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Dynamic soaring

Dynamic soaring is a specialized gliding technique employed by certain seabirds, such as albatrosses and shearwaters, and by unpowered aircraft like radio-controlled gliders, to extract kinetic energy from vertical wind shear—the gradient in wind speed between adjacent air layers—enabling sustained or high-speed flight without flapping wings or mechanical propulsion.^[1]^[2] This method relies on the physical principle of momentum exchange across a boundary layer where wind velocity increases with altitude, typically near the ocean surface or in atmospheric shear zones.^[1] In practice, the flyer performs repeated cycles of dives and climbs, crossing the shear layer to gain airspeed: descending with a tailwind accelerates the craft, while ascending into a headwind conserves or regains energy through the differential wind velocities, as first hypothesized by Lord Rayleigh in the late 19th century.^[3] The classic Rayleigh cycle models this as near-circular loops on an inclined plane, traversing a thin shear layer between a calm boundary layer and a faster free stream, where airspeed can increase by up to the shear wind speed W_0 during crossings, offset by drag losses elsewhere.^[3] Optimal trajectories involve successive shallow arcs with small-angle turns, favoring crosswind orientations to maximize energy harvest while minimizing required wind strength—about 35% less than earlier half-turn models.^[3] In nature, dynamic soaring allows species like the wandering albatross to cover thousands of kilometers over open oceans with minimal energy expenditure, optimizing paths by phasing vertical undulations with horizontal turns to exploit spatiotemporal wind gradients, which influences their foraging distribution.^[2] For instance, Manx shearwaters achieve positive horizontal wind effectiveness (median 0.042–0.272), enabling efficient long-distance migration.^[2] Human applications emerged in the 1990s with radio-controlled sailplanes, where early pilots like Joe Wurts and Pat Bowman exploited sharp gradients near mountains, with modern records exceeding 500 mph, including a world record of 564 mph set by Spencer Lisenby in 2023, demonstrating the technique's potential for energy-neutral, high-performance flight.^[1]^[4] Unlike thermal soaring, which depends on rising air columns, dynamic soaring leverages ubiquitous wind shear, making it versatile for both biological and engineered systems.^[1]

Fundamentals

Definition and Mechanism

Dynamic soaring is a flight technique utilized by certain birds and engineered aircraft to sustain flight without onboard propulsion by extracting energy from spatial gradients in wind velocity, particularly vertical wind shear in horizontal winds. This method involves repeatedly crossing the boundary between air layers moving at different speeds, converting the kinetic energy differential into the vehicle's own kinetic energy to overcome drag and maintain or gain altitude.^[5] The concept was first theoretically explained by Lord Rayleigh in 1883, who proposed that birds like albatrosses could exploit wind shear to soar without flapping their wings, describing a cycle where the bird alternates between faster and slower wind layers to achieve net energy gain. The term "dynamic soaring" was introduced in the early 20th century, appearing as early as 1908 in F. W. Lanchester's work on aerodynamics, which built on observations of seabird flight patterns to formalize the maneuver.^[6] In its basic mechanism, the vehicle performs a Rayleigh cycle involving climbs and dives across the shear layer. Starting in the slower lower layer, it climbs upwind into the faster upper layer, gaining airspeed by the shear velocity \Delta W as it transitions to the stronger wind. It then turns and dives downwind back through the shear into the slower layer, gaining an additional \Delta W in airspeed from the tailwind. Finally, it turns upwind in the slow layer to initiate the next climb, resulting in a net airspeed increase of $2\Delta W per cycle in the ideal dragless case, which compensates for aerodynamic losses in practice. The key phases include initial entry into the shear zone, upwind acceleration in the high-speed layer, downwind deceleration while preserving momentum through descent, and loop closure with minimal net altitude change. Over multiple cycles, the energy extracted from the wind gradient balances or exceeds drag-induced losses, enabling indefinite sustained flight in suitable conditions.^[7]^[3]

Physical Principles

Dynamic soaring relies on wind shear, which refers to spatial gradients in wind velocity, either vertical or horizontal, that create differences in airspeed across layers of the atmosphere. These gradients are particularly pronounced near ocean surfaces, where frictional drag from waves slows surface winds, leading to a rapid increase in speed with altitude—often modeled as a power-law profile with shear strengths of several meters per second over tens of meters.^[8]^[9] The energy extraction process converts the kinetic energy differential inherent in the wind shear—expressed as \Delta \left( \frac{1}{2} \rho v^2 \right), where \rho is air density and v is wind speed—into the aircraft's kinetic energy through repeated traversals of the shear layer. In a simplified two-layer model, the aircraft accelerates in the faster wind layer and decelerates in the slower one, with net gain accumulated over a cycle of upwind and downwind legs. The key equation for net energy gain per cycle is

