Optic flow-based collision-free strategies: From insects to robots

Flying insects are able to fly smartly in an unpredictable environment. It has been found that flying insects have smart neurons inside their tiny brains that are sensitive to visual motion also called optic flow. Consequently, flying insects rely mainly on visual motion during their flight maneuvers such as: takeoff or landing, terrain following, tunnel crossing, lateral and frontal obstacle avoidance, and adjusting flight speed in a cluttered environment. Optic flow can be defined as the vector field of the apparent motion of objects, surfaces, and edges in a visual scene generated by the relative motion between an observer (an eye or a camera) and the scene. Translational optic flow is particularly interesting for short-range navigation because it depends on the ratio between (i) the relative linear speed of the visual scene with respect to the observer and (ii) the distance of the observer from obstacles in the surrounding environment without any direct measurement of either speed or distance. In flying insects, roll stabilization reflex and yaw saccades attenuate any rotation at the eye level in roll and yaw respectively (i.e. to cancel any rotational optic flow) in order to ensure pure translational optic flow between two successive saccades. Our survey focuses on feedback-loops which use the translational optic flow that insects employ for collision-free navigation. Optic flow is likely, over the next decade to be one of the most important visual cues that can explain flying insects' behaviors for short-range navigation maneuvers in complex tunnels. Conversely, the biorobotic approach can therefore help to develop innovative flight control systems for flying robots with the aim of mimicking flying insects’ abilities and better understanding their flight.     

Moving in a moving medium: new perspectives on flight

One of the defining features of the aerial environment is its variability; air is almost never still. This has profound consequences for flying animals, affecting their flight stability, speed selection, energy expenditure and choice of flight path. All these factors have important implications for the ecology of flying animals, and the ecosystems they interact with, as well as providing bio-inspiration for the development of unmanned aerial vehicles. In this introduction, we touch on the factors that drive the variability in airflows, the scales of variability and the degree to which given airflows may be predictable. We then summarize how papers in this volume advance our understanding of the sensory, biomechanical, physiological and behavioural responses of animals to air flows. Overall, this provides insight into how flying animals can be so successful in this most fickle of environments.This article is part of the themed issue ‘Moving in a moving medium: new perspectives on flight’.     

THE CHANGING NUMBERS OF APHIS FABAE SCOP., FLYING AT CROP LEVEL, IN RELATION TO CURRENT WEATHER AND TO THE POPULATION ON THE CROP

Aphis fabae Scop, flying over bean crops in the summer usually show a double peak of aerial density during the day; scarcely any flight occurs at night. The first peak is thought to be composed mainly of alatae moulted since the previous evening and the decline of the peak to their depletion as they fly away from the crop. The second peak is probably composed mainly of alatae moulted during the same day. Lack of flight at night is due partly to low temperature, partly to lack of alatae old enough to fly and probably also to low light intensity.
Contrary to expectation changes in aerial density from hour to hour are only very weakly correlated with weather factors, especially wind-speed. The total numbers in each of the two peaks do show a low but significant correlation with both wind-speed and temperature in one case, but even then only a relatively small amount of the variation in aerial numbers is associated with weather changes. Other factors, particularly rapid changes in the numbers of alatae on the crop caused by moulting, accumulation before flight and depletion by flight evidently obscure changes due simply to varying flight behaviour. Thus because of large populations on the crop, it is possible to have quite large numbers in the air even when the weather is relatively unfavourable for flight.
In addition to these observations, the relation between total numbers caught at different wind-speeds shows that most of the migration occurred in winds when the aphids could have had no control over the general direction of flight. The current view that most migration takes place only in calm weather can therefore no longer be held.     

Falling with Style: Bats Perform Complex Aerial Rotations by Adjusting Wing Inertia

The remarkable maneuverability of flying animals results from precise movements of their highly specialized wings. Bats have evolved an impressive capacity to control their flight, in large part due to their ability to modulate wing shape, area, and angle of attack through many independently controlled joints. Bat wings, however, also contain many bones and relatively large muscles, and thus the ratio of bats’ wing mass to their body mass is larger than it is for all other extant flyers. Although the inertia in bat wings would typically be associated with decreased aerial maneuverability, we show that bat maneuvers challenge this notion. We use a model-based tracking algorithm to measure the wing and body kinematics of bats performing complex aerial rotations. Using a minimal model of a bat with only six degrees of kinematic freedom, we show that bats can perform body rolls by selectively retracting one wing during the flapping cycle. We also show that this maneuver does not rely on aerodynamic forces, and furthermore that a fruit fly, with nearly massless wings, would not exhibit this effect. Similar results are shown for a pitching maneuver. Finally, we combine high-resolution kinematics of wing and body movements during landing and falling maneuvers with a 52-degree-of-freedom dynamical model of a bat to show that modulation of wing inertia plays the dominant role in reorienting the bat during landing and falling maneuvers, with minimal contribution from aerodynamic forces. Bats can, therefore, use their wings as multifunctional organs, capable of sophisticated aerodynamic and inertial dynamics not previously observed in other flying animals. This may also have implications for the control of aerial robotic vehicles.     

