Of hummingbirds and helicopters: hovering costs, competitive ability, and foraging strategies

Wing morphology and flight kinematics profoundly influence foraging costs and the overall behavioral ecology of hummingbirds. By analogy with helicopters, previous energetic studies have applied the momentum theory of aircraft propellers to estimate hovering costs from wing disc loading (WDL), a parameter incorporating wingspan (or length) and body mass. Variation in WDL has been used to elucidate differences either among hummingbird species in nectar-foraging strategies (e.g., territoriality, traplining) and dominance relations or among gender-age categories within species. We first demonstrate that WDL, as typically calculated, is an unreliable predictor of hovering (induced power) costs; predictive power is increased when calculations use wing length instead of wingspan and when actual wing stroke amplitudes are incorporated. We next evaluate the hypotheses that foraging strategy and competitive ability are functions of WDL, using our data in combination with those of published sources. Variation in hummingbird behavior cannot be easily classified using WDL and instead is correlated with a diversity of morphological and physiological traits. Evaluating selection pressures on hummingbird wings will require moving beyond wing and body mass measurements to include the assessment of the aerodynamic forces, power requirements, and power reserves of hovering, forward flight, and maneuvering. However, the WDL-helicopter dynamics model has been instrumental in calling attention to the importance of comparative wing morphology and related aerodynamics for understanding the behavioral ecology of hummingbirds.     

Field Flight Dynamics of Hummingbirds during Territory Encroachment and Defense

Hummingbirds are known to defend food resources such as nectar sources from encroachment by competitors (including conspecifics). These competitive intraspecific interactions provide an opportunity to quantify the biomechanics of hummingbird flight performance during ecologically relevant natural behavior. We recorded the three-dimensional flight trajectories of Ruby-throated Hummingbirds defending, being chased from and freely departing from a feeder. These trajectories allowed us to compare natural flight performance to earlier laboratory measurements of maximum flight speed, aerodynamic force generation and power estimates. During field observation, hummingbirds rarely approached the maximal flight speeds previously reported from wind tunnel tests and never did so during level flight. However, the accelerations and rates of change in kinetic and potential energy we recorded indicate that these hummingbirds likely operated near the maximum of their flight force and metabolic power capabilities during these competitive interactions. Furthermore, although birds departing from the feeder while chased did so faster than freely-departing birds, these speed gains were accomplished by modulating kinetic and potential energy gains (or losses) rather than increasing overall power output, essentially trading altitude for speed during their evasive maneuver. Finally, the trajectories of defending birds were directed toward the position of the encroaching bird rather than the feeder.     

Aerodynamic performance of a hovering hawkmoth with flexible wings: a computational approach

Insect wings are deformable structures that change shape passively and dynamically owing to inertial and aerodynamic forces during flight. It is still unclear how the three-dimensional and passive change of wing kinematics owing to inherent wing flexibility contributes to unsteady aerodynamics and energetics in insect flapping flight. Here, we perform a systematic fluid-structure interaction based analysis on the aerodynamic performance of a hovering hawkmoth, Manduca, with an integrated computational model of a hovering insect with rigid and flexible wings. Aerodynamic performance of flapping wings with passive deformation or prescribed deformation is evaluated in terms of aerodynamic force, power and efficiency. Our results reveal that wing flexibility can increase downwash in wake and hence aerodynamic force: first, a dynamic wing bending is observed, which delays the breakdown of leading edge vortex near the wing tip, responsible for augmenting the aerodynamic force-production; second, a combination of the dynamic change of wing bending and twist favourably modifies the wing kinematics in the distal area, which leads to the aerodynamic force enhancement immediately before stroke reversal. Moreover, an increase in hovering efficiency of the flexible wing is achieved as a result of the wing twist. An extensive study of wing stiffness effect on aerodynamic performance is further conducted through a tuning of Young's modulus and thickness, indicating that insect wing structures may be optimized not only in terms of aerodynamic performance but also dependent on many factors, such as the wing strength, the circulation capability of wing veins and the control of wing movements.     