\Delta E = \frac{1}{2} m (v_{\text{fast}}^2 - v_{\text{slow}}^2),

where m is the aircraft mass and v_{\text{fast}}, v_{\text{slow}} are the wind speeds in the respective layers; this represents the maximum extractable energy before accounting for drag losses.^[9]^[10] Aerodynamic forces play a critical role, with lift and drag varying across the shear due to changes in relative airspeed. Lift, generated perpendicular to the airflow, must counter weight during climbs, while drag opposes motion and dissipates energy; both are functions of airspeed squared, dynamic pressure, and coefficients influenced by angle of attack (\alpha). Pilots or control systems adjust \alpha to optimize the lift-to-drag ratio (L/D), typically maximizing it (e.g., 20–50 for gliders) in the slower layer to minimize losses and ensure efficient energy transfer during traversals.^[9] Limitations arise from insufficient shear strength, requiring a minimum differential of approximately 5 m/s between layers for net-positive energy in low-drag vehicles, below which drag exceeds gains and sustained flight becomes impossible. Turbulence within the shear layer disrupts smooth traversals, increasing drag and reducing predictability, while thicker shear layers (e.g., >20 m) dilute the velocity gradient, lowering extractable energy per cycle.^[11]^[9] Lord Rayleigh's 1883 analysis provided the foundational model, proposing a dragless glider in a stepped wind profile could gain airspeed of twice the shear increment ($2 \Delta W) per loop by climbing upwind in the faster layer and descending downwind in the slower one, demonstrating feasibility for low-drag craft in strong gradients without flapping or propulsion.^[12]^[8]

Natural Applications

In Birds

Seabirds, particularly those in the order Procellariiformes, employ dynamic soaring to achieve efficient long-distance travel over oceans, harnessing wind shear near the sea surface to minimize energy expenditure during foraging.^[13] This technique allows them to cover vast distances without frequent wing flapping, adapting to the consistent wind gradients found in regions like the Southern Ocean.^[14] The wandering albatross (Diomedea exulans) exemplifies dynamic soaring, utilizing wind gradients in the Southern Ocean to undertake foraging trips spanning up to 15,000 km with minimal flapping.^[14] These birds execute S-shaped flight paths, climbing into slower winds at higher altitudes and descending into faster low-level winds to extract kinetic energy from the shear layer.^[2] Their wings, characterized by high aspect ratios exceeding 15, enable low induced drag and sustained gliding efficiency during these maneuvers.^[15] Biomechanical studies indicate that dynamic soaring substantially reduces energy demands compared to continuous flapping flight, with estimates suggesting up to 50% lower metabolic costs for albatrosses in favorable winds.^[16] GPS tracking data from the 2000s and 2010s reveal ground speeds exceeding 100 km/h—reaching up to 127 km/h—in strong wind shears, confirming the technique's role in rapid transit over expansive oceanic foraging grounds.^[16]^[17] Dynamic soaring has evolved in Procellariiformes over millions of years, with fossil evidence tracing the order's origins to the Eocene epoch around 50 million years ago, facilitating their adaptation to pelagic lifestyles and efficient exploitation of marine wind patterns for foraging across remote oceans.^[18] This behavioral strategy supports extended periods at sea, essential for locating scattered prey resources in open waters.^[2] Early observations of dynamic soaring date to 19th-century sailor accounts of albatrosses effortlessly traversing stormy seas, later formalized in Lord Rayleigh's 1883 theoretical model inspired by such sightings.^[19] Modern biologging, including GPS and accelerometer telemetry from the 2010s, has validated shear exploitation in species like wandering albatrosses, with studies published in high-impact journals confirming cyclical energy gains during descent-ascent cycles.^[20] Recent telemetry data also highlight its use in other seabirds, such as frigatebirds (Fregata spp.) monitoring boundary layer dynamics over the tropical oceans and petrels performing optimized soaring in variable winds, extending the technique beyond albatrosses to smaller Procellariiformes.^[21]^[22]^[23] Recent 2025 studies have optimized models of dynamic soaring trajectories, revealing trade-offs in energy gain versus flight direction, and inspired bio-mimetic drones for long-endurance missions.^[24]^[25]

