteristic comprises a roll, a pitch, a yaw, or any combination thereof of the aerial vehicle  100 . In some embodiments, the flight controller  130  individually controls the actuator  111  of each of the two or more modular wing units  110 . In some embodiments, the modular aerial vehicle kit  100  does not comprise the flight controller  130 . In some embodiments, the flight controller  130  receives a control signal to control the actuator  111  of each of the two or more modular units from a base controller, another aerial vehicle  100 , or any combination thereof. In some embodiments, the base controller comprises a human operated base controller or an autonomous base controller. In some embodiments, one aerial vehicle  100 , receives the control signal from the base controller, and transmits the control signal, or an alternative signal based on the control signal, to another aerial vehicle  100 . 
     As shown the actuator  111  comprises a motor. In some embodiments, the motor comprises a brushed motor or a brushless motor. In some embodiments, the actuator  111  directly actuates the single wing  116 . Alternatively, in some embodiments, the actuator  111  comprises a solenoid, a spring, a piston, or any combination thereof. As shown, the oscillation or rotation of the actuator  111  flaps the single wing  116 . In some embodiments, at least one of the type, the voltage, the amperage, the power, and the mass of the actuators  111  provided herein enable the flapping motion with a frequency of about 5 Hz to about 80 Hz. 
     In some embodiments, the actuator  111  actuates the single wing  116  via a linkage  112 . In some embodiments, the single wing  116  is rigidly attached to the linkage  112 . In some embodiments, the single wing  116  is removable attached to the linkage  112 . In some embodiments, the single wing  116  can retract with respect to the linkage  112  for storage or landing. In some embodiments, the linkage comprises a wrist attachment  113  rotatably coupled to an actuator  111 . In one embodiment, per  FIG. 2 , the linkage  112  further comprises a pulley wheel  112 A transferring rotational force between the actuator  111  and the wrist attachment  113 . In some embodiments, the wrist attachment  113  rotatably couples to the pulley wheel  112 A via a wrist pin. In another embodiment, per  FIG. 4 , the linkage  112  further comprises a gear set  112 B transferring rotational force between the actuator  111  and the wrist attachment  113 . In some embodiments, the wrist attachment rotatably couples to the gear set  112 B via a wrist pin. As shown in  FIG. 4 , the gear set  112 B comprises a first gear coupled to the actuator  111  and a second gear that is coupled to the wrist attachment  113 , wherein rotation of the first gear rotates the second gear. In some embodiments, the gear ratios provided herein enable the flapping motion with a frequency of about 5 Hz to about 80 Hz. 
     In some embodiments, a gear ratio of the first gear to the second gear is about 2:1 to about 14:1. In some embodiments, a gear ratio of the first gear to the second gear is about 2:1 to about 3:1, about 2:1 to about 4:1, about 2:1 to about 5:1, about 2:1 to about 6:1, about 2:1 to about 7:1, about 2:1 to about 8:1, about 2:1 to about 9:1, about 2:1 to about 10:1, about 2:1 to about 12:1, about 2:1 to about 14:1, about 3:1 to about 4:1, about 3:1 to about 5:1, about 3:1 to about 6:1, about 3:1 to about 7:1, about 3:1 to about 8:1, about 3:1 to about 9:1, about 3:1 to about 10:1, about 3:1 to about 12:1, about 3:1 to about 14:1, about 4:1 to about 5:1, about 4:1 to about 6:1, about 4:1 to about 7:1, about 4:1 to about 8:1, about 4:1 to about 9:1, about 4:1 to about 10:1, about 4:1 to about 12:1, about 4:1 to about 14:1, about 5:1 to about 6:1, about 5:1 to about 7:1, about 5:1 to about 8:1, about 5:1 to about 9:1, about 5:1 to about 10:1, about 5:1 to about 12:1, about 5:1 to about 14:1, about 6:1 to about 7:1, about 6:1 to about 8:1, about 6:1 to about 9:1, about 6:1 to about 10:1, about 6:1 to about 12:1, about 6:1 to about 14:1, about 7:1 to about 8:1, about 7:1 to about 9:1, about 7:1 to about 10:1, about 7:1 to about 12:1, about 7:1 to about 14:1, about 8:1 to about 9:1, about 8:1 to about 10:1, about 8:1 to about 12:1, about 8:1 to about 14:1, about 9:1 to about 10:1, about 9:1 to about 12:1, about 9:1 to about 14:1, about 10:1 to about 12:1, about 10:1 to about 14:1, or about 12:1 to about 14:1. In some embodiments, a gear ratio of the first gear to the second gear is about 2:1, about 3:1, about 4:1, about 5:1, about 6:1, about 7:1, about 8:1, about 9:1, about 10:1, about 12:1, or about 14:1. In some embodiments, a gear ratio of the first gear to the second gear is at least about 2:1, about 3:1, about 4:1, about 5:1, about 6:1, about 7:1, about 8:1, about 9:1, about 10:1, or about 12:1. In some embodiments, a gear ratio of the first gear to the second gear is at most about 3:1, about 4:1, about 5:1, about 6:1, about 7:1, about 8:1, about 9:1, about 10:1, about 12:1, or about 14:1. 
     Alternatively, in some embodiments, the linkage  112  further comprises a cable, a crank, a string, a sprocket, a band, a coupling, a gearbox, or any combination thereof. 
     In some embodiments, the wrist attachment has a wing pin that rotatably couples to the single wing  116  to the wrist attachment  113 . In some embodiments, the single wing  116  rotates freely about the wrist attachment  113 . In some embodiments, the flapping amplitude of the single wing  116  can be controlled to vary the angle of attack of the single wing  116 . In some embodiments, varying the angle of attack of the single wing  116  alters the magnitude of the lift vector and resulting vehicle velocity. In one embodiment, the angle of attack is adjusted manually by an angle of attack control. In some embodiments, the angle of attack control comprises a first set screw, a second set screw (not shown), a first contact surface of the wrist attachment  113 , and a second contact surface of the wrist attachment  113 . In some embodiments, the first set screw and the first contact surface of the wrist attachment  113 , is positioned on an opposite side of the wrist attachment  113  than the second set screw and the second contact surface of the wrist attachment  113 . Thus, in some embodiments, as the wrist attachment  113  rotates about the wrist pin a first direction, whereas a top face of the first set screw contacts the first contact surface of the wrist attachment  113 , preventing further rotation of the wrist attachment  113  in the first direction. In some embodiments, as the wrist attachment  113  rotates about the wrist pin in a second direction opposite the first direction, a top face of the second set screw contacts the second contact surface of the wrist attachment  113 , preventing further rotation of the wrist attachment in the second direction. Alternatively, in some embodiments, the angle of attack of the single wing  116  is adjusted through a cam, a bearing, a slide, a spring, a threaded rod, or any combination thereof. Alternatively, in some embodiments, the angle of attack of the single wing  116  is automatically adjusted by an angle of attack actuator. In some embodiments, the angle of attack actuator is controlled by the motor controller  130 . 
     In some embodiments, the actuator  111  individually actuates and controls only one single wing  116 . In some embodiments, the actuator  111  actuates the single wing  116  in the flapping motion by controlling a flapping velocity, a flapping amplitude, a flapping angle, or any combination thereof of the single wing  116 . In some embodiments, the actuator  111  operates in a sinusoidal waveform profile, a square waveform profile, a hybrid sinusoidal-square waveform profile, or any combination thereof. In some embodiments, the flapping motion comprises an oscillating motion, a continuous rotation, or both. In some embodiments, the flapping motion has a sinusoidal waveform profile, a square waveform profile, a hybrid sinusoidal-square waveform profile, or any combination thereof. In some embodiments, the flapping motion has a frequency near the resonance frequency of the single wing  116 . The waveform for driving the actuator  111  can be optimized for actuator  111  efficiency, by for example, through the use of hybrid waveform profiles. A hybrid waveform profile may include combinations of two or more different types of waveform profiles. The actuator  111  efficiency can be optimized by adjusting a ratio between the two or more different types of waveform profiles. In some embodiments, the two or more different types of waveform profiles may include a sine wave and a square wave. 