The power of feeder-mask respirometry as a method for examining hummingbird energetics

Many birds spend important portions of their time and energy flying. For this reason, quantification of metabolic rates during flight is of crucial importance to understanding avian energy balance. Measurement of organismal gas exchange rates using a mask enclosing the whole head or respiratory orifices has served as an important tool for studying animal energetics because it can free the rest of the body, permitting movement. Application of so-called “mask respirometry” to the study of avian forward flight energetics presents unique challenges because birds must be tethered to gas analysis equipment thus typically necessitating use of a wind tunnel. Resulting potential alterations to a study organism's behaviour, physiology, and aerodynamics have made interpretation of such studies contentious. In contrast, the study of hovering flight energetics in hummingbirds using a specialized form of mask respirometry is comparatively easy and can be done without a wind tunnel. Small size, hovering flight, and a nectarivorous diet are characteristics shared by all hummingbird species that make these birds ideally suited for this approach. Specifically, nectar feeders are modified to function as respirometry masks hummingbirds voluntarily respire into when hover-feeding. Feeder-mask based respirometry has revealed some of the highest vertebrate metabolic rates in hovering hummingbirds. In this review I discuss techniques for the successful measurement of metabolic rate using feeder-mask respirometry. I also emphasize how this technique has been used to address fundamental questions regarding avian flight energetics such as capacities for fuel use and mechanisms by which ecology, behaviour and energy balance are linked.     

Flying in the rain: hovering performance of Anna's hummingbirds under varied precipitation

Flight in rain represents a greater challenge for smaller animals because the relative effects of water loading and drop impact are greater at reduced scales given the increased ratios of surface area to mass. Nevertheless, it is well known that small volant taxa such as hummingbirds can continue foraging even in extreme precipitation. Here, we evaluated the effect of four rain intensities (i.e. zero, light, moderate and heavy) on the hovering performance of Anna's hummingbirds (Calypte anna) under laboratory conditions. Light-to-moderate rain had only a marginal effect on flight kinematics; wingbeat frequency of individuals in moderate rain was reduced by 7 per cent relative to control conditions. By contrast, birds hovering in heavy rain adopted more horizontal body and tail positions, and also increased wingbeat frequency substantially, while reducing stroke amplitude when compared with control conditions. The ratio between peak forces produced by single drops on a wing and on a solid surface suggests that feathers can absorb associated impact forces by up to approximately 50 per cent. Remarkably, hummingbirds hovered well even under heavy precipitation (i.e. 270 mm h(-1)) with no apparent loss of control, although mechanical power output assuming perfect and zero storage of elastic energy was estimated to be about 9 and 57 per cent higher, respectively, compared with normal hovering.     

The physiology and biomechanics of avian flight at high altitude

Many birds fly at high altitude, either during long-distanceflights or by virtue of residence in high-elevation habitats.Among the many environmental features that vary systematicallywith altitude, five have significant consequences for avianflight performance: ambient wind speeds, air temperature, humidity,oxygen availability, and air density. During migratory flights,birds select flight altitudes that minimize energy expenditurevia selection of advantageous tail- and cross-winds. Oxygenpartial pressure decreases substantially to as little as 26%of sea-level values for the highest altitudes at which birdsmigrate, whereas many taxa reside above 3000 meters in hypoxicair. Birds exhibit numerous adaptations in pulmonary, cardiovascular,and muscular systems to alleviate such hypoxia. The systematicdecrease in air density with altitude can lead to a benefitfor forward flight through reduced drag but imposes an increasedaerodynamic demand for hovering by degrading lift productionand simultaneously elevating the induced power requirementsof flight. This effect has been well-studied in the hoveringflight of hummingbirds, which occur throughout high-elevationhabitats in the western hemisphere. Phylogenetically controlledstudies have shown that hummingbirds compensate morphologicallyfor such hypodense air through relative increases in wing size,and kinematically via increased stroke amplitude during thewingbeat. Such compensatory mechanisms result in fairly constantpower requirements for hovering at different elevations, butdecrease the margin of excess power available for other flightbehaviors.     