Engineered Applications

Manned Aircraft

Dynamic soaring in manned aircraft involves theoretical and computational explorations for piloted sailplanes to exploit horizontal wind shears near terrain features such as mountain ridges or coastal boundaries to gain kinetic energy without propulsion. This technique, distinct from thermal or wave soaring, requires maneuvers that cross wind velocity gradients to convert shear energy into flight speed and altitude. Theoretical studies since the late 20th century have demonstrated its feasibility for full-scale gliders, building on observations from avian flight and applications in radio-controlled models.^[26] Computational models from the 1990s and 2000s have explored dynamic soaring's potential for enhancing range in high-performance sailplanes over open fields or ridges.^[27]^[28] These models suggest energy-neutral circuits with net speed gains of 20-50 km/h in 15 m/s shears, underscoring the technique's theoretical role in extending flight durations. However, practical implementation in manned flight remains limited due to safety risks, including turbulence and structural stresses, with no official FAI records for pure dynamic soaring as of 2025. Pilots would employ precise, iterative loops or figure-eight patterns to penetrate the shear layer, typically at low altitudes to maximize gradient exposure. Energy management involves adjustments to airspeed, bank angle, and pitch, requiring speeds of 150-250 km/h to maintain positive energy gain in winds exceeding 15 m/s. In coastal settings, positioning perpendicular to sea breeze fronts could exploit horizontal velocity differences of 10-20 m/s. These maneuvers demand advanced skills, with monitoring via variometers and GPS, though real-world application is constrained by physiological limits from G-loads up to 3-4g and low-level terrain risks.^[26]^[29] Suitable aircraft are high-performance single-seat sailplanes optimized for low drag and minimal sink rates, typically under 0.5 m/s at best glide speeds. Models from Schempp-Hirth, such as the Ventus or Nimbus series, feature composite construction, high aspect ratios (over 30), and adjustable wing extensions; these allow sink rates as low as 0.4 m/s and glide ratios exceeding 50:1. Ballast systems—up to 200 kg of water—increase wing loading to 50-60 kg/m² for penetrating shears. Retractable undercarriages and robust carbon-fiber airframes enhance durability, while modern variants like the 2020s Schempp-Hirth Arcus incorporate advanced composites for improved efficiency.^[30]^[28]^[31] Challenges include sustained G-loads, reduced visibility, and shear turbulence risking overload or disorientation. Training relies on simulators replicating wind gradients, but transition requires extensive soaring experience. Advancements in composites have reduced weight by 10-15% since 2020, improving potential efficiency.^[29]