     In some embodiments, a ratio between the square wave to the sine wave of the hybrid sinusoidal-square waveform profile is about 1:1 to about 4:1. In some embodiments, a ratio between the square wave to the sine wave of the hybrid sinusoidal-square waveform profile is about 1:1 to about 1.5:1, about 1:1 to about 2:1, about 1:1 to about 2.5:1, about 1:1 to about 3:1, about 1:1 to about 3.5:1, about 1:1 to about 4:1, about 1.5:1 to about 2:1, about 1.5:1 to about 2.5:1, about 1.5:1 to about 3:1, about 1.5:1 to about 3.5:1, about 1.5:1 to about 4:1, about 2:1 to about 2.5:1, about 2:1 to about 3:1, about 2:1 to about 3.5:1, about 2:1 to about 4:1, about 2.5:1 to about 3:1, about 2.5:1 to about 3.5:1, about 2.5:1 to about 4:1, about 3:1 to about 3.5:1, about 3:1 to about 4:1, or about 3.5:1 to about 4:1. In some embodiments, a ratio between the square wave to the sine wave of the hybrid sinusoidal-square waveform profile is about 1:1, about 1.5:1, about 2:1, about 2.5:1, about 3:1, about 3.5:1, or about 4:1. In some embodiments, a ratio between the square wave to the sine wave of the hybrid sinusoidal-square waveform profile is at least about 1:1, about 1.5:1, about 2:1, about 2.5:1, about 3:1, or about 3.5:1. In some embodiments, a ratio between the square wave to the sine wave of the hybrid sinusoidal-square waveform profile is at most about 1.5:1, about 2:1, about 2.5:1, about 3:1, about 3.5:1, or about 4:1. In some preferred embodiments, a ratio of the sine wave to the square wave is about 0.3. In one example, a ratio of the sine wave to the square wave is 0.32. 
     In some embodiments, the two or more modular wing units  110  releasably and operably couple to the hull  120 . In some embodiments, the two or more modular wing units  110  releasably and operably couple to the hull  120  to form an aerial vehicle  100 . In some embodiments, the two or more modular wing units  110  releasably and operably couple to a top portion, a bottom portion, a front portion, a rear portion, a side portion, or any combination thereof of the hull  120 . In some embodiments, the two or more modular wing units  110  comprises 2, 3, 4, 5, 6, 7, 8, 9, 10, 15, 20, 25, or more modular wing units  110 . In some embodiments, the two or more modular wing units  110  releasably and operably couple to the hull  120  without the use of tools. In some embodiments, the two or more modular wing units  110  releasably and operably couple to the hull  120  in less than about 10 minutes. 
     In some embodiments, each of the two or more modular wing units  110  is pivotable about the hull  120 . As shown in  FIG. 4 , the modular wing unit  110  releasably and operably couples to the hull  120  via a bearing  117 . As shown, the bearing  117  releasably and operably couples the modular wing unit  110  to the hull  120  such that the modular wing unit  110  can freely rotate about the hull  120 . Alternatively, in some embodiments, each of the two or more modular wing units  110  are pivotable about the hull  120  via a slide, a ball and socket joint, a clamp, or any combination thereof. In some embodiments, each of the two or more modular wing units  110  are pivotable about one or more axes with respect to the hull  120 . In some embodiments, each of the two or more modular wing units  110  are pivotable about one or more degrees of freedom with respect to the hull  120 . In some embodiments, each of the two or more modular wing units  110  is mechanically actuated about one or more axes with respect to the hull  120 . In some embodiments, each of the two or more modular wing units  110  is mechanically rotated about one or more axes with respect to the hull  120  to modify a stroke plane of the single wing  116 . In some embodiments, rotating the modular wing units  110  to modify the stroke plane of the single wing  116  alters a flight characteristic of the aerial vehicle  100 . 
     In some embodiments, the modular wing unit  110  further comprises an energy recovery unit  115  coupled to the actuator  111 , the single wing  116 , or both. As shown in  FIG. 2 , the energy recovery unit  115  comprises a spring, As shown in  FIG. 2 , in some embodiments, the energy recovery unit  115  comprises a coil spring. In some embodiments, the energy recovery unit  115  comprises a helical spring. Alternatively, in some embodiments, the energy recovery unit  115  comprises a piston, a flexure, a dashpot, or any combination thereof. Alternatively, in some embodiments, the spring comprises a linear spring, a leaf spring, a spiral spring, a machined spring, or any combination thereof. In some embodiments, the energy recovery unit  115  generates lift and improves an operational efficiency of the modular wing unit. In some embodiments, at least one of the type, the weight, and the spring rate of the energy recovery unit  115  provided herein enables the flapping motion with a frequency of about 5 Hz to about 80 Hz. 
     In some embodiments, the energy recovery unit  115  has a spring rate of about 0.25 Nmm/deg to about 14 Nmm/deg. In some embodiments, the energy recovery unit  115  has a spring rate of about 0.25 Nmm/deg to about 0.75 Nmm/deg, about 0.25 Nmm/deg to about 0.5 Nmm/deg, about 0.25 Nmm/deg to about 1 Nmm/deg, about 0.25 Nmm/deg to about 1.25 Nmm/deg, about 0.25 Nmm/deg to about 1.5 Nmm/deg, about 0.25 Nmm/deg to about 1.75 Nmm/deg, about 0.25 Nmm/deg to about 2 Nmm/deg, about 0.25 Nmm/deg to about 2.5 Nmm/deg, about 0.25 Nmm/deg to about 3 Nmm/deg, about 0.25 Nmm/deg to about 14 Nmm/deg, about 0.75 Nmm/deg to about 0.5 Nmm/deg, about 0.75 Nmm/deg to about 1 Nmm/deg, about 0.75 Nmm/deg to about 1.25 Nmm/deg, about 0.75 Nmm/deg to about 1.5 Nmm/deg, about 0.75 Nmm/deg to about 1.75 Nmm/deg, about 0.75 Nmm/deg to about 2 Nmm/deg, about 0.75 Nmm/deg to about 2.5 Nmm/deg, about 0.75 Nmm/deg to about 3 Nmm/deg, about 0.75 Nmm/deg to about 14 Nmm/deg, about 0.5 Nmm/deg to about 1 Nmm/deg, about 0.5 Nmm/deg to about 1.25 Nmm/deg, about 0.5 Nmm/deg to about 1.5 Nmm/deg, about 0.5 Nmm/deg to about 1.75 Nmm/deg, about 0.5 Nmm/deg to about 2 Nmm/deg, about 0.5 Nmm/deg to about 2.5 Nmm/deg, about 0.5 Nmm/deg to about 3 Nmm/deg, about 0.5 Nmm/deg to about 14 Nmm/deg, about 1 Nmm/deg to about 1.25 Nmm/deg, about 1 Nmm/deg to about 1.5 Nmm/deg, about 1 Nmm/deg to about 1.75 Nmm/deg, about 1 Nmm/deg to about 2 Nmm/deg, about 1 Nmm/deg to about 2.5 Nmm/deg, about 1 Nmm/deg to about 3 Nmm/deg, about 1 Nmm/deg to about 14 Nmm/deg, about 1.25 Nmm/deg to about 1.5 Nmm/deg, about 1.25 Nmm/deg to about 1.75 Nmm/deg, about 1.25 Nmm/deg to about 2 Nmm/deg, about 1.25 Nmm/deg to about 2.5 Nmm/deg, about 1.25 Nmm/deg to about 3 Nmm/deg, about 1.25 Nmm/deg to about 14 Nmm/deg, about 1.5 Nmm/deg to about 1.75 Nmm/deg, about 1.5 Nmm/deg to about 2 Nmm/deg, about 1.5 Nmm/deg to about 2.5 Nmm/deg, about 1.5 Nmm/deg to about 3 Nmm/deg, about 1.5 Nmm/deg to about 14 Nmm/deg, about 1.75 Nmm/deg to about 2 Nmm/deg, about 1.75 Nmm/deg to about 2.5 Nmm/deg, about 1.75 Nmm/deg to about 3 Nmm/deg, about 1.75 Nmm/deg to about 14 Nmm/deg, about 2 Nmm/deg to about 2.5 Nmm/deg, about 2 Nmm/deg to about 3 Nmm/deg, about 2 Nmm/deg to about 14 Nmm/deg, about 2.5 Nmm/deg to about 3 Nmm/deg, about 2.5 Nmm/deg to about 14 Nmm/deg, or about 3 Nmm/deg to about 14 Nmm/deg. In some embodiments, the energy recovery unit  115  has a spring rate of about 0.25 Nmm/deg, about 0.75 Nmm/deg, about 0.5 Nmm/deg, about 1 Nmm/deg, about 1.25 Nmm/deg, about 1.5 Nmm/deg, about 1.75 Nmm/deg, about 2 Nmm/deg, about 2.5 Nmm/deg, about 3 Nmm/deg, or about 14 Nmm/deg. In some embodiments, the energy recovery unit  115  has a spring rate of at least about 0.25 Nmm/deg, about 0.75 Nmm/deg, about 0.5 Nmm/deg, about 1 Nmm/deg, about 1.25 Nmm/deg, about 1.5 Nmm/deg, about 1.75 Nmm/deg, about 2 Nmm/deg, about 2.5 Nmm/deg, or about 3 Nmm/deg. In some embodiments, the energy recovery unit  115  has a spring rate of at most about 0.75 Nmm/deg, about 0.5 Nmm/deg, about 1 Nmm/deg, about 1.25 Nmm/deg, about 1.5 Nmm/deg, about 1.75 Nmm/deg, about 2 Nmm/deg, about 2.5 Nmm/deg, about 3 Nmm/deg, or about 14 Nmm/deg. 
