Periodic Tail Motion Linked to Wing Motion Affects the Longitudinal Stability of Ornithopter Flight

During slow level flight of a pigeon,a caudal muscle involved in tail movement,the levator caudae pars vertebralis,is activated at a particular phase with the pectoralis wing muscle.Inspired by mechanisms for the control of stability in flying animals,especially the role of the tail in avian flight,we investigated how periodic tail motion linked to motion of the wings affects the longitudinal stability of omithopter flight.This was achieved by using an integrative ornithopter flight simulator that included aeroelastic behaviour of the flexible wings and tail.Trim flight trajectories of the simulated ornithopter model were calculated by time integration of the nonlinear equations of a flexible multi-body dynamics coupled with a semi-empirical flapping-wing and tail aerodynamic models.The unique trim flight characteristics of ornithopter,Limit-Cycle Oscillation,were found under the sets of wingbeat frequency and tail elevation angle,and the appropriate phase angle of tail motion was determined by parameter studies minimizing the amplitude of the oscillations.The numerical simulation results show that tail actuation synchronized with wing motion suppresses the oscillation of body pitch angle over a wide range of wingbeat frequencies.     

Biomechanics and biomimetics in insect-inspired flight systems

Insect- and bird-size drones—micro air vehicles (MAV) that can perform autonomous flight in natural and man-made environments are now an active and well-integrated research area. MAVs normally operate at a low speed in a Reynolds number regime of 10⁴–10⁵ or lower, in which most flying animals of insects, birds and bats fly, and encounter unconventional challenges in generating sufficient aerodynamic forces to stay airborne and in controlling flight autonomy to achieve complex manoeuvres. Flying insects that power and control flight by flapping wings are capable of sophisticated aerodynamic force production and precise, agile manoeuvring, through an integrated system consisting of wings to generate aerodynamic force, muscles to move the wings and a control system to modulate power output from the muscles. In this article, we give a selective review on the state of the art of biomechanics in bioinspired flight systems in terms of flapping and flexible wing aerodynamics, flight dynamics and stability, passive and active mechanisms in stabilization and control, as well as flapping flight in unsteady environments. We further highlight recent advances in biomimetics of flapping-wing MAVs with a specific focus on insect-inspired wing design and fabrication, as well as sensing systems.This article is part of the themed issue ‘Moving in a moving medium: new perspectives on flight’.     

Model Identification of a Micro Air Vehicle

This paper is focused on the model identification of a Micro Air Vehicle （MAV） in straight steady flight condition. The identification is based on input-output data collected from flight tests using both frequency and time dorrtain techniques. The vehicle is an in-house 40 cm wingspan airplane. Because of the complex coupled, multivariable and nonlinear dynamics of the aircraft, linear SISO structures for both the lateral and longitudinal models around a reference state were derived. The aim of the identification is to provide models that can be used in future development of control techniques for the MAV.     

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.     

Separation of translation and rotation by means of eye-region specialization in flying gypsy moths (Lepidoptera: Lymantriidae)

A partial functional specialization of eye regions in the visual control of flight was studied in male gypsy moths, Lymantria dispar,under open-loop conditions. When stimulated by means of a rotating striped drum, surrounding either the moth 's longitudinal or its transverse body axis, the induced torque response was always such as to compensate for a simulated translatory disturbance of flight, if the stimulus was restricted to the ventral visual field. If restricted to the lateral visual field(s), the response was always such as to compensate for a simulated rotatory disturbance. Though the conclusions refer to only a limited subset of visual stimuli the moths experience during free flight, the induced responses give reason to suppose that at least some of the simultaneous control of translation and rotation in free flight is based on a regional specialization of the compound eye.     

