Body rate decoupling using haltere mid-stroke measurements for inertial flight stabilization in Diptera |
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Authors: | R A Thompson M F Wehling J H Evers W E Dixon |
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Institution: | (1) Air Force Research Laboratory, AFRL/RWGI, Eglin AFB, FL, USA;(2) Department of Mechanical and Aerospace Engineering, University of Florida, Gainesville, FL, USA |
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Abstract: | Halteres, the modified rear wings of Diptera, have long been recognized as sensory organs necessary for basic flight stability.
These organs, which act as vibrating structure gyroscopes, are known to sense strains proportional to Coriolis accelerations.
While compensatory responses have been demonstrated that indicate the ability of insects to distinguish all components of
the body rate vector, the specific mechanism by which the halteres are able to decouple the body rates has not been clearly
understood. The research documented in this report describes a potential mechanism, using averaged strain and strain rate
at the center of the haltere stroke, to decouple the inertial rate components. Through dynamic simulation of a nonlinear model
of the haltere 3-dimensional trajectory, this straightforward method was demonstrated to provide an accurate means of generating
signals that are proportional to three orthogonal body rate components. Errors associated with residual nonlinearity and rate-coupling
were quantified for a bilaterally reconstructed body rate vector over a full range of pitch and yaw rates and two roll rate
conditions. Models that are compatible with insect physiology are proposed for performing necessary signal averaging and bilateral
processing.
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Keywords: | Diptera Haltere Flight stability Strain rate Campaniform sensilla |
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