     In some embodiments, per  FIG. 2 , the energy recovery unit  115  imparts a returning force on the single wing  116  towards a center point  501  of the flapping trajectory  502 . In some embodiments, the modular wing units  110  are arranged on the hull  120  such that the flapping trajectories  502  of neighboring single wings  116  cannot collide. In some embodiments, the actuator  111  actuates the modular wing unit  110  in the flapping trajectories  502  so that neighboring single wings  116  do not collide. In some embodiments, the motor controller  130  controls the actuators  111  of each of the modular wing units  110  to impart a specific flapping trajectory  502  such that neighboring single wings  116  do not collide. In some embodiments, the flapping trajectories  502  of two or more neighboring single wings  116  are generally parallel. In some embodiments, the flapping trajectories  502  of two or more neighboring single wings  116  are generally coplanar. In some embodiments, the flapping trajectories  502  of two or more neighboring single wings  116  are non-coplanar. In some embodiments, the flapping trajectories  502  of two or more neighboring single wings  116  intersect or overlap with one another. 
     In some embodiments, the modular aerial vehicle kit  100  further comprises an encoder measuring an angle of the single wing  116  with respect to the hull  120 . In some embodiments, the modular aerial vehicle kit  100  further comprises an encoder measuring an angle of each single wing  116  with respect to the hull  120 . In some embodiments, the encoder is integrated into each actuator  111 . In some embodiments, the encoder comprises a magnetic encoder, an optical encoder, or both. In some embodiments, the motor controller  130  receives the angle of the single wing  116  with respect to the hull  120  from one or more of the encoders. In some embodiments, the controller  130  determines a wind gust direction, a wind gust rotation, or both from the angle one or more of the single wings  116  with respect to the hull  120 . In some embodiments, the controller  130  determines the wind gust direction, the wind gust rotation, or both by comparing the signal sent to the actuator  111  with the angle of the single wing  116  with respect to the hull  120 . In some embodiments, the controller  130  determines the wind gust direction, the wind gust rotation, or both by comparing the signal sent to each actuator  111  with the angle of each single wing  116  with respect to the hull  120 . In some embodiments, the use of the encoder herein enables increased maneuverability, weather tolerance, gust tolerance or any combination thereof of the modular aerial vehicle  100 . 
     In the embodiment show in  FIG. 2 , the actuator  111  drives the rotation of a shaft which rotates the wing through a linkage  112  mechanism, wherein the wing is connected to the energy recovery unit  115 . In such an embodiment, the actuator  111  is sequentially actuated in a clockwise and counterclockwise waveform. Further, in some embodiments, when the actuator  111  actuates the wing in a first direction a potential energy of the energy recovery unit  115  increases. Once the actuator  111  begins to actuate the wing opposite the first direction, energy stored within the energy recovery unit  115  is returned to the wing, allowing for greater accelerations in reaction to the momentum change. 
     In some embodiments, the two or more modular wing units  110  flap their single wings  116  in an out-of-phase mode and an in-phase mode. In one example, two wings flapping in an out-of-phase mode are asynchronous. In one example, two wings flapping in an out-of-phase mode are offset in their flapping motion by half a flapping period. In one example, two wings flapping in an out-of-phase mode are synchronous. In one example, two wings flapping in an out-of-phase mode are not offset in their flapping motion. In some embodiments, the two or more modular wing units  110  flap their single wing  116  in the out-of-phase mode for a first duration and in the in-phase mode for a second duration. In some embodiments, a first portion of the two or more modular wing units  110  flap their single wings  116  in the out-of-phase mode, and wherein a second portion of the two or more modular wing units  110  flap their single wing  116  in the in-phase mode. In some embodiments, the flight controller  130  individually controls the actuators  111  of the two or more modular wing units  110  in an in-phase wing flapping mode, an out-of-phase wing flapping mode, a sequential wing flapping mode, a periodic in-phase and out-of-phase flapping mode, or any combination thereof. 
     In some embodiments, at least one of the type, the voltage, the amperage, the power, and the mass of the motors provided herein enable the flapping motion with a frequency of about 5 Hz to about 80 Hz. In some embodiments, the motor has a voltage of about 2 V to about 16 V. In some embodiments, the motor has a voltage of about 2 V to about 4 V, about 2 V to about 6 V, about 2 V to about 8 V, about 2 V to about 10 V, about 2 V to about 12 V, about 2 V to about 14 V, about 2 V to about 16 V, about 4 V to about 6 V, about 4 V to about 8 V, about 4 V to about 10 V, about 4 V to about 12 V, about 4 V to about 14 V, about 4 V to about 16 V, about 6 V to about 8 V, about 6 V to about 10 V, about 6 V to about 12 V, about 6 V to about 14 V, about 6 V to about 16 V, about 8 V to about 10 V, about 8 V to about 12 V, about 8 V to about 14 V, about 8 V to about 16 V, about 10 V to about 12 V, about 10 V to about 14 V, about 10 V to about 16 V, about 12 V to about 14 V, about 12 V to about 16 V, or about 14 V to about 16 V. In some embodiments, the motor has a voltage of about 2 V, about 4 V, about 6 V, about 8 V, about 10 V, about 12 V, about 14 V, or about 16 V. In some embodiments, the motor has a voltage of at least about 2 V, about 4 V, about 6 V, about 8 V, about 10 V, about 12 V, or about 14 V. In some embodiments, the motor has a voltage of at most about 4 V, about 6 V, about 8 V, about 10 V, about 12 V, about 14 V, or about 16 V. 
     In some embodiments, the motor has a current of about 0.1 A to about 4 A. In some embodiments, the motor has a current of about 0.1 A to about 0.5 A, about 0.1 A to about 1 A, about 0.1 A to about 1.5 A, about 0.1 A to about 2 A, about 0.1 A to about 2.5 A, about 0.1 A to about 3 A, about 0.1 A to about 3.5 A, about 0.1 A to about 4 A, about 0.5 A to about 1 A, about 0.5 A to about 1.5 A, about 0.5 A to about 2 A, about 0.5 A to about 2.5 A, about 0.5 A to about 3 A, about 0.5 A to about 3.5 A, about 0.5 A to about 4 A, about 1 A to about 1.5 A, about 1 A to about 2 A, about 1 A to about 2.5 A, about 1 A to about 3 A, about 1 A to about 3.5 A, about 1 A to about 4 A, about 1.5 A to about 2 A, about 1.5 A to about 2.5 A, about 1.5 A to about 3 A, about 1.5 A to about 3.5 A, about 1.5 A to about 4 A, about 2 A to about 2.5 A, about 2 A to about 3 A, about 2 A to about 3.5 A, about 2 A to about 4 A, about 2.5 A to about 3 A, about 2.5 A to about 3.5 A, about 2.5 A to about 4 A, about 3 A to about 3.5 A, about 3 A to about 4 A, or about 3.5 A to about 4 A. In some embodiments, the motor has a current of about 0.1 A, about 0.5 A, about 1 A, about 1.5 A, about 2 A, about 2.5 A, about 3 A, about 3.5 Å, or about 4 A. In some embodiments, the motor has a current of at least about 0.1 A, about 0.5 A, about 1 A, about 1.5 A, about 2 A, about 2.5 A, about 3 A, or about 3.5 A. In some embodiments, the motor has a current of at most about 0.5 A, about 1 A, about 1.5 A, about 2 A, about 2.5 A, about 3 A, about 3.5 Å, or about 4 A. 