枯叶蛱蝶扑翼飞行的力学分析

模仿昆虫扑翼飞行的飞行器具有重量轻、质量小、噪音低、效率高、隐蔽性好等优点,在军用、民用领域被广泛地关注与应用.枯叶蛱蝶是典型的扑翼昆虫,在连续上升飞行过程中会出现停顿和跃升的现象.为了研究停顿和跃升现象的产生原因,对枯叶蛱蝶的翅型和扑翼行为进行了力学分析.通过测量鳞翅结构参数,记录飞行行为,运用能量守恒与动量守恒原理,考虑生物能的作用,视空气为不可压缩颗粒,建立了数学模型模拟枯叶蛱蝶飞行情况.结果表明,扑翼行为通过改变飞行动力的动量和分力大小来影响枯叶蛱蝶的飞行轨迹,鳞翅形状则通过改变飞行动力的大小来影响枯叶蛱蝶的飞行轨迹,扑翼行为导致停顿和跃升现象的产生.本文为设计扑翼型飞行器提供了力学仿生学基础与生物学模型,为进一步设计出更优化的仿生飞行器提供科学依据.     

Lateral Flight Stability of Two Hovering Model Insects

The longitudinal disturbance motion of different insects at hovering flight has the same modal structure. Here, we consider the case of lateral motion. The lateral dynamic flight stability of two model insects, hoverfly and honeybee, at hovering flight is studied. The method of computational fluid dynamics is applied to compute the stability derivatives. The techniques of eigenvalue and eigenvector analysis are used to solve the equations of motion. Results show that the lateral disturbance motion of the hoverfly has three natural modes of motion： an unstable divergence mode, a stable oscillatory mode and a stable subsidence mode, and the flight is unstable; while the honeybee has a different modal structure （a stable slow subsidence mode, a stable fast subsidence mode, and a nearly neutrally stable oscillatory mode） and the flight is nearly neutrally stable. The change in modal structure between the two insects is due to their roll-moment/side-velocity derivative having different sign, and the sign difference is because that the hoverfly has a relatively small, but the honeybee has a relatively large, distance between the wing roots and the center of mass. Thus, unlike the case of longitudinal motion, for lateral motion, some insects have different modal structures and stability properties from others.     

Pitching Moment Generation in an Insect-Mimicking Flapping-Wing System

Unlike birds, insects lack control surfaces at the tail and hence most insects modify their wing kinematics to produce control forces or moments while flapping their wings. Change of the flapping angle range is one of the ways to modify wing kinematics, resulting in relocation of the mean Aerodynamic force Center （mean AC） and finally creating control moments. In an attempt to mimic this feature, we developed a flapping-wing system that generates a desired pitching moment during flap- ping-wing motion. The system comprises a flapping mechanism that creates a large and symmetric flapping motion in a pair of wings, a flapping angle change mechanism that modifies the flapping angle range, artificial wings, and a power source. From the measured wing kinematics, we have found that the flapping-wing system can properly modify the flapping angle ranges. The measured pitching moments show that the flapping-wing system generates a pitching moment in a desired direction by shifting the flapping angle range. We also demonstrated that the system can in practice change the longitudinal attitude by generating a nonzero pitching moment.     

Dipteran insect flight dynamics. Part 1 Longitudinal motion about hover

This paper presents a reduced-order model of longitudinal hovering flight dynamics for dipteran insects. The quasi-steady wing aerodynamics model is extended by including perturbation states from equilibrium and paired with rigid body equations of motion to create a nonlinear simulation of a Drosophila-like insect. Frequency-based system identification tools are used to identify the transfer functions from biologically inspired control inputs to rigid body states. Stability derivatives and a state space linear system describing the dynamics are also identified. The vehicle control requirements are quantified with respect to traditional human pilot handling qualities specification. The heave dynamics are found to be decoupled from the pitch/fore/aft dynamics. The haltere-on system revealed a stabilized system with a slow (heave) and fast subsidence mode, and a stable oscillatory mode. The haltere-off (bare airframe) system revealed a slow (heave) and fast subsidence mode and an unstable oscillatory mode, a modal structure in agreement with CFD studies. The analysis indicates that passive aerodynamic mechanisms contribute to stability, which may help explain how insects are able to achieve stable locomotion on a very small computational budget.     