Artificial evolution of the morphology and kinematics in a flapping-wing mini-UAV

Birds demonstrate that flapping-wing flight (FWF) is a versatile flight mode, compatible with hovering, forward flight and gliding to save energy. This extended flight domain would be especially useful on mini-UAVs. However, design is challenging because aerodynamic efficiency is conditioned by complex movements of the wings, and because many interactions exist between morphological (wing area, aspect ratio) and kinematic parameters (flapping frequency, stroke amplitude, wing unfolding). Here we used artificial evolution to optimize these morpho-kinematic features on a simulated 1 kg UAV, equipped with wings articulated at the shoulder and wrist. Flight tests were conducted in a dedicated steady aerodynamics simulator. Parameters generating horizontal flight for minimal mechanical power were retained. Results showed that flight at medium speed (10-12 m s(-1)) can be obtained for reasonable mechanical power (20 W kg(-1)), while flight at higher speed (16-20 m s(-1)) implied increased power (30-50 W kg(-1)). Flight at low speed (6-8 m s(-1)) necessitated unrealistic power levels (70-500 W kg(-1)), probably because our simulator neglected unsteady aerodynamics. The underlying adaptation of morphology and kinematics to varying flight speed were compared to available biological data on the flight of birds.     

On speed and aerodynamic forces of mosquito

In the present investigation, speed of mosquitoes A. aegyptii (Linnè) and Culex quinquefasciatus (Say) is measured by designing and constructing a low speed wind tunnel in the laboratory. The velocity of mosquitoes is less than the other myogenic and neurogenic insects. Lift, one of the important aerodynamic forces that a flier has to develop for its efficient flight, is studied in mosquitoes by developing a simple technique using digital single pan balance. Lift, drag and their coefficients of hovering mosquito are calculated from the knowledge of body parameters by considering the wings of mosquito as harmonic oscillator. The calculated value of lift is verified with the experimental. The study throws light on morphophysiological adaptation of mosquitoes for the generation of aerodynamic forces in hovering, tethered and forward flights.     

Projected changes in elevational distribution and flight performance of montane Neotropical hummingbirds in response to climate change

The hovering flight of hummingbirds is one of the most energetically demanding forms of animal locomotion and is influenced by both atmospheric oxygen availability and air density. Montane Neotropical hummingbirds are expected to shift altitudinally upwards in response to climate change to track their ancestral climatic regime, which is predicted to influence their flight performance. In this study, we use the climate envelope approach to estimate upward elevational shifts for five Andean hummingbird species under two climate change scenarios. We then use field‐based data on hummingbird flight mechanics to estimate the resulting impact of climate change on aerodynamic performance in hovering flight. Our results show that in addition to significant habitat loss and fragmentation, projected upwards elevational shifts vary between 300 and 700 m, depending on climate change scenario and original mean elevation of the target species. Biomechanical analysis indicates that such upwards elevational shifts would yield a～2–5° increase in wing stroke amplitude with no substantial effect on wingbeat frequency. Overall, the physiological impact of elevational shifts of <1000 m in response to climate change is likely to be small relative to other factors such as habitat loss, changes in floristic composition, and increased interspecific competition.     

Aerodynamics and Energetics of Intermittent Flight in Birds

Hypotheses explaining the use of intermittent bounding and undulatingflight modes in birds are considered. Existing theoretical modelsof intermittent flight have assumed that the animal flies ata constant speed throughout. They predict that mean mechanicalpower in undulating (flap-gliding) flight is reduced comparedto steady flight over a broad range of speeds, but is reducedin bounding flight only at very high flight speeds. Lift generatedby the bird's body or tail has a small effect on power, butis insufficient to explain observations of bounding at intermediateflight speeds. Measurements on starlings Sturnus vulgaris inundulating flight in a wind tunnel show that flight speed variesby around ±1 m/sec during a flap-glide cycle. Dynamicenergy is used to quantify flight performance, and reveals thatthe geometry of the flight path depends upon wingbeat kinematics,and that neither flapping nor gliding phases are at constantspeed and angle to the horizontal. The bird gains both kineticand potential energy during the flapping phases. A new theoreticalmodel indicates that such speed variation can give significantsavings in mechanical power in both bounding and undulatingflight. Alternative hypotheses for intermittent flight includea gearing mechanism, based on duty factor, mediating musclepower or force output against aerodynamic requirements. Thiscould explain the use of bounding flight in hovering and climbingin small passerines. Both bounding and undulating confer otheradaptive benefits; undulating may be primitive in birds, butbounding may have evolved in response to flight performanceoptimization, or to factors such as unpredictability in responseto predation.     