     In some embodiments, the motor has a power of about 0.5 W to about 20 W. In some embodiments, the motor has a power of about 0.5 W to about 1 W, about 0.5 W to about 2 W, about 0.5 W to about 4 W, about 0.5 W to about 6 W, about 0.5 W to about 8 W, about 0.5 W to about 10 W, about 0.5 W to about 12 W, about 0.5 W to about 14 W, about 0.5 W to about 16 W, about 0.5 W to about 18 W, about 0.5 W to about 20 W, about 1 W to about 2 W, about 1 W to about 4 W, about 1 W to about 6 W, about 1 W to about 8 W, about 1 W to about 10 W, about 1 W to about 12 W, about 1 W to about 14 W, about 1 W to about 16 W, about 1 W to about 18 W, about 1 W to about 20 W, about 2 W to about 4 W, about 2 W to about 6 W, about 2 W to about 8 W, about 2 W to about 10 W, about 2 W to about 12 W, about 2 W to about 14 W, about 2 W to about 16 W, about 2 W to about 18 W, about 2 W to about 20 W, about 4 W to about 6 W, about 4 W to about 8 W, about 4 W to about 10 W, about 4 W to about 12 W, about 4 W to about 14 W, about 4 W to about 16 W, about 4 W to about 18 W, about 4 W to about 20 W, about 6 W to about 8 W, about 6 W to about 10 W, about 6 W to about 12 W, about 6 W to about 14 W, about 6 W to about 16 W, about 6 W to about 18 W, about 6 W to about 20 W, about 8 W to about 10 W, about 8 W to about 12 W, about 8 W to about 14 W, about 8 W to about 16 W, about 8 W to about 18 W, about 8 W to about 20 W, about 10 W to about 12 W, about 10 W to about 14 W, about 10 W to about 16 W, about 10 W to about 18 W, about 10 W to about 20 W, about 12 W to about 14 W, about 12 W to about 16 W, about 12 W to about 18 W, about 12 W to about 20 W, about 14 W to about 16 W, about 14 W to about 18 W, about 14 W to about 20 W, about 16 W to about 18 W, about 16 W to about 20 W, or about 18 W to about 20 W. In some embodiments, the motor has a power of about 0.5 W, about 1 W, about 2 W, about 4 W, about 6 W, about 8 W, about 10 W, about 12 W, about 14 W, about 16 W, about 18 W, or about 20 W. In some embodiments, the motor has a power of at least about 0.5 W, about 1 W, about 2 W, about 4 W, about 6 W, about 8 W, about 10 W, about 12 W, about 14 W, about 16 W, or about 18 W. In some embodiments, the motor has a power of at most about 1 W, about 2 W, about 4 W, about 6 W, about 8 W, about 10 W, about 12 W, about 14 W, about 16 W, about 18 W, or about 20 W. 
     In some embodiments, the flapping motion has a frequency of about 5 Hz to about 80 Hz. In some embodiments, the flapping motion has a frequency of about 5 Hz to about 10 Hz, about 5 Hz to about 15 Hz, about 5 Hz to about 20 Hz, about 5 Hz to about 25 Hz, about 5 Hz to about 30 Hz, about 5 Hz to about 40 Hz, about 5 Hz to about 50 Hz, about 5 Hz to about 60 Hz, about 5 Hz to about 70 Hz, about 5 Hz to about 80 Hz, about 10 Hz to about 15 Hz, about 10 Hz to about 20 Hz, about 10 Hz to about 25 Hz, about 10 Hz to about 30 Hz, about 10 Hz to about 40 Hz, about 10 Hz to about 50 Hz, about 10 Hz to about 60 Hz, about 10 Hz to about 70 Hz, about 10 Hz to about 80 Hz, about 15 Hz to about 20 Hz, about 15 Hz to about 25 Hz, about 15 Hz to about 30 Hz, about 15 Hz to about 40 Hz, about 15 Hz to about 50 Hz, about 15 Hz to about 60 Hz, about 15 Hz to about 70 Hz, about 15 Hz to about 80 Hz, about 20 Hz to about 25 Hz, about 20 Hz to about 30 Hz, about 20 Hz to about 40 Hz, about 20 Hz to about 50 Hz, about 20 Hz to about 60 Hz, about 20 Hz to about 70 Hz, about 20 Hz to about 80 Hz, about 25 Hz to about 30 Hz, about 25 Hz to about 40 Hz, about 25 Hz to about 50 Hz, about 25 Hz to about 60 Hz, about 25 Hz to about 70 Hz, about 25 Hz to about 80 Hz, about 30 Hz to about 40 Hz, about 30 Hz to about 50 Hz, about 30 Hz to about 60 Hz, about 30 Hz to about 70 Hz, about 30 Hz to about 80 Hz, about 40 Hz to about 50 Hz, about 40 Hz to about 60 Hz, about 40 Hz to about 70 Hz, about 40 Hz to about 80 Hz, about 50 Hz to about 60 Hz, about 50 Hz to about 70 Hz, about 50 Hz to about 80 Hz, about 60 Hz to about 70 Hz, about 60 Hz to about 80 Hz, or about 70 Hz to about 80 Hz. In some embodiments, the flapping motion has a frequency of about 5 Hz, about 10 Hz, about 15 Hz, about 20 Hz, about 25 Hz, about 30 Hz, about 40 Hz, about 50 Hz, about 60 Hz, about 70 Hz, or about 80 Hz. In some embodiments, the flapping motion has a frequency of at least about 5 Hz, about 10 Hz, about 15 Hz, about 20 Hz, about 25 Hz, about 30 Hz, about 40 Hz, about 50 Hz, about 60 Hz, or about 70 Hz. In some embodiments, the flapping motion has a frequency of at most about 10 Hz, about 15 Hz, about 20 Hz, about 25 Hz, about 30 Hz, about 40 Hz, about 50 Hz, about 60 Hz, about 70 Hz, or about 80 Hz. 
     In some embodiments, the modular aerial vehicle kit  100  further comprises a battery providing energy to the actuator  111 , the flight controller  130 , or both. In some embodiments, the battery is coupled to the hull  120 . In some embodiments, the battery is removably coupled to the hull  120 . In some embodiments, per  FIG. 3 , the modular aerial vehicle kit  100  further comprises a sensor  301 . In some embodiments, the sensor  301  is coupled to the hull  120 . In some embodiments, the sensor  301  is removably coupled to the hull  120 . In some embodiments, the sensor  301  comprises a camera, a range finder, a LIDAR, a RADAR, a chemical sensor, a pitot tube, a gyroscope, a microphone, an accelerometer, a humidity sensor, a rain sensor, a pressure sensor, a Time-of-Flight sensors, GPS sensor, or any combination thereof. 
     In some embodiments, the battery has a voltage of about 2 V to about 16 V. In some embodiments, the battery has a voltage of about 2 V to about 4 V, about 2 V to about 6 V, about 2 V to about 8 V, about 2 V to about 10 V, about 2 V to about 12 V, about 2 V to about 14 V, about 2 V to about 16 V, about 4 V to about 6 V, about 4 V to about 8 V, about 4 V to about 10 V, about 4 V to about 12 V, about 4 V to about 14 V, about 4 V to about 16 V, about 6 V to about 8 V, about 6 V to about 10 V, about 6 V to about 12 V, about 6 V to about 14 V, about 6 V to about 16 V, about 8 V to about 10 V, about 8 V to about 12 V, about 8 V to about 14 V, about 8 V to about 16 V, about 10 V to about 12 V, about 10 V to about 14 V, about 10 V to about 16 V, about 12 V to about 14 V, about 12 V to about 16 V, or about 14 V to about 16 V. In some embodiments, the battery has a voltage of about 2 V, about 4 V, about 6 V, about 8 V, about 10 V, about 12 V, about 14 V, or about 16 V. In some embodiments, the battery has a voltage of at least about 2 V, about 4 V, about 6 V, about 8 V, about 10 V, about 12 V, or about 14 V. In some embodiments, the battery has a voltage of at most about 4 V, about 6 V, about 8 V, about 10 V, about 12 V, about 14 V, or about 16 V. 