Unmanned Aircraft

Unmanned aircraft utilizing dynamic soaring represent a class of autonomous or semi-autonomous UAVs designed to extract kinetic energy from atmospheric wind shears, enabling extended flight durations without reliance on onboard propulsion. Research into this application began in the early 2000s, with initial theoretical models and simulations exploring the feasibility of applying albatross-inspired techniques to small UAVs for surveillance and long-endurance missions.^[32] A seminal 2007 Stanford University study derived equations of motion for boundary-layer dynamic soaring and proposed the Mariner UAV prototype, a lightweight fixed-wing design capable of demonstrating energy extraction from wind gradients near the ocean surface.^[32] By the mid-2000s, NASA initiated related efforts through its Autonomous Soaring Project, focusing on energy-neutral flight via wind exploitation, though early experiments emphasized thermal updrafts over shear-based dynamic soaring.^[33] Design features of dynamic soaring UAVs prioritize minimal mass and structural efficiency to maximize glide performance and energy harvesting. These vehicles typically employ lightweight carbon fiber-reinforced polymer (CFRP) composites for airframes, reducing overall weight to under 5 kg for small prototypes while maintaining high strength-to-weight ratios essential for sustained gliding.^[34] Variable geometry wings, often inspired by avian morphing, allow adaptive camber and dihedral adjustments to optimize lift in varying shear conditions, with some designs incorporating servo-actuated flaps for real-time reconfiguration.^[35] Sensors play a critical role in shear detection; GPS-derived anemometry estimates wind vectors by correlating position and velocity data, while low-cost inertial measurement units (IMUs) and pitot-static probes provide airflow feedback without bulky LIDAR systems, enabling real-time navigation in gradients as low as 1 m/s per 10 m altitude.^[36] Applications of dynamic soaring UAVs center on missions requiring prolonged loiter times in remote or hostile environments. In atmospheric research, these vehicles collect data on wind profiles and turbulence over extended periods, supporting climate modeling and boundary-layer studies without frequent landings.^[33] For surveillance, such as maritime patrol or perimeter monitoring, dynamic soaring enables energy-neutral operation, allowing UAVs to maintain persistent overhead coverage for hours or days in favorable wind regimes, as demonstrated in simulations achieving up to 10 times the endurance of powered flight.^[37] These capabilities position dynamic soaring UAVs as complements to satellite systems, particularly in regions with consistent shear like coastal zones or jet streams. Control algorithms for dynamic soaring emphasize autonomous path optimization to exploit wind shears while ensuring stability. Trajectory optimization techniques, such as those using nonlinear programming, compute cyclic maneuvers—like figure-eight or inclined-circle paths—that maximize net energy gain by balancing climb in high-speed layers and descent in low-speed ones, often yielding 20-50% efficiency improvements over straight-line gliding.^[38] AI-driven autonomy, including deep reinforcement learning, enables real-time adaptation to variable winds; agents trained on differential flat models predict shear locations and adjust roll angles to sustain loops, with demonstrated success in simulations handling gusts up to 5 m/s.^[39] These algorithms integrate with onboard autopilots, using total energy state (kinetic plus potential) as a feedback metric to trigger soaring modes autonomously.^[33] A key example of early adaptation comes from NASA's high-altitude prototypes, where lessons from the solar-powered Helios program—influencing lightweight wing designs—have informed hybrid soaring concepts for UAVs transitioning to wind-based propulsion in low-power scenarios.^[40] However, challenges persist, particularly during low-shear periods when energy extraction drops below losses from drag; battery backups are essential for propulsion-assisted recovery, adding 10-20% to total mass but ensuring mission continuity in variable conditions.^[41] Initiated in 2024, DARPA's Albatross program, as of 2025, is developing AI-enabled autonomous soaring for UAVs aiming at multi-week endurance through wind energy harvesting, with ongoing efforts toward flight tests demonstrating enhanced persistence for intelligence, surveillance, and reconnaissance (ISR) missions. The program has awarded contracts, including to PhysicsAI for AI-driven wind perception and to Mississippi State University for endurance demonstrations.^[42] Commercial efforts, such as University of Cincinnati's albatross-inspired designs, incorporate morphing wings for stratospheric operations, bridging gaps in coverage for environmental monitoring and border security applications.^[25]

Radio-Controlled Gliders

Radio-controlled dynamic soaring emerged in the late 1990s, popularized by enthusiasts like Joe Wurts and Pat Bowman, who drew inspiration from albatross flight patterns to experiment with unpowered gliders exploiting wind gradients. These early efforts involved hand-launching lightweight foam or balsa wood models along coastal ridges, where consistent wind shears provided the necessary energy for sustained flight without motors.^[1] Pilots employ precise techniques to harness ridge lift shears, typically flying looping or figure-8 patterns that allow the glider to cross between layers of differing wind speeds—climbing slowly upwind in calmer air and accelerating rapidly downwind in stronger flows before diving back across the shear. Spotters are essential for safety, monitoring the model's path and alerting the pilot to potential collisions or structural risks at extreme velocities. Speeds in dives routinely surpass 500 km/h, with records in the 2020s reaching up to 882 km/h in 2021 with the Transonic DP model, followed by the current benchmark of 907 km/h, achieved by Spencer Lisenby in 2023 using a ballasted Transonic DP glider under strong Santa Ana winds at Parker Mountain, New Hampshire.^[43]^[44]^[4] Competitions focus on speed trials and endurance, often categorized by model dimensions and weight to balance performance across designs, with events drawing pilots to wind-rich sites for record attempts. Community-organized gatherings, such as those at Weldon Hill in the UK or U.S. coastal cliffs, simulate championship formats and have been held since the early 2000s, fostering technique refinement and equipment evolution.^[45] High-performance models incorporate low-drag symmetrical airfoils, such as the NACA 0008 series, paired with rigid carbon fiber fuselages and wings to withstand g-forces exceeding 50g during dives. Onboard electronics provide telemetry for real-time speed and altitude data via radio links, though control inputs are limited to initial launch and positioning, with the soaring phase relying on aerodynamic stability rather than active servos.^[43] The RC dynamic soaring community thrives through online platforms and local clubs, where members exchange site-specific wind data—for instance, the consistent 20-40 km/h gradients at Cabrillo Point, California—along with setup tips and failure analyses. Safety protocols mandate minimum distances from spectators, reinforced airframes, and emergency retrieval plans to mitigate risks from debris at transonic speeds. Innovations in 3D printing have accelerated since the 2020s, enabling rapid iteration of lightweight prototypes with integrated hinges and custom geometries, as seen in designs from SoarKraft that achieve competitive speeds while reducing build times.^[46]