Environmental effects on flying migrants revealed by radar

Migratory animals are affected by various factors during their journeys, and the study of animal movement by radars has been instrumental in revealing key influences of the environment on flying migrants. Radars enable the simultaneous tracking of many individuals of almost all sizes within the radar range during day and night, and under low visibility conditions. We review how atmospheric conditions, geographic features and human development affect the behavior of migrating insects and birds as recorded by radars. We focus on flight initiation and termination, as well as in‐flight behavior that includes changes in animal flight direction, speed and altitude. We have identified several similarities and differences in the behavioral responses of aerial migrants including an overlooked similarity in the use of thermal updrafts by very small (e.g. aphids) and very large (e.g. vultures) migrants. We propose that many aerial migrants modulate their migratory flights in relation to the interaction between atmospheric conditions and geographic features. For example, aerial migrants that encounter crosswind may terminate their flight or continue their migration and may also drift or compensate for lateral displacement depending on their position (over land, near the coast or over sea). We propose several promising directions for future research, including the development and application of algorithms for tracking insects, bats and large aggregations of animals using weather radars. Additionally, an important contribution will be the spatial expansion of aeroecological radar studies to Africa, most of Asia and South America where no such studies have been undertaken. Quantifying the role of migrants in ecosystems and specifically estimating the number of departing birds from stopover sites using low‐elevation radar scans is important for quantifying migrant–habitat relationships. This information, together with estimates of population demographics and migrant abundance, can help resolve the long‐term dynamics of migrant populations facing large‐scale environmental changes.     

The effect of optic flow cues on honeybee flight control in wind

To minimize the risk of colliding with the ground or other obstacles, flying animals need to control both their ground speed and ground height. This task is particularly challenging in wind, where head winds require an animal to increase its airspeed to maintain a constant ground speed and tail winds may generate negative airspeeds, rendering flight more difficult to control. In this study, we investigate how head and tail winds affect flight control in the honeybee Apis mellifera, which is known to rely on the pattern of visual motion generated across the eye—known as optic flow—to maintain constant ground speeds and heights. We find that, when provided with both longitudinal and transverse optic flow cues (in or perpendicular to the direction of flight, respectively), honeybees maintain a constant ground speed but fly lower in head winds and higher in tail winds, a response that is also observed when longitudinal optic flow cues are minimized. When the transverse component of optic flow is minimized, or when all optic flow cues are minimized, the effect of wind on ground height is abolished. We propose that the regular sidewards oscillations that the bees make as they fly may be used to extract information about the distance to the ground, independently of the longitudinal optic flow that they use for ground speed control. This computationally simple strategy could have potential uses in the development of lightweight and robust systems for guiding autonomous flying vehicles in natural environments.     

A bio-inspired flying robot sheds light on insect piloting abilities

When insects are flying forward, the image of the ground sweeps backward across their ventral viewfield and forms an "optic flow," which depends on both the groundspeed and the groundheight. To explain how these animals manage to avoid the ground by using this visual motion cue, we suggest that insect navigation hinges on a visual-feedback loop we have called the optic-flow regulator, which controls the vertical lift. To test this idea, we built a micro-helicopter equipped with an optic-flow regulator and a bio-inspired optic-flow sensor. This fly-by-sight micro-robot can perform exacting tasks such as take-off, level flight, and landing. Our control scheme accounts for many hitherto unexplained findings published during the last 70 years on insects' visually guided performances; for example, it accounts for the fact that honeybees descend in a headwind, land with a constant slope, and drown when travelling over mirror-smooth water. Our control scheme explains how insects manage to fly safely without any of the instruments used onboard aircraft to measure the groundheight, groundspeed, and descent speed. An optic-flow regulator is quite simple in terms of its neural implementation and just as appropriate for insects as it would be for aircraft.     