     In some embodiments, the battery has a current of about 0.1 A to about 4 A. In some embodiments, the battery has a current of about 0.1 A to about 0.5 A, about 0.1 A to about 1 A, about 0.1 A to about 1.5 A, about 0.1 A to about 2 A, about 0.1 A to about 2.5 A, about 0.1 A to about 3 A, about 0.1 A to about 3.5 A, about 0.1 A to about 4 A, about 0.5 A to about 1 A, about 0.5 A to about 1.5 A, about 0.5 A to about 2 A, about 0.5 A to about 2.5 A, about 0.5 A to about 3 A, about 0.5 A to about 3.5 A, about 0.5 A to about 4 A, about 1 A to about 1.5 A, about 1 A to about 2 A, about 1 A to about 2.5 A, about 1 A to about 3 A, about 1 A to about 3.5 A, about 1 A to about 4 A, about 1.5 A to about 2 A, about 1.5 A to about 2.5 A, about 1.5 A to about 3 A, about 1.5 A to about 3.5 A, about 1.5 A to about 4 A, about 2 A to about 2.5 A, about 2 A to about 3 A, about 2 A to about 3.5 A, about 2 A to about 4 A, about 2.5 A to about 3 A, about 2.5 A to about 3.5 A, about 2.5 A to about 4 A, about 3 A to about 3.5 A, about 3 A to about 4 A, or about 3.5 A to about 4 A. In some embodiments, the battery has a current of about 0.1 A, about 0.5 A, about 1 A, about 1.5 A, about 2 A, about 2.5 A, about 3 A, about 3.5 Å, or about 4 A. In some embodiments, the battery has a current of at least about 0.1 A, about 0.5 A, about 1 A, about 1.5 A, about 2 A, about 2.5 A, about 3 A, or about 3.5 A. In some embodiments, the battery has a current of at most about 0.5 A, about 1 A, about 1.5 A, about 2 A, about 2.5 A, about 3 A, about 3.5 Å, or about 4 A. 
     In some embodiments, the battery has a power of about 0.5 W to about 20 W. In some embodiments, the battery has a power of about 0.5 W to about 1 W, about 0.5 W to about 2 W, about 0.5 W to about 4 W, about 0.5 W to about 6 W, about 0.5 W to about 8 W, about 0.5 W to about 10 W, about 0.5 W to about 12 W, about 0.5 W to about 14 W, about 0.5 W to about 16 W, about 0.5 W to about 18 W, about 0.5 W to about 20 W, about 1 W to about 2 W, about 1 W to about 4 W, about 1 W to about 6 W, about 1 W to about 8 W, about 1 W to about 10 W, about 1 W to about 12 W, about 1 W to about 14 W, about 1 W to about 16 W, about 1 W to about 18 W, about 1 W to about 20 W, about 2 W to about 4 W, about 2 W to about 6 W, about 2 W to about 8 W, about 2 W to about 10 W, about 2 W to about 12 W, about 2 W to about 14 W, about 2 W to about 16 W, about 2 W to about 18 W, about 2 W to about 20 W, about 4 W to about 6 W, about 4 W to about 8 W, about 4 W to about 10 W, about 4 W to about 12 W, about 4 W to about 14 W, about 4 W to about 16 W, about 4 W to about 18 W, about 4 W to about 20 W, about 6 W to about 8 W, about 6 W to about 10 W, about 6 W to about 12 W, about 6 W to about 14 W, about 6 W to about 16 W, about 6 W to about 18 W, about 6 W to about 20 W, about 8 W to about 10 W, about 8 W to about 12 W, about 8 W to about 14 W, about 8 W to about 16 W, about 8 W to about 18 W, about 8 W to about 20 W, about 10 W to about 12 W, about 10 W to about 14 W, about 10 W to about 16 W, about 10 W to about 18 W, about 10 W to about 20 W, about 12 W to about 14 W, about 12 W to about 16 W, about 12 W to about 18 W, about 12 W to about 20 W, about 14 W to about 16 W, about 14 W to about 18 W, about 14 W to about 20 W, about 16 W to about 18 W, about 16 W to about 20 W, or about 18 W to about 20 W. In some embodiments, the battery has a power of about 0.5 W, about 1 W, about 2 W, about 4 W, about 6 W, about 8 W, about 10 W, about 12 W, about 14 W, about 16 W, about 18 W, or about 20 W. In some embodiments, the battery has a power of at least about 0.5 W, about 1 W, about 2 W, about 4 W, about 6 W, about 8 W, about 10 W, about 12 W, about 14 W, about 16 W, or about 18 W. In some embodiments, the battery has a power of at most about 1 W, about 2 W, about 4 W, about 6 W, about 8 W, about 10 W, about 12 W, about 14 W, about 16 W, about 18 W, or about 20 W. 
     In some embodiments, the aerial vehicle  100  has a length of about 50 mm to about 400 mm. In some embodiments, the aerial vehicle  100  has a length of about 50 mm to about 100 mm, about 50 mm to about 150 mm, about 50 mm to about 200 mm, about 50 mm to about 250 mm, about 50 mm to about 300 mm, about 50 mm to about 350 mm, about 50 mm to about 400 mm, about 100 mm to about 150 mm, about 100 mm to about 200 mm, about 100 mm to about 250 mm, about 100 mm to about 300 mm, about 100 mm to about 350 mm, about 100 mm to about 400 mm, about 150 mm to about 200 mm, about 150 mm to about 250 mm, about 150 mm to about 300 mm, about 150 mm to about 350 mm, about 150 mm to about 400 mm, about 200 mm to about 250 mm, about 200 mm to about 300 mm, about 200 mm to about 350 mm, about 200 mm to about 400 mm, about 250 mm to about 300 mm, about 250 mm to about 350 mm, about 250 mm to about 400 mm, about 300 mm to about 350 mm, about 300 mm to about 400 mm, or about 350 mm to about 400 mm. In some embodiments, the aerial vehicle  100  has a length of about 50 mm, about 100 mm, about 150 mm, about 200 mm, about 250 mm, about 300 mm, about 350 mm, or about 400 mm. In some embodiments, the aerial vehicle  100  has a length of at least about 50 mm, about 100 mm, about 150 mm, about 200 mm, about 250 mm, about 300 mm, or about 350 mm. In some embodiments, the aerial vehicle  100  has a length of at most about 100 mm, about 150 mm, about 200 mm, about 250 mm, about 300 mm, about 350 mm, or about 400 mm. 
     In some embodiments, the aerial vehicle  100  has a width of about 50 mm to about 400 mm. In some embodiments, the aerial vehicle  100  has a width of about 50 mm to about 100 mm, about 50 mm to about 150 mm, about 50 mm to about 200 mm, about 50 mm to about 250 mm, about 50 mm to about 300 mm, about 50 mm to about 350 mm, about 50 mm to about 400 mm, about 100 mm to about 150 mm, about 100 mm to about 200 mm, about 100 mm to about 250 mm, about 100 mm to about 300 mm, about 100 mm to about 350 mm, about 100 mm to about 400 mm, about 150 mm to about 200 mm, about 150 mm to about 250 mm, about 150 mm to about 300 mm, about 150 mm to about 350 mm, about 150 mm to about 400 mm, about 200 mm to about 250 mm, about 200 mm to about 300 mm, about 200 mm to about 350 mm, about 200 mm to about 400 mm, about 250 mm to about 300 mm, about 250 mm to about 350 mm, about 250 mm to about 400 mm, about 300 mm to about 350 mm, about 300 mm to about 400 mm, or about 350 mm to about 400 mm. In some embodiments, the aerial vehicle  100  has a width of about 50 mm, about 100 mm, about 150 mm, about 200 mm, about 250 mm, about 300 mm, about 350 mm, or about 400 mm. In some embodiments, the aerial vehicle  100  has a width of at least about 50 mm, about 100 mm, about 150 mm, about 200 mm, about 250 mm, about 300 mm, or about 350 mm. In some embodiments, the aerial vehicle  100  has a width of at most about 100 mm, about 150 mm, about 200 mm, about 250 mm, about 300 mm, about 350 mm, or about 400 mm. 