Aerodynamic Ground Effect in Fruitfly Sized Insect Takeoff

Aerodynamic ground effect in flapping-wing insect flight is of importance to comparative morphologies and of interest to the micro-air-vehicle (MAV) community. Recent studies, however, show apparently contradictory results of either some significant extra lift or power savings, or zero ground effect. Here we present a numerical study of fruitfly sized insect takeoff with a specific focus on the significance of leg thrust and wing kinematics. Flapping-wing takeoff is studied using numerical modelling and high performance computing. The aerodynamic forces are calculated using a three-dimensional Navier–Stokes solver based on a pseudo-spectral method with volume penalization. It is coupled with a flight dynamics solver that accounts for the body weight, inertia and the leg thrust, while only having two degrees of freedom: the vertical and the longitudinal horizontal displacement. The natural voluntary takeoff of a fruitfly is considered as reference. The parameters of the model are then varied to explore possible effects of interaction between the flapping-wing model and the ground plane. These modified takeoffs include cases with decreased leg thrust parameter, and/or with periodic wing kinematics, constant body pitch angle. The results show that the ground effect during natural voluntary takeoff is negligible. In the modified takeoffs, when the rate of climb is slow, the difference in the aerodynamic forces due to the interaction with the ground is up to 6%. Surprisingly, depending on the kinematics, the difference is either positive or negative, in contrast to the intuition based on the helicopter theory, which suggests positive excess lift. This effect is attributed to unsteady wing-wake interactions. A similar effect is found during hovering.     

结合薄层CT技术建立下颌第一前磨牙三维有限元模型

目的结合薄层CT技术建立下颌第一前磨牙三维有限元模型。方法对正常人下颌第一前磨牙进行薄层CT扫描及图像处理,通过Matlab和ANSYS软件建立三维有限元模型,并加载验证模型力学分析的可行性。结果建立了包含髓腔的下颌第一前磨牙的三维有限元模型,得到101564个单元,144053个节点。载荷后的应力分布主要集中在颊尖部位和根尖部位,牙颈部受力较小。结论薄层CT技术与Matlab和ANSYS软件相结合,建立包含髓腔的下颌第一前磨牙的三维有限元模型,精度高、速度快,使用灵活,为后期的楔缺模型建立和分析奠定了基础。     

昆虫飞行模拟监控系统设计

本文根据昆虫飞行的特点,模拟昆虫飞行的实验装置,由飞行磨、单片机及微型计算机组成,编辑设计飞行监控软件,该程序分为三个模块：系统监控程序模块;时钟程序模块和信号处理程序模块。利用微机适时采集飞行数据,记录和分析监测结果,模拟昆虫的飞行速度和持续时间。     

Intestinal propulsion of a solid non-deformable bolus

A mathematical model of a segment of the gut with an enclosed pellet is constructed. The gut is represented as a thin deformable soft biological shell with the pellet modeled as a non-deformable solid. Mechanical properties of the gut wall were represented as longitudinal and circular smooth muscle layers embedded in stroma that satisfies the general type of nonlinear orthotropy. Deformations of the wall are finite. Bolus propulsion is numerically simulated by generation and propagation of an electromechanical wave along the syncytia. Pharmacological manipulation is applied to model 5-HT type 3 antagonist (Lotronex, GlaxoSmithKline) and 5-HT type 4 agonist (Zelnorm, Novartis, AB) drugs on the dynamics of bolus progression. The results lead to new quantitative insights into the complex spatio-temporal patterns of gastrointestinal transit. It is demonstrated that the reciprocal relationship in contraction of the longitudinal and circular smooth muscle syncytia is necessary to provide the "mixing" type of movements during the preparatory phase of propulsion. Strong simultaneous contractions of the both smooth muscle layers are required to expel the "mixed" pellet from the segment. The model is implemented as an interactive software system, Gut Discovery(www.aincompany.com), and accurately predicts the effects of drugs on gut motility.     