The relationship between thePgi locus and the ability to fly at low temperatures in the monarch butterflyDanaus plexippus

Differences in genetic structure of samples of monarch butterflies caught at different times of day have been reported previously. This paper compares differences in allele and heterozygote frequencies at thePgi locus between animals flying early and those flying late in outdoor flight cages and between animals able and animals unable to fly at a constant low temperature. There were consistent effects across a number of tests and in comparisons with field data, especially in males. Animals with the Mallele were more likely to be able to fly at low temperatures, to become active early in outdoor flight cages, and to be caught early in the field. Also, differences were observed between males and females in the effect of allele on flight activity.     

Meteorological and environmental variables affect flight behaviour and decision‐making of an obligate soaring bird,the California Condor Gymnogyps californianus

The movements of animals are limited by evolutionary constraints and ecological processes and are strongly influenced by the medium through which they travel. For flying animals, variation in atmospheric conditions is critically influential in movement. Obligate soaring birds depend on external sources of updraft more than do other flying species, as without that updraft they are unable to sustain flight for extended periods. These species are therefore good models for understanding how the environment can influence decisions about movement. We used meteorological and topographic variables to understand the environmental influences on the decision to engage in flight by obligate soaring and critically endangered California Condors Gymnogyps californianus. Condors were more likely to fly, soared at higher altitudes and flew over smoother terrain when weather conditions promoted either thermal or orographic updrafts, for example when turbulence and solar radiation were higher and when winds from the east and north were stronger. However, increased atmospheric stability, which is inconsistent with thermal development but may be associated with orographic updrafts, was correlated with a somewhat higher probability of being in flight at lower altitudes and over rougher terrain. The close and previously undescribed linkages between Condor flight and conditions that support development of thermal and orographic updrafts provide important insight into the behaviour of obligate soaring birds and into the environmental parameters that may define the currently expanding distribution of Condors within and outside the state of California.     

Is flight architecture determined by physical constraints or by natural selection?: the case of the midge Chironomus plumosus

Males of the midge Chironomus plumosus fly solely to mate. They maintain station for long periods in moving air. Females patrol in search of males and, after receiving a spermatophore, fly to oviposition sites. The requirements of flight in males and females are therefore fundamentally different. Females are larger than males, on average, so these differences could stem from scaling rules governing the geometry of space. The same explanation might apply to flight differences within the sexes and even to peculiarities of flight architecture in C. plumosus compared to other flying animals. In other words, might flight design be accounted for entirely by mechanical constraints without recourse to natural selection?
To test this hypothesis, the power output of C. plumosu was measured as size-specific muscle mass. Contrary to expectation, little evidence was found of scaling effects in this measure of power. Despite its being among the smallest of animals to fly, C. plumosus turns out to have the largest mass of flight muscle, relative to body size, yet found among animals. Differences both between C. plumosus and other species and within C. plumosus are, in general, more readily accounted for by the requirements of the mating system within the viscous universe encountered by small flying animals. We conclude that it is natural selection rather than mechanical constraint that is the primary influence determining the architecture of flight in this small animal.     

How Lovebirds Maneuver Rapidly Using Super-Fast Head Saccades and Image Feature Stabilization

Diurnal flying animals such as birds depend primarily on vision to coordinate their flight path during goal-directed flight tasks. To extract the spatial structure of the surrounding environment, birds are thought to use retinal image motion (optical flow) that is primarily induced by motion of their head. It is unclear what gaze behaviors birds perform to support visuomotor control during rapid maneuvering flight in which they continuously switch between flight modes. To analyze this, we measured the gaze behavior of rapidly turning lovebirds in a goal-directed task: take-off and fly away from a perch, turn on a dime, and fly back and land on the same perch. High-speed flight recordings revealed that rapidly turning lovebirds perform a remarkable stereotypical gaze behavior with peak saccadic head turns up to 2700 degrees per second, as fast as insects, enabled by fast neck muscles. In between saccades, gaze orientation is held constant. By comparing saccade and wingbeat phase, we find that these super-fast saccades are coordinated with the downstroke when the lateral visual field is occluded by the wings. Lovebirds thus maximize visual perception by overlying behaviors that impair vision, which helps coordinate maneuvers. Before the turn, lovebirds keep a high contrast edge in their visual midline. Similarly, before landing, the lovebirds stabilize the center of the perch in their visual midline. The perch on which the birds land swings, like a branch in the wind, and we find that retinal size of the perch is the most parsimonious visual cue to initiate landing. Our observations show that rapidly maneuvering birds use precisely timed stereotypic gaze behaviors consisting of rapid head turns and frontal feature stabilization, which facilitates optical flow based flight control. Similar gaze behaviors have been reported for visually navigating humans. This finding can inspire more effective vision-based autopilots for drones.     

