Design and Demonstration of Insect Mimicking Foldable Artificial Wing Using Four-Bar Linkage Systems

In this work, we develop an artificial foldable wing that mimics the hind wing of a beetle （Allomyrina dichotoma）. In real