A Dynamic Finite Element Analysis of Human Foot Complex in the Sagittal Plane during Level Walking

The objective of this study is to develop a computational framework for investigating the dynamic behavior and the internal loading conditions of the human foot complex during locomotion. A subject-specific dynamic finite element model in the sagittal plane was constructed based on anatomical structures segmented from medical CT scan images. Three-dimensional gait measurements were conducted to support and validate the model. Ankle joint forces and moment derived from gait measurements were used to drive the model. Explicit finite element simulations were conducted, covering the entire stance phase from heel-strike impact to toe-off. The predicted ground reaction forces, center of pressure, foot bone motions and plantar surface pressure showed reasonably good agreement with the gait measurement data over most of the stance phase. The prediction discrepancies can be explained by the assumptions and limitations of the model. Our analysis showed that a dynamic FE simulation can improve the prediction accuracy in the peak plantar pressures at some parts of the foot complex by 10%–33% compared to a quasi-static FE simulation. However, to simplify the costly explicit FE simulation, the proposed model is confined only to the sagittal plane and has a simplified representation of foot structure. The dynamic finite element foot model proposed in this study would provide a useful tool for future extension to a fully muscle-driven dynamic three-dimensional model with detailed representation of all major anatomical structures, in order to investigate the structural dynamics of the human foot musculoskeletal system during normal or even pathological functioning.     

Dynamic Modeling, Testing, and Stability Analysis of an Ornithoptic Blimp

In order to study omithopter flight and to improve a dynamic model of flapping propulsion,a series of tests are conducted on a flapping-wing blimp.The blimp is designed and constructed from mylar plastic and balsa wood as a test platform for aerodynamics and flight dynamics.The blimp,2.3 meters long and 420 gram mass,is propelled by its flapping wings.Due to buoyancy the wings have no lift requirement so that the distinction between lift and propulsion can be analyzed in a flight platform at low flight speeds.The blimp is tested using a Vicon motion tracking system and various initial conditions are tested including accelerating flight from standstill,decelerating from an initial speed higher than its steady state,and from its steady-state speed but disturbed in pitch angle.Test results are used to estimate parameters in a coupled quasi-steady aerodynamics/Newtonian flight dynamics model.This model is then analyzed using Floquet theory to determine local dynamic modes and stability.It is concluded that the dynamic model adequately describes the vehicle's nonlinear behavior near the steady-state velocity and that the vehicle's linearized modes are akin to those of a fixed-wing aircraft.     

A nonlinear viscoelastic finite element model of polyethylene

A nonlinear viscoelastic finite element model of ultra-high molecular weight polyethylene (UHMWPE) was developed in this study. Eight cylindrical specimens were machined from ram extruded UHMWPE bar stock (GUR 1020) and tested under constant compression at 7% strain for 100 sec. The stress strain data during the initial ramp up to 7% strain was utilized to model the "instantaneous" stress-strain response using a Mooney-Rivlin material model. The viscoelastic behavior was modeled using the time-dependent relaxation in stress seen after the initial maximum stress was achieved using a stored energy formulation. A cylindrical model of similar dimensions was created using a finite element analysis software program. The cylinder was made up of hexahedral elements, which were given the material properties utilizing the "instantaneous" stress-strain curve and the energy-relaxation curve obtained from the experimental data. The cylinder was compressed between two flat rigid bodies that simulated the fixtures of the testing machine. Experimental stress-relaxation, creep and dynamic testing data were then used to validate the model. The mean error for predicted versus experimental data for stress relaxation at different strain levels was 4.2%. The mean error for the creep test was 7% and for dynamic test was 5.4%. Finally, dynamic loading in a hip arthroplasty was modeled and validated experimentally with an error of 8%. This study establishes a working finite element material model of UHMWPE that can be utilized to simulate a variety of postoperative arthroplasty conditions.     

A new soft-tissue simulation strategy for cranio-maxillofacial surgery using facial muscle template model

We propose a computationally efficient, bio-mechanically relevant soft-tissue simulation method for cranio-maxillofacial (CMF) surgery. Special emphasis is given to comply with the current clinical workflow. A template-based facial muscle prediction was introduced to avoid laborious segmentation from medical images. In addition, transversely isotropic mass-tensor model (MTM) was applied to realize the directional behavior of facial muscles in short computation time. Finally, sliding contact was incorporated to mimic realistic boundary condition in error-sensitive regions. Mechanical simulation result was compared with commercial finite element software. And retrospective validation study with post-operative scan of four CMF cases was performed.     