Wind tunnel as a tool in bird migration research

Wind tunnels, in which birds fly against an artificially generated air flow, have since long been used to evaluate aerodynamic properties of steady bird flight. A new generation of wind tunnels has also allowed the many processes associated with migratory flights to be studied in captivity. We review how wind tunnel studies of aerodynamics and migratory performance together have helped advancing our understanding of bird migration. Current migration theory is based on the power‐speed relationship of flight as well as flight range equations, both of which can be evaluated using birds flying in wind tunnels. In addition, and depending on wind tunnel properties, performance during gliding and climbing flight, and effects of air pressure, humidity and turbulence on bird flight has been measured. Long‐distance migrant species have been flown repeatedly for up to 16 h non‐stop, allowing detailed studies of the energy expenditure, fuel composition, protein turnover, water balance, immunocompetence and stress associated with sustained migratory flights. In addition, wind tunnels allow the fuelling periods between migratory flights to be studied from new angles. We end our review by suggesting several important topics for future wind tunnel studies, ranging from on of the key questions remaining, the efficiency at which chemical power in converted to mechanical power, to new useful avenues, such as improving and calibrating the techniques used for tracking of individual birds in the wild.     

Honeybee odometry: performance in varying natural terrain

Recent studies have shown that honeybees flying through short, narrow tunnels with visually textured walls perform waggle dances that indicate a much greater flight distance than that actually flown. These studies suggest that the bee's “odometer” is driven by the optic flow (image motion) that is experienced during flight. One might therefore expect that, when bees fly to a food source through a varying outdoor landscape, their waggle dances would depend upon the nature of the terrain experienced en route. We trained honeybees to visit feeders positioned along two routes, each 580 m long. One route was exclusively over land. The other was initially over land, then over water and, finally, again over land. Flight over water resulted in a significantly flatter slope of the waggle-duration versus distance regression, compared to flight over land. The mean visual contrast of the scenes was significantly greater over land than over water. The results reveal that, in outdoor flight, the honeybee's odometer does not run at a constant rate; rather, the rate depends upon the properties of the terrain. The bee's perception of distance flown is therefore not absolute, but scene-dependent. These findings raise important and interesting questions about how these animals navigate reliably.     

Scaling of Soaring Seabirds and Implications for Flight Abilities of Giant Pterosaurs

The flight ability of animals is restricted by the scaling effects imposed by physical and physiological factors. In comparisons of the power available from muscle and the mechanical power required to fly, it is predicted that the margin between the powers should decrease with body size and that flying animals have a maximum body size. However, predicting the absolute value of this upper limit has proven difficult because wing morphology and flight styles varies among species. Albatrosses and petrels have long, narrow, aerodynamically efficient wings and are considered soaring birds. Here, using animal-borne accelerometers, we show that soaring seabirds have two modes of flapping frequencies under natural conditions: vigorous flapping during takeoff and sporadic flapping during cruising flight. In these species, high and low flapping frequencies were found to scale with body mass (mass ^−0.30 and mass ^−0.18) in a manner similar to the predictions from biomechanical flight models (mass ^−1/3 and mass ^−1/6). These scaling relationships predicted that the maximum limits on the body size of soaring animals are a body mass of 41 kg and a wingspan of 5.1 m. Albatross-like animals larger than the limit will not be able to flap fast enough to stay aloft under unfavourable wind conditions. Our result therefore casts doubt on the flying ability of large, extinct pterosaurs. The largest extant soarer, the wandering albatross, weighs about 12 kg, which might be a pragmatic limit to maintain a safety margin for sustainable flight and to survive in a variable environment.     