Advanced Concepts

Spacecraft Utilization

Dynamic soaring has been proposed as a propulsion method for spacecraft operating in the dense atmospheres of other planets and moons, enabling long-duration missions without traditional fuel sources by harvesting energy from atmospheric wind gradients. This concept adapts the technique to environments with persistent vertical wind shears, such as those found in Venus's upper cloud layers, where zonal winds reach speeds of up to 100 m/s due to the planet's super-rotation. Orbital insertion into these shear layers allows a vehicle to cycle between faster- and slower-moving air masses, gaining kinetic energy on each loop to maintain altitude and maneuverability.^[47] The mechanism involves controlled dives and climbs to exploit shear layers typically at altitudes of 55-60 km on Venus, where simulations demonstrate net energy gains per cycle sufficient for indefinite flight under ideal conditions. For instance, large eddy simulations integrated with general circulation models show that at 60 km, a vehicle can achieve higher energy per cycle from horizontal shears, while 55 km benefits from additional vertical winds of about 3 m/s for overall greater efficiency. Recent studies (2023-2025) have explored dynamic soaring for Titan UAVs, including computational investigations and electric fixed-wing drone concepts for enhanced endurance in missions mapping dunes and sampling organics. This approach extends to other bodies like Titan, Saturn's largest moon, where the dense nitrogen-methane atmosphere (surface pressure 1.5 bar, density 5.25 kg/m³) supports similar maneuvers at low altitudes around 5 km. There, a fixed-wing unmanned aerial vehicle (UAV) design with dynamic soaring capabilities could enable extended exploration, combining energy harvesting with methane refueling from surface lakes to support missions lasting up to 75 days.^[47]^[48]^[49]^[50]^[51] Key examples include a 2020 NASA-funded proposal for a Venus cloud explorer using dynamic soaring to perform targeted in situ sampling of aerosols and trace gases, addressing gaps in understanding planetary habitability. For Titan, conceptual UAV designs incorporate dynamic soaring to map dunes and sample organics at high resolution, surpassing limitations of rovers or orbiters by providing persistent aerial coverage. These applications leverage non-dimensional models of aircraft motion, optimizing lift-to-drag ratios and speed gradients for energy-neutral or positive cycles across varying atmospheric profiles.^[47]^[49]^[48] Challenges in implementation stem from the extreme environments: on Venus, sulfuric acid aerosols (pH 0 to -2) and high pressures (up to 1 bar at cloud tops) demand corrosion-resistant materials and robust structures to withstand g-loads during maneuvers. Initial orbital capture requires auxiliary propulsion, and real-time wind field estimation is critical for navigation amid variable shears. On Titan, cryogenic temperatures (93 K) and limited oxidizer availability complicate propulsion integration, though simulations confirm feasibility for sustained flight with proper design scaling. Despite these hurdles, numerical models indicate that dynamic soaring could enable perpetual operations, revolutionizing long-term atmospheric science on these worlds.^[47]^[48]^[49]

Mathematical Modeling

Mathematical modeling of dynamic soaring typically begins with simplified two-dimensional point-mass approximations to capture the essential energy extraction from wind shear. These models treat the aircraft or bird as a point mass with velocity \mathbf{v} relative to the ground, incorporating the wind velocity \mathbf{v}_w to derive the airspeed \mathbf{v}_a = \mathbf{v} - \mathbf{v}_w. The equations of motion in the vertical plane are given by:

m \dot{V} = -D - mg \sin \gamma + m \dot{W} \cos \gamma \sin \psi,

m V \dot{\gamma} = L \cos \phi - mg \cos \gamma - m \dot{W} \sin \gamma \sin \psi,