On mathematical modelling of insect flight dynamics in the context of micro air vehicles

We discuss some aspects of mathematical modelling relevant to the dynamics of insect flight in the context of insect-like flapping-wing micro air vehicles (MAVs). MAVs are small flying vehicles developed to reconno?tre in confined spaces. This requires power-efficient, highly-manoeuvrable, low-speed flight with stable hover. All of these attributes are present in insect flight and hence the focus on reproducing the functionality of insect flight by engineering means. Empirical research on insect flight dynamics is limited by experimental difficulties. Force and moment measurements require tethering the animal whose behaviour may then differ from free flight. The measurements are made when the insect actively tries to control its flight, so that its open-loop dynamics cannot be observed. Finally, investigation of the sensory-motor system responsible for flight is even more challenging. Despite these difficulties, much empirical progress has been made recently. Further progress, especially in the context of MAVs, can be achieved by the complementary information derived from appropriate mathematical modelling. The focus here is on a means of computing the data not easily available from experiments and also on making mathematical predictions to suggest new experiments. We consider two aspects of mathematical modelling for insect flight dynamics. The first one is theoretical (computational), as opposed to empirical, generation of the aerodynamic data required for the six-degrees-of-freedom equations of motion. For this purpose we first explain insect wing kinematics and the salient features of the corresponding flow. In this context, we show that aerodynamic modelling is a feasible option for certain flight regimes, focusing on a successful example of modelling hover. Such modelling progresses from the first principles of fluid mechanics, but relies on simplifications justified by the known flow phenomenology and/or geometric and kinematic symmetries. This is relevant to six types of fundamental manoeuvres, which we define as those flight conditions for which only one component of the translational and rotational body velocities is nonzero and constant. The second aspect of mathematical modelling for insect flight dynamics addressed here deals with the periodic character of the aerodynamic force and moment production. This leads to consideration of the types of solutions of nonlinear equations forced by nonlinear oscillations. In particular, the mechanism of synchronization seems relevant and should be investigated further.     

Osteocyte-viability-based simulations of trabecular bone loss and recovery in disuse and reloading

Osteocyte apoptosis is known to trigger targeted bone resorption. In the present study, we developed an osteocyte-viability-based trabecular bone remodeling (OVBR) model. This novel remodeling model, combined with recent advanced simulation methods and analysis techniques, such as the element-by-element 3D finite element method and the ITS technique, was used to quantitatively study the dynamic evolution of bone mass and trabecular microstructure in response to various loading and unloading conditions. Different levels of unloading simulated the disuse condition of bed rest or microgravity in space. The amount of bone loss and microstructural deterioration correlated with the magnitude of unloading. The restoration of bone mass upon the reloading condition was achieved by thickening the remaining trabecular architecture, while the lost trabecular plates and rods could not be recovered by reloading. Compared to previous models, the predictions of bone resorption of the OVBR model are more consistent with physiological values reported from previous experiments. Whereas osteocytes suffer a lack of loading during disuse, they may suffer overloading during the reloading phase, which hampers recovery. The OVBR model is promising for quantitative studies of trabecular bone loss and microstructural deterioration of patients or astronauts during long-term bed rest or space flight and thereafter bone recovery.     

The trade‐off to macroptery in the cricket Gryllus firmus: a path analysis in males

Among the Orthoptera, wing dimorphism, where one morph is long‐winged and flight capable while the other is short‐winged and flight incapable, is common and believed to be maintained in populations due to trade‐offs to flight capability. In males, macropterous individuals call less than micropterous individuals and as a consequence obtain fewer matings. This trade‐off is hypothesized to be mediated by the energetic costs of calling. In this paper we report results for a path analysis examining lipid weight and DLM (dorso longitudinal muscle) condition of male Gryllus firmus. We found that as DLM condition changes from a nonfunctional to a functional state, call duration decreases, and as lipid weight increases, call duration increases. The most important linked path was wing morph → DLM condition → call duration. This model is consistent with the prediction that the trade‐off between wing morph and call duration is mediated via DLM and lipid stores.