     In some embodiments, the aerial vehicle  100  has a height of about 30 mm to about 140 mm. In some embodiments, the aerial vehicle  100  has a height of about 30 mm to about 40 mm, about 30 mm to about 50 mm, about 30 mm to about 60 mm, about 30 mm to about 70 mm, about 30 mm to about 80 mm, about 30 mm to about 90 mm, about 30 mm to about 100 mm, about 30 mm to about 120 mm, about 30 mm to about 140 mm, about 40 mm to about 50 mm, about 40 mm to about 60 mm, about 40 mm to about 70 mm, about 40 mm to about 80 mm, about 40 mm to about 90 mm, about 40 mm to about 100 mm, about 40 mm to about 120 mm, about 40 mm to about 140 mm, about 50 mm to about 60 mm, about 50 mm to about 70 mm, about 50 mm to about 80 mm, about 50 mm to about 90 mm, about 50 mm to about 100 mm, about 50 mm to about 120 mm, about 50 mm to about 140 mm, about 60 mm to about 70 mm, about 60 mm to about 80 mm, about 60 mm to about 90 mm, about 60 mm to about 100 mm, about 60 mm to about 120 mm, about 60 mm to about 140 mm, about 70 mm to about 80 mm, about 70 mm to about 90 mm, about 70 mm to about 100 mm, about 70 mm to about 120 mm, about 70 mm to about 140 mm, about 80 mm to about 90 mm, about 80 mm to about 100 mm, about 80 mm to about 120 mm, about 80 mm to about 140 mm, about 90 mm to about 100 mm, about 90 mm to about 120 mm, about 90 mm to about 140 mm, about 100 mm to about 120 mm, about 100 mm to about 140 mm, or about 120 mm to about 140 mm. In some embodiments, the aerial vehicle  100  has a height of about 30 mm, about 40 mm, about 50 mm, about 60 mm, about 70 mm, about 80 mm, about 90 mm, about 100 mm, about 120 mm, or about 140 mm. In some embodiments, the aerial vehicle  100  has a height of at least about 30 mm, about 40 mm, about 50 mm, about 60 mm, about 70 mm, about 80 mm, about 90 mm, about 100 mm, or about 120 mm. In some embodiments, the aerial vehicle  100  has a height of at most about 40 mm, about 50 mm, about 60 mm, about 70 mm, about 80 mm, about 90 mm, about 100 mm, about 120 mm, or about 140 mm. 
     In some embodiments, the wings have a length of about 35 mm to about 140 mm. In some embodiments, the wings have a length of about 35 mm to about 40 mm, about 35 mm to about 45 mm, about 35 mm to about 50 mm, about 35 mm to about 60 mm, about 35 mm to about 70 mm, about 35 mm to about 80 mm, about 35 mm to about 90 mm, about 35 mm to about 100 mm, about 35 mm to about 120 mm, about 35 mm to about 140 mm, about 40 mm to about 45 mm, about 40 mm to about 50 mm, about 40 mm to about 60 mm, about 40 mm to about 70 mm, about 40 mm to about 80 mm, about 40 mm to about 90 mm, about 40 mm to about 100 mm, about 40 mm to about 120 mm, about 40 mm to about 140 mm, about 45 mm to about 50 mm, about 45 mm to about 60 mm, about 45 mm to about 70 mm, about 45 mm to about 80 mm, about 45 mm to about 90 mm, about 45 mm to about 100 mm, about 45 mm to about 120 mm, about 45 mm to about 140 mm, about 50 mm to about 60 mm, about 50 mm to about 70 mm, about 50 mm to about 80 mm, about 50 mm to about 90 mm, about 50 mm to about 100 mm, about 50 mm to about 120 mm, about 50 mm to about 140 mm, about 60 mm to about 70 mm, about 60 mm to about 80 mm, about 60 mm to about 90 mm, about 60 mm to about 100 mm, about 60 mm to about 120 mm, about 60 mm to about 140 mm, about 70 mm to about 80 mm, about 70 mm to about 90 mm, about 70 mm to about 100 mm, about 70 mm to about 120 mm, about 70 mm to about 140 mm, about 80 mm to about 90 mm, about 80 mm to about 100 mm, about 80 mm to about 120 mm, about 80 mm to about 140 mm, about 90 mm to about 100 mm, about 90 mm to about 120 mm, about 90 mm to about 140 mm, about 100 mm to about 120 mm, about 100 mm to about 140 mm, or about 120 mm to about 140 mm. In some embodiments, the wings have a length of about 35 mm, about 40 mm, about 45 mm, about 50 mm, about 60 mm, about 70 mm, about 80 mm, about 90 mm, about 100 mm, about 120 mm, or about 140 mm. In some embodiments, the wings have a length of at least about 35 mm, about 40 mm, about 45 mm, about 50 mm, about 60 mm, about 70 mm, about 80 mm, about 90 mm, about 100 mm, or about 120 mm. In some embodiments, the wings have a length of at most about 40 mm, about 45 mm, about 50 mm, about 60 mm, about 70 mm, about 80 mm, about 90 mm, about 100 mm, about 120 mm, or about 140 mm. 
     In some embodiments, the aerial vehicle  100  has a weight of about 50 g to about 200 g. In some embodiments, the aerial vehicle  100  has a weight of about 50 g to about 60 g, about 50 g to about 70 g, about 50 g to about 80 g, about 50 g to about 90 g, about 50 g to about 100 g, about 50 g to about 120 g, about 50 g to about 140 g, about 50 g to about 160 g, about 50 g to about 180 g, about 50 g to about 200 g, about 60 g to about 70 g, about 60 g to about 80 g, about 60 g to about 90 g, about 60 g to about 100 g, about 60 g to about 120 g, about 60 g to about 140 g, about 60 g to about 160 g, about 60 g to about 180 g, about 60 g to about 200 g, about 70 g to about 80 g, about 70 g to about 90 g, about 70 g to about 100 g, about 70 g to about 120 g, about 70 g to about 140 g, about 70 g to about 160 g, about 70 g to about 180 g, about 70 g to about 200 g, about 80 g to about 90 g, about 80 g to about 100 g, about 80 g to about 120 g, about 80 g to about 140 g, about 80 g to about 160 g, about 80 g to about 180 g, about 80 g to about 200 g, about 90 g to about 100 g, about 90 g to about 120 g, about 90 g to about 140 g, about 90 g to about 160 g, about 90 g to about 180 g, about 90 g to about 200 g, about 100 g to about 120 g, about 100 g to about 140 g, about 100 g to about 160 g, about 100 g to about 180 g, about 100 g to about 200 g, about 120 g to about 140 g, about 120 g to about 160 g, about 120 g to about 180 g, about 120 g to about 200 g, about 140 g to about 160 g, about 140 g to about 180 g, about 140 g to about 200 g, about 160 g to about 180 g, about 160 g to about 200 g, or about 180 g to about 200 g. In some embodiments, the aerial vehicle  100  has a weight of about 50 g, about 60 g, about 70 g, about 80 g, about 90 g, about 100 g, about 120 g, about 140 g, about 160 g, about 180 g, or about 200 g. In some embodiments, the aerial vehicle  100  has a weight of at least about 50 g, about 60 g, about 70 g, about 80 g, about 90 g, about 100 g, about 120 g, about 140 g, about 160 g, or about 180 g. In some embodiments, the aerial vehicle  100  has a weight of at most about 60 g, about 70 g, about 80 g, about 90 g, about 100 g, about 120 g, about 140 g, about 160 g, about 180 g, or about 200 g. 
     Aerial Vehicles 
     Another aspect provided herein, per  FIGS. 1-6  is a modular aerial vehicle  100  comprising a hull  120  and two or more modular wing units  110 . In some embodiments, each modular wing unit  110  comprises a single wing  116  and an actuator  111 . In some embodiments, the single wing  116  is configured to generate lift, thrust, or both via a flapping. In some embodiments, the single wing  116  is actuated by the actuator  111  in a flapping motion. In some embodiments, the actuator  111  actuates the single wing  116  in the flapping motion to propel the hull  120 . 
     Computing System 
     Referring to  FIG. 6 , a block diagram is shown depicting an exemplary machine that includes a computer system  600  (e.g., a processing or computing system) within which a set of instructions can execute for causing a device to perform or execute any one or more of the aspects and/or methodologies for static code scheduling of the present disclosure. The components in  FIG. 6  are examples only and do not limit the scope of use or functionality of any hardware, software, embedded logic component, or a combination of two or more such components implementing particular embodiments. 
     Computer system  600  may include one or more processors  601 , a memory  603 , and a storage  608  that communicate with each other, and with other components, via a bus  640 . The bus  640  may also link a display  632 , one or more input devices  633  (which may, for example, include a keypad, a keyboard, a mouse, a stylus, etc.), one or more output devices  634 , one or more storage devices  635 , and various tangible storage media  636 . All of these elements may interface directly or via one or more interfaces or adaptors to the bus  640 . For instance, the various tangible storage media  636  can interface with the bus  640  via storage medium interface  626 . Computer system  600  may have any suitable physical form, including but not limited to one or more integrated circuits (ICs), printed circuit boards (PCBs), mobile handheld devices (such as mobile telephones or PDAs), laptop or notebook computers, distributed computer systems, computing grids, or servers. 