Perspectives and challenges for the use of radar in biological conservation

Radar is at the forefront for the study of broad‐scale aerial movements of birds, bats and insects and related issues in biological conservation. Radar techniques are especially useful for investigating species which fly at high altitudes, in darkness, or which are too small for applying electronic tags. Here, we present an overview of radar applications in biological conservation and highlight its future possibilities. Depending on the type of radar, information can be gathered on local‐ to continental‐scale movements of airborne organisms and their behaviour. Such data can quantify flyway usage, biomass and nutrient transport (bioflow), population sizes, dynamics and distributions, times and dimensions of movements, areas and times of mass emergence and swarming, habitat use and activity ranges. Radar also captures behavioural responses to anthropogenic disturbances, artificial light and man‐made structures. Weather surveillance and other long‐range radar networks allow spatially broad overviews of important stopover areas, songbird mass roosts and emergences from bat caves. Mobile radars, including repurposed marine radars and commercially dedicated ‘bird radars’, offer the ability to track and monitor the local movements of individuals or groups of flying animals. Harmonic radar techniques have been used for tracking short‐range movements of insects and other small animals of conservation interest. However, a major challenge in aeroecology is determining the taxonomic identity of the targets, which often requires ancillary data obtained from other methods. Radar data have become a global source of information on ecosystem structure, composition, services and function and will play an increasing role in the monitoring and conservation of flying animals and threatened habitats worldwide.     

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.     

Control of self-motion in dynamic fluids: fish do it differently from bees

To detect and avoid collisions, animals need to perceive and control the distance and the speed with which they are moving relative to obstacles. This is especially challenging for swimming and flying animals that must control movement in a dynamic fluid without reference from physical contact to the ground. Flying animals primarily rely on optic flow to control flight speed and distance to obstacles. Here, we investigate whether swimming animals use similar strategies for self-motion control to flying animals by directly comparing the trajectories of zebrafish (Danio rerio) and bumblebees (Bombus terrestris) moving through the same experimental tunnel. While moving through the tunnel, black and white patterns produced (i) strong horizontal optic flow cues on both walls, (ii) weak horizontal optic flow cues on both walls and (iii) strong optic flow cues on one wall and weak optic flow cues on the other. We find that the mean speed of zebrafish does not depend on the amount of optic flow perceived from the walls. We further show that zebrafish, unlike bumblebees, move closer to the wall that provides the strongest visual feedback. This unexpected preference for strong optic flow cues may reflect an adaptation for self-motion control in water or in environments where visibility is limited.     

Flying at no mechanical energy cost: disclosing the secret of wandering albatrosses

ALBATROSSES DO SOMETHING THAT NO OTHER BIRDS ARE ABLE TO DO: fly thousands of kilometres at no mechanical cost. This is possible because they use dynamic soaring, a flight mode that enables them to gain the energy required for flying from wind. Until now, the physical mechanisms of the energy gain in terms of the energy transfer from the wind to the bird were mostly unknown. Here we show that the energy gain is achieved by a dynamic flight manoeuvre consisting of a continually repeated up-down curve with optimal adjustment to the wind. We determined the energy obtained from the wind by analysing the measured trajectories of free flying birds using a new GPS-signal tracking method yielding a high precision. Our results reveal an evolutionary adaptation to an extreme environment, and may support recent biologically inspired research on robotic aircraft that might utilize albatrosses' flight technique for engineless propulsion.     

Effects of chronic exposure of high-sustained +Gz-accelerations on pulmonary function

The development of prospective aircrafts with more performant flight characteristics has challenged the investigations of remote sequelae of unfavorable effect of high-sustained +Gz-accelerations on human pilot. For some last years we have conducted a set of exploratory works, which entailed the experimental investigations on animals, the centrifuge exposures on volunteered test-subjects and flying tests in aerial combat maneuvering, aimed at study of chronic effects of high-sustained +Gz-accelerations on pulmonary function of animals and humans.     

Morphology and evolution of the wing bullae in South American Leptophlebiidae (Ephemeroptera)

Insects were the first animals to take to the skies, and have been flying for over 320 million years. The order Ephemeroptera is, or at least is part of, the most early-diverging lineage of extant winged insects. The extant species present a very short adult life span, mainly dedicated to reproduction and dispersal of eggs. Mating and egg-laying behavior depend on flight. Wings are structures to fly and as such face a number of physical and physiological challenges. The convex curvature along the anterior–posterior axis of the wing generates a camber that must be carefully regulated. One of the most interesting ways of wing bending is provided by the bullae, which have been defined as short sections of flexible chitin, where the flexion lines cross veins. Although the bullae have been frequently used as taxonomic characters, there is no study focused on their morphology, although their prevalence on the wings of mayflies strongly suggests a role in flight. In order to identify evolutionary trends of these structures within Ephemeroptera, we constructed a matrix with comparative anatomy data of the bullae from whole mounts of the wings of 300 specimens belonging to 70 species of several mayfly families, as well as scanning microscopy samples of selected specimens. We also surveyed the number of bullae and their distribution in the wings of the different species within the South American Leptophlebiidae clade. We optimized the characters onto the latest published phylogeny for Leptophlebiidae.