Flight costs of long,sexually selected tails in hummingbirds

The elongated tails adorning many male birds have traditionally been thought to degrade flight performance by increasing body drag. However, aerodynamic interactions between the body and tail can be substantial in some contexts, and a short tail may actually reduce rather than increase overall drag. To test how tail length affects flight performance, we manipulated the tails of Anna''s hummingbirds (Calypte anna) by increasing their length with the greatly elongated tail streamers of the red-billed streamertail (Trochilus polytmus) and reducing their length by removing first the rectrices and then the entire tail (i.e. all rectrices and tail covert feathers). Flight performance was measured in a wind tunnel by measuring (i) the maximum forward speed at which the birds could fly and (ii) the metabolic cost of flight while flying at airspeeds from 0 to 14 m s⁻¹. We found a significant interaction effect between tail treatment and airspeed: an elongated tail increased the metabolic cost of flight by up to 11 per cent, and this effect was strongest at higher flight speeds. Maximum flight speed was concomitantly reduced by 3.4 per cent. Also, removing the entire tail decreased maximum flight speed by 2 per cent, suggesting beneficial aerodynamic effects for tails of normal length. The effects of elongation are thus subtle and airspeed-specific, suggesting that diversity in avian tail morphology is associated with only modest flight costs.     

Numerical investigation of the aerodynamic characteristics of a hovering Coleopteran insect

The aerodynamic characteristics of the Coleopteran beetle species Epilachna quadricollis, a species with flexible hind wings and stiff elytra (fore wings), are investigated in terms of hovering flight. The flapping wing kinematics of the Coleopteran insect are modeled through experimental observations with a digital high-speed camera and curve fitting from an ideal harmonic kinematics model. This model numerically simulates flight by estimating a cross section of the wing as a two-dimensional elliptical plane. There is currently no detailed study on the role of the elytron or how the elytron-hind wing interaction affects aerodynamic performance. In the case of hovering flight, the relatively small vertical or horizontal forces generated by the elytron suggest that the elytron makes no significant contribution to aerodynamic force.     

Flight performance and competitive displacement of hummingbirds across elevational gradients

Hummingbirds, with their impressive flight ability and competitive aerial contests, make ideal candidates for applying a mechanistic approach to studying community structure. Because flight costs are influenced by abiotic factors that change systematically with altitude, elevational gradients provide natural experiments for hummingbird flight ecology. Prior attempts relied on wing disc loading (WDL) as a morphological surrogate for flight performance, but recent analyses indicate this variable does not influence either territorial behavior or competitive ability. Aerodynamic power, by contrast, can be derived from direct measurements of performance and, like WDL, declines across elevations. Here, I demonstrate for a diverse community of Andean hummingbirds that burst aerodynamic power is associated with territorial behavior. Along a second elevational gradient in Colorado, I tested for correlated changes in aerodynamic power and competitive ability in two territorial hummingbirds. This behavioral analysis revealed that short-winged Selasphorus rufus males are dominant over long-winged Selasphorus platycercus males at low elevations but that the roles are reversed at higher elevations. Several lines of evidence support the hypothesis that the burst rather than sustained aerodynamic performance mediates competitive ability at high elevation. A minimum value for burst power may be required for successful competition, but other maneuverability features gain importance when all competitors have sufficient muscle power, as occurs at low elevations.     

Aerodynamics of a bio-inspired flexible flapping-wing micro air vehicle

MAVs (micro air vehicles) with a maximal dimension of 15 cm and nominal flight speeds of around 10 m s?1, operate in a Reynolds number regime of 10? or lower, in which most natural flyers including insects, bats and birds fly. Furthermore, due to their light weight and low flight speed, the MAVs' flight characteristics are substantially affected by environmental factors such as wind gust. Like natural flyers, the wing structures of MAVs are often flexible and tend to deform during flight. Consequently, the aero/fluid and structural dynamics of these flyers are closely linked to each other, making the entire flight vehicle difficult to analyze. We have recently developed a hummingbird-inspired, flapping flexible wing MAV with a weight of 2.4-3.0 g and a wingspan of 10-12 cm. In this study, we carry out an integrated study of the flexible wing aerodynamics of this flapping MAV by combining an in-house computational fluid dynamic (CFD) method and wind tunnel experiments. A CFD model that has a realistic wing planform and can mimic realistic flexible wing kinematics is established, which provides a quantitative prediction of unsteady aerodynamics of the four-winged MAV in terms of vortex and wake structures and their relationship with aerodynamic force generation. Wind tunnel experiments further confirm the effectiveness of the clap and fling mechanism employed in this bio-inspired MAV as well as the importance of the wing flexibility in designing small flapping-wing MAVs.     