     Computer system  600  includes one or more processor(s)  601  (e.g., central processing units (CPUs) or general purpose graphics processing units (GPGPUs)) that carry out functions. Processor(s)  601  optionally contains a cache memory unit  602  for temporary local storage of instructions, data, or computer addresses. Processor(s)  601  are configured to assist in execution of computer readable instructions. Computer system  600  may provide functionality for the components depicted in  FIG. 6  as a result of the processor(s)  601  executing non-transitory, processor-executable instructions embodied in one or more tangible computer-readable storage media, such as memory  603 , storage  608 , storage devices  635 , and/or storage medium  636 . The computer-readable media may store software that implements particular embodiments, and processor(s)  601  may execute the software. Memory  603  may read the software from one or more other computer-readable media (such as mass storage device(s)  635 ,  636 ) or from one or more other sources through a suitable interface, such as network interface  620 . The software may cause processor(s)  601  to carry out one or more processes or one or more steps of one or more processes described or illustrated herein. Carrying out such processes or steps may include defining data structures stored in memory  603  and modifying the data structures as directed by the software. 
     The memory  603  may include various components (e.g., machine readable media) including, but not limited to, a random access memory component (e.g., RAM  604 ) (e.g., static RAM (SRAM), dynamic RAM (DRAM), ferroelectric random access memory (FRAM), phase-change random access memory (PRAM), etc.), a read-only memory component (e.g., ROM  605 ), and any combinations thereof. ROM  605  may act to communicate data and instructions unidirectionally to processor(s)  601 , and RAM  604  may act to communicate data and instructions bidirectionally with processor(s)  601 . ROM  605  and RAM  604  may include any suitable tangible computer-readable media described below. In one example, a basic input/output system  606  (BIOS), including basic routines that help to transfer information between elements within computer system  600 , such as during start-up, may be stored in the memory  603 . 
     Fixed storage  608  is connected bidirectionally to processor(s)  601 , optionally through storage control unit  607 . Fixed storage  608  provides additional data storage capacity and may also include any suitable tangible computer-readable media described herein. Storage  608  may be used to store operating system  609 , executable(s)  610 , data  611 , applications  612  (application programs), and the like. Storage  608  can also include an optical disk drive, a solid-state memory device (e.g., flash-based systems), or a combination of any of the above. Information in storage  608  may, in appropriate cases, be incorporated as virtual memory in memory  603 . 
     In one example, storage device(s)  635  may be removably interfaced with computer system  600  (e.g., via an external port connector (not shown)) via a storage device interface  625 . Particularly, storage device(s)  635  and an associated machine-readable medium may provide non-volatile and/or volatile storage of machine-readable instructions, data structures, program modules, and/or other data for the computer system  600 . In one example, software may reside, completely or partially, within a machine-readable medium on storage device(s)  635 . In another example, software may reside, completely or partially, within processor(s)  601 . 
     Bus  640  connects a wide variety of subsystems. Herein, reference to a bus may encompass one or more digital signal lines serving a common function, where appropriate. Bus  640  may be any of several types of bus structures including, but not limited to, a memory bus, a memory controller, a peripheral bus, a local bus, and any combinations thereof, using any of a variety of bus architectures. As an example and not by way of limitation, such architectures include an Industry Standard Architecture (ISA) bus, an Enhanced ISA (EISA) bus, a Micro Channel Architecture (MCA) bus, a Video Electronics Standards Association local bus (VLB), a Peripheral Component Interconnect (PCI) bus, a PCI-Express (PCI-X) bus, an Accelerated Graphics Port (AGP) bus, HyperTransport (HTX) bus, serial advanced technology attachment (SATA) bus, and any combinations thereof. 
     Computer system  600  may also include an input device  633 . In one example, a user of computer system  600  may enter commands and/or other information into computer system  600  via input device(s)  633 . Examples of an input device(s)  633  include, but are not limited to, an alpha-numeric input device (e.g., a keyboard), a pointing device (e.g., a mouse or touchpad), a touchpad, a touch screen, a multi-touch screen, a joystick, a stylus, a gamepad, an audio input device (e.g., a microphone, a voice response system, etc.), an optical scanner, a video or still image capture device (e.g., a camera), and any combinations thereof. In some embodiments, the input device is a Kinect, Leap Motion, or the like. Input device(s)  633  may be interfaced to bus  640  via any of a variety of input interfaces  623  (e.g., input interface  623 ) including, but not limited to, serial, parallel, game port, USB, FIREWIRE, THUNDERBOLT, or any combination of the above. 
     In particular embodiments, when computer system  600  is connected to network  630 , computer system  600  may communicate with other devices, specifically mobile devices and enterprise systems, distributed computing systems, cloud storage systems, cloud computing systems, and the like, connected to network  630 . Communications to and from computer system  600  may be sent through network interface  620 . For example, network interface  620  may receive incoming communications (such as requests or responses from other devices) in the form of one or more packets (such as Internet Protocol (IP) packets) from network  630 , and computer system  600  may store the incoming communications in memory  603  for processing. Computer system  600  may similarly store outgoing communications (such as requests or responses to other devices) in the form of one or more packets in memory  603  and communicated to network  630  from network interface  620 . Processor(s)  601  may access these communication packets stored in memory  603  for processing. 
     Examples of the network interface  620  include, but are not limited to, a network interface card, a modem, and any combination thereof. Examples of a network  630  or network segment  630  include, but are not limited to, a distributed computing system, a cloud computing system, a wide area network (WAN) (e.g., the Internet, an enterprise network), a local area network (LAN) (e.g., a network associated with an office, a building, a campus or other relatively small geographic space), a telephone network, a direct connection between two computing devices, a peer-to-peer network, and any combinations thereof. A network, such as network  630 , may employ a wired and/or a wireless mode of communication. In general, any network topology may be used. 
     Information and data can be displayed through a display  632 . Examples of a display  632  include, but are not limited to, a cathode ray tube (CRT), a liquid crystal display (LCD), a thin film transistor liquid crystal display (TFT-LCD), an organic liquid crystal display (OLED) such as a passive-matrix OLED (PMOLED) or active-matrix OLED (AMOLED) display, a plasma display, and any combinations thereof. The display  632  can interface to the processor(s)  601 , memory  603 , and fixed storage  608 , as well as other devices, such as input device(s)  633 , via the bus  640 . The display  632  is linked to the bus  640  via a video interface  622 , and transport of data between the display  632  and the bus  640  can be controlled via the graphics control  621 . In some embodiments, the display is a video projector. In some embodiments, the display is a head-mounted display (HMD) such as a VR headset. In further embodiments, suitable VR headsets include, by way of non-limiting examples, HTC Vive, Oculus Rift, Samsung Gear VR, Microsoft HoloLens, Razer OSVR, FOVE VR, Zeiss VR One, Avegant Glyph, Freefly VR headset, and the like. In still further embodiments, the display is a combination of devices such as those disclosed herein. 
     In addition to a display  632 , computer system  600  may include one or more other peripheral output devices  634  including, but not limited to, an audio speaker, a printer, a storage device, and any combinations thereof. Such peripheral output devices may be connected to the bus  640  via an output interface  624 . Examples of an output interface  624  include, but are not limited to, a serial port, a parallel connection, a USB port, a FIREWIRE port, a THUNDERBOLT port, and any combinations thereof. 
     In addition or as an alternative, computer system  600  may provide functionality as a result of logic hardwired or otherwise embodied in a circuit, which may operate in place of or together with software to execute one or more processes or one or more steps of one or more processes described or illustrated herein. Reference to software in this disclosure may encompass logic, and reference to logic may encompass software. Moreover, reference to a computer-readable medium may encompass a circuit (such as an IC) storing software for execution, a circuit embodying logic for execution, or both, where appropriate. The present disclosure encompasses any suitable combination of hardware, software, or both. 
     Those of skill in the art will appreciate that the various illustrative logical blocks, modules, circuits, and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, computer software, or combinations of both. To clearly illustrate this interchangeability of hardware and software, various illustrative components, blocks, modules, circuits, and steps have been described above generally in terms of their functionality. 
     The various illustrative logical blocks, modules, and circuits described in connection with the embodiments disclosed herein may be implemented or performed with a general purpose processor, a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic device, discrete gate or transistor logic, discrete hardware components, or any combination thereof designed to perform the functions described herein. A general purpose processor may be a microprocessor, but in the alternative, the processor may be any conventional processor, controller, microcontroller, or state machine. A processor may also be implemented as a combination of computing devices, e.g., a combination of a DSP and a microprocessor, a plurality of microprocessors, one or more microprocessors in conjunction with a DSP core, or any other such configuration. 