where m is mass, V is airspeed magnitude, \gamma is flight path angle, \psi is heading angle, L and D are lift and drag forces, g is gravity, and \dot{W} is the wind speed gradient.^[52] The wind profile is often modeled as a shear layer, such as v_x(z) = v_0 + \Delta v \cdot \tanh(z/h), where v_0 is the base wind speed, \Delta v is the speed difference across the layer, z is altitude, and h is the shear height; this hyperbolic tangent form approximates the transition from low to high winds in the boundary layer.^[53] Optimization techniques focus on maximizing energy gain over closed cycles while minimizing required wind shear. Variational calculus is applied to derive conditions for maximum energy cycles, often assuming circular or arc-shaped paths that cross the shear layer repeatedly, with the objective to minimize the wind speed W_0 for periodic trajectories in state variables like velocity and position. Numerical methods, such as direct collocation, solve these optimal control problems by discretizing the dynamics and enforcing periodicity constraints.^[54] Simulations in MATLAB implement these for 2D paths, while computational fluid dynamics (CFD) tools extend to 3D trajectories accounting for turbulence and non-uniform shear.^[55] A key aspect of cycle performance is that net energy gain from wind shear interactions must exceed drag losses for sustainable soaring. Drag is computed as D = \frac{1}{2} \rho v^2 C_d A, with \rho air density, v airspeed, C_d drag coefficient, and A reference area.^[53] Advanced tools incorporate finite element methods to model shear turbulence effects on stability, simulating unsteady aerodynamics in the boundary layer. In 2020s research, machine learning approaches, such as deep reinforcement learning, enable real-time path prediction and optimization by training on simulated wind fields to adjust trajectories for energy extraction.^[39] These models are validated against empirical data, including GPS tracks of albatross dynamic soaring maneuvers and telemetry from radio-controlled gliders, showing close agreement in predicted versus observed speeds and cycle periods; such validations inform UAV designs for extended endurance.^[54]

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Feb 16, 2021 · The principle of dynamic soaring is realised by flying a RC glider on the opposite side of a slope from the wind. When the aircraft is flying ...<|control11|><|separator|>
[46]
Spencer Lisenby Shatters Own Record, Pushes Transonic DP to ...
Apr 2, 2023 · Flying a Transonic DP ballasted to 9.2kg (325oz) Spencer Lisenby rocketed past his own dynamic soaring (DS) speed record to clock a run of 907km/h (564mph).
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[PDF] Radi C ntr lled - RC Soaring Digest magazine
Jun 3, 2012 · The following describes the observed dynamic soaring of albatrosses and RC gliders and interprets their flight using the two-layer model. The ...
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https://arc.aiaa.org/doi/10.2514/6.2020-2680
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[PDF] In Situ Exploration of Venus' Clouds by Dynamic Soaring
Mar 22, 2020 · Dynamic soaring uses updrafts and shear for energy, with intelligent flight path control for mobility, and a trajectory for systematic in situ ...
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Modeling of Dynamic Soaring Maneuvers in the Atmospheres of ...
Jun 8, 2020 · A dynamic soaring maneuver provides an aircraft with a solution for a long-endurance flight by harvesting energy from atmospheric flows.
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[PDF] Design a Fixed-Wing Unmanned Aerial Vehicle with Dynamic ...
Jun 21, 2019 · This paper proposes an unmanned aerial vehicle with dynamic soaring capabilities for Titan ... exploration of Saturn's largest moon, Titan, is ...
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[PDF] Optimal dynamic soaring consists of successive shallow arcs
Rayleigh noticed that when traversing the shear layer up- or downwind, the albatross' groundspeed is conserved but its airspeed may increase by up to W0.
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[PDF] A novel approach to dynamic soaring modeling and simulation - HAL
Feb 17, 2020 · This paper revisits dynamic soaring on the basis of a nonlinear point-mass flight dynamics model previously used for scale-model aircraft to ...
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Optimal dynamic soaring consists of successive shallow arcs
Oct 4, 2017 · Dynamic soaring has been described as a sequence of half-turns connecting upwind climbs and downwind dives through the surface shear layer.
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(PDF) Review of Dynamic Soaring: Technical Aspects, Nonlinear ...
Aug 30, 2025 · We present and discuss the fundamentals of wind shear models in both the linear and nonlinear cases. Moreover, a comprehensive parametric ...