Hovering and intermittent flight in birds

Two styles of bird locomotion, hovering and intermittent flight, have great potential to inform future development of autonomous flying vehicles. Hummingbirds are the smallest flying vertebrates, and they are the only birds that can sustain hovering. Their ability to hover is due to their small size, high wingbeat frequency, relatively large margin of mass-specific power available for flight and a suite of anatomical features that include proportionally massive major flight muscles (pectoralis and supracoracoideus) and wing anatomy that enables them to leave their wings extended yet turned over (supinated) during upstroke so that they can generate lift to support their weight. Hummingbirds generate three times more lift during downstroke compared with upstroke, with the disparity due to wing twist during upstroke. Much like insects, hummingbirds exploit unsteady mechanisms during hovering including delayed stall during wing translation that is manifest as a leading-edge vortex (LEV) on the wing and rotational circulation at the end of each half stroke. Intermittent flight is common in small- and medium-sized birds and consists of pauses during which the wings are flexed (bound) or extended (glide). Flap-bounding appears to be an energy-saving style when flying relatively fast, with the production of lift by the body and tail critical to this saving. Flap-gliding is thought to be less costly than continuous flapping during flight at most speeds. Some species are known to shift from flap-gliding at slow speeds to flap-bounding at fast speeds, but there is an upper size limit for the ability to bound (~0.3 kg) and small birds with rounded wings do not use intermittent glides.     

Morphological and kinematic basis of the hummingbird flight stroke: scaling of flight muscle transmission ratio

Hummingbirds (Trochilidae) are widely known for their insect-like flight strokes characterized by high wing beat frequency, small muscle strains and a highly supinated wing orientation during upstroke that allows for lift production in both halves of the stroke cycle. Here, we show that hummingbirds achieve these functional traits within the limits imposed by a vertebrate endoskeleton and muscle physiology by accentuating a wing inversion mechanism found in other birds and using long-axis rotational movement of the humerus. In hummingbirds, long-axis rotation of the humerus creates additional wing translational movement, supplementing that produced by the humeral elevation and depression movements of a typical avian flight stroke. This adaptation increases the wing-to-muscle-transmission ratio, and is emblematic of a widespread scaling trend among flying animals whereby wing-to-muscle-transmission ratio varies inversely with mass, allowing animals of vastly different sizes to accommodate aerodynamic, biomechanical and physiological constraints on muscle-powered flapping flight.     

Respiratory evaporative water loss during hovering and forward flight in hummingbirds

Hummingbirds represent an end point for small body size and water flux in vertebrates. We explored the role evaporative water loss (EWL) plays in management of their large water pool and its use in dissipating metabolic heat. We measured respiratory evaporative water loss (REWL) in hovering hummingbirds in the field (6 species) and over a range of speeds in a wind tunnel (1 species) using an open-circuit mask respirometry system. Hovering REWL during the active period was positively correlated with operative temperature (T_e) likely due to some combination of an increase in the vapor-pressure deficit, increase in lung ventilation rate, and reduced importance of dry heat transfer at higher T_e. In rufous hummingbirds (Selasphorus rufus; 3.3 g) REWL during forward flight at 6 and 10 m/s was less than half the value for hovering. The proportion of total dissipated heat (TDH) accounted for by REWL during hovering at T_e > 40 °C was < 40% in most species. During forward flight in S. rufus the proportion of TDH accounted for by REWL was ~ 35% less than for hovering. REWL in hummingbirds is a relatively small component of the water budget compared with other bird species (< 20%) so cutaneous evaporative water loss and dry heat transfer must contribute significantly to thermal balance in hummingbirds.     