     The steps of a method or algorithm described in connection with the embodiments disclosed herein may be embodied directly in hardware, in a software module executed by one or more processor(s), or in a combination of the two. A software module may reside in RAM memory, flash memory, ROM memory, EPROM memory, EEPROM memory, registers, hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art. An exemplary storage medium is coupled to the processor such the processor can read information from, and write information to, the storage medium. In the alternative, the storage medium may be integral to the processor. The processor and the storage medium may reside in an ASIC. The ASIC may reside in a user terminal. In the alternative, the processor and the storage medium may reside as discrete components in a user terminal. 
     In accordance with the description herein, suitable computing devices include, by way of non-limiting examples, server computers, desktop computers, laptop computers, notebook computers, sub-notebook computers, netbook computers, netpad computers, set-top computers, media streaming devices, handheld computers, Internet appliances, mobile smartphones, tablet computers, personal digital assistants, video game consoles, and vehicles. Those of skill in the art will also recognize that select televisions, video players, and digital music players with optional computer network connectivity are suitable for use in the system described herein. Suitable tablet computers, in various embodiments, include those with booklet, slate, and convertible configurations, known to those of skill in the art. 
     In some embodiments, the computing device includes an operating system configured to perform executable instructions. The operating system is, for example, software, including programs and data, which manages the device&#39;s hardware and provides services for execution of applications. Those of skill in the art will recognize that suitable server operating systems include, by way of non-limiting examples, FreeBSD, OpenBSD, NetBSD®, Linux, Apple® Mac OS X Server®, Oracle® Solaris®, Windows Server®, and Novell® NetWare®. Those of skill in the art will recognize that suitable personal computer operating systems include, by way of non-limiting examples, Microsoft® Windows®, Apple® Mac OS X®, UNIX®, and UNIX-like operating systems such as GNU/Linux®. In some embodiments, the operating system is provided by cloud computing. Those of skill in the art will also recognize that suitable mobile smartphone operating systems include, by way of non-limiting examples, Nokia® Symbian® OS, Apple® iOS®, Research In Motion® BlackBerry OS®, Google® Android®, Microsoft® Windows Phone® OS, Microsoft® Windows Mobile® OS, Linux®, and Palm® WebOS®. Those of skill in the art will also recognize that suitable media streaming device operating systems include, by way of non-limiting examples, Apple TV®, Roku®, Boxee®, Google TV®, Google Chromecast®, Amazon Fire®, and Samsung® HomeSync®. Those of skill in the art will also recognize that suitable video game console operating systems include, by way of non-limiting examples, Sony® PS3®, Sony® PS4®, Microsoft® Xbox 360®, Microsoft Xbox One, Nintendo® Wii®, Nintendo® Wii U®, and Ouya®. 
     Non-Transitory Computer Readable Storage Medium 
     In some embodiments, the platforms, systems, media, and methods disclosed herein include one or more non-transitory computer readable storage media encoded with a program including instructions executable by the operating system of an optionally networked computing device. In further embodiments, a computer readable storage medium is a tangible component of a computing device. In still further embodiments, a computer readable storage medium is optionally removable from a computing device. In some embodiments, a computer readable storage medium includes, by way of non-limiting examples, CD-ROMs, DVDs, flash memory devices, solid state memory, magnetic disk drives, magnetic tape drives, optical disk drives, distributed computing systems including cloud computing systems and services, and the like. In some cases, the program and instructions are permanently, substantially permanently, semi-permanently, or non-transitorily encoded on the media. 
     Computer Program 
     In some embodiments, the platforms, systems, media, and methods disclosed herein include at least one computer program, or use of the same. A computer program includes a sequence of instructions, executable by one or more processor(s) of the computing device&#39;s CPU, written to perform a specified task. Computer readable instructions may be implemented as program modules, such as functions, objects, Application Programming Interfaces (APIs), computing data structures, and the like, that perform particular tasks or implement particular abstract data types. In light of the disclosure provided herein, those of skill in the art will recognize that a computer program may be written in various versions of various languages. 
     The functionality of the computer readable instructions may be combined or distributed as desired in various environments. In some embodiments, a computer program comprises one sequence of instructions. In some embodiments, a computer program comprises a plurality of sequences of instructions. In some embodiments, a computer program is provided from one location. In other embodiments, a computer program is provided from a plurality of locations. In various embodiments, a computer program includes one or more software modules. In various embodiments, a computer program includes, in part or in whole, one or more web applications, one or more mobile applications, one or more standalone applications, one or more web browser plug-ins, extensions, add-ins, or add-ons, or combinations thereof. 
     Standalone Application 
     In some embodiments, a computer program includes a standalone application, which is a program that is run as an independent computer process, not an add-on to an existing process, e.g., not a plug-in. Those of skill in the art will recognize that standalone applications are often compiled. A compiler is a computer program(s) that transforms source code written in a programming language into binary object code such as assembly language or machine code. Suitable compiled programming languages include, by way of non-limiting examples, C, C++, Objective-C, COBOL, Delphi, Eiffel, Java™, Lisp, Python™, Visual Basic, and VB.NET, or combinations thereof. Compilation is often performed, at least in part, to create an executable program. In some embodiments, a computer program includes one or more executable complied applications. 
     Software Modules 
     In some embodiments, the platforms, systems, media, and methods disclosed herein include software, server, and/or database modules, or use of the same. In view of the disclosure provided herein, software modules are created by techniques known to those of skill in the art using machines, software, and languages known to the art. The software modules disclosed herein are implemented in a multitude of ways. In various embodiments, a software module comprises a file, a section of code, a programming object, a programming structure, or combinations thereof. In further various embodiments, a software module comprises a plurality of files, a plurality of sections of code, a plurality of programming objects, a plurality of programming structures, or combinations thereof. In various embodiments, the one or more software modules comprise, by way of non-limiting examples, a web application, a mobile application, and a standalone application. In some embodiments, software modules are in one computer program or application. In other embodiments, software modules are in more than one computer program or application. In some embodiments, software modules are hosted on one machine. In other embodiments, software modules are hosted on more than one machine. In further embodiments, software modules are hosted on a distributed computing platform such as a cloud computing platform. In some embodiments, software modules are hosted on one or more machines in one location. In other embodiments, software modules are hosted on one or more machines in more than one location. 
     Terms and Definitions 
     Unless otherwise defined, all technical terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this disclosure belongs. 
     As used herein, the term “roll” refers to rotation about an axis between the forward and reverse directions of a vehicle. 
     As used herein, the term “pitch” refers to rotation about an axis parallel to the earth tangential and perpendicular to the axis between the forward and reverse directions of a vehicle. 
     As used herein, the term “yaw” refers to rotation about an axis perpendicular to the earth tangential and perpendicular to the axis between the forward and reverse directions of a vehicle. 
     As used herein, the term “flapping velocity” refers to a maximum velocity of a point on a wing, or a maximum rotational velocity of a point on the wing. 
     As used herein, the term “flapping amplitude” refers to a maximum displacement of a point on a wing, or a maximum rotational displacement of a point on the wing. 
     As used herein, the term “flapping angle” refers to a maximum angle between a plane defined by the stroke of the wing and the surface of the wing. 
     As used herein, the term “oscillating motion” refers to a series of repetitive subsequent motions in two or more opposite directions. 
     As used herein, the term “continuous rotation” refers to a repetitive motion in only a single direction. 
     As used herein, the singular forms “a,” “an,” and “the” include plural references unless the context clearly dictates otherwise. Any reference to “or” herein is intended to encompass “and/or” unless otherwise stated. 
     As used herein, the term “about” in some cases refers to an amount that is approximately the stated amount. 
     As used herein, the term “about” refers to an amount that is near the stated amount by 10%, 5%, or 1%, including increments therein. 
     As used herein, the term “about” in reference to a percentage refers to an amount that is greater or less the stated percentage by 10%, 5%, or 1%, including increments therein. 
     As used herein, the phrases “at least one”, “one or more”, and “and/or” are open-ended expressions that are both conjunctive and disjunctive in operation. For example, each of the expressions “at least one of A, B and C”, “at least one of A, B, or C”, “one or more of A, B, and C”, “one or more of A, B, or C” and “A, B, and/or C” means A alone, B alone, C alone, A and B together, A and C together, B and C together, or A, B and C together. 
     While preferred embodiments of the present disclosure have been shown and described herein, it will be obvious to those skilled in the art that such embodiments are provided by way of example only. Numerous variations, changes, and substitutions will now occur to those skilled in the art without departing from the disclosure. It should be understood that various alternatives to the embodiments of the disclosure described herein may be employed in practicing the disclosure.