Determinants of wing-feather moult speed in songbirds

Wing morphology is known to strongly affect flight performance by affecting lift and drag during flight. Performance may consequently deteriorate during feather moult due to the creation of feather gaps in the wing. Since wing gap size may directly affect the extent of reduced flight capacity, rapid moult involving the creation of large feather gaps is expected to substantially impair flight compared with the small gaps induced by a slower moult. To examine the factors affecting wing-feather moult speed, we studied adults of nineteen resident or very short-distance migrant passerine species during their post-breeding moult using a model-selection framework following a phylogenetically controlled analysis. We examined the speed of wing-feather moult in relation to each species’ flight distance index that was estimated based on local foraging movements rather than on longer flights (e.g., migration), assessed by the Delphi technique of expert evaluation. Moult speed was also examined with respect to six morphometric variables: body mass, wing loading, the feather comprising the tip of the wing, aspect ratio, wing span, and wing area. Our results suggest that flight distance index is the most important factor determining the speed of wing-feather moult in songbirds. Species that regularly fly a shorter distance were found to moult quickly, and those that take relatively longer flights moult slowly. These results suggest that the aerodynamic cost of wing area reduction due to feather moult shapes the evolution of annual routine processes by dictating a slower moult speed (resulting in small wing gaps) for species that regularly fly long distances and consequently may be affected more substantially by large wing gaps compared with short distance flyers.     

Comparing aerodynamic efficiency in birds and bats suggests better flight performance in birds

Flight is one of the energetically most costly activities in the animal kingdom, suggesting that natural selection should work to optimize flight performance. The similar size and flight speed of birds and bats may therefore suggest convergent aerodynamic performance; alternatively, flight performance could be restricted by phylogenetic constraints. We test which of these scenarios fit to two measures of aerodynamic flight efficiency in two passerine bird species and two New World leaf-nosed bat species. Using time-resolved particle image velocimetry measurements of the wake of the animals flying in a wind tunnel, we derived the span efficiency, a metric for the efficiency of generating lift, and the lift-to-drag ratio, a metric for mechanical energetic flight efficiency. We show that the birds significantly outperform the bats in both metrics, which we ascribe to variation in aerodynamic function of body and wing upstroke: Bird bodies generated relatively more lift than bat bodies, resulting in a more uniform spanwise lift distribution and higher span efficiency. A likely explanation would be that the bat ears and nose leaf, associated with echolocation, disturb the flow over the body. During the upstroke, the birds retract their wings to make them aerodynamically inactive, while the membranous bat wings generate thrust and negative lift. Despite the differences in performance, the wake morphology of both birds and bats resemble the optimal wake for their respective lift-to-drag ratio regimes. This suggests that evolution has optimized performance relative to the respective conditions of birds and bats, but that maximum performance is possibly limited by phylogenetic constraints. Although ecological differences between birds and bats are subjected to many conspiring variables, the different aerodynamic flight efficiency for the bird and bat species studied here may help explain why birds typically fly faster, migrate more frequently and migrate longer distances than bats.     

The constraints of body size on aerodynamics and energetics in flying fruit flies: an integrative view

Reynolds number and thus body size may potentially limit aerodynamic force production in flying insects due to relative changes of viscous forces on the beating wings. By comparing four different species of fruit flies similar in shape but with different body mass, we have investigated how small insects cope with changes in fluid mechanical constraints on power requirements for flight and the efficiency with which chemical energy is turned into aerodynamic flight forces. The animals were flown in a flight arena in which stroke kinematics, aerodynamic force production, and carbon dioxide release were measured within the entire working range of the flight motor. The data suggest that during hovering performance mean lift coefficient for flight is higher in smaller animals than in their larger relatives. This result runs counter to predictions based on conventional aerodynamic theory and suggests subtle differences in stroke kinematics between the animals. Estimates in profile power requirements based on high drag coefficient suggest that among all tested species of fruit flies elastic energy storage might not be required to minimize energetic expenditures during flight. Moreover, muscle efficiency significantly increases with increasing body size whereas aerodynamic efficiency tends to decrease with increasing size or Reynolds number. As a consequence of these two opposite trends, total flight efficiency tends to increase only slightly within the 6-fold range of body sizes. Surprisingly, total flight efficiency in fruit flies is broadly independent of different profile power estimates and typically yields mean values between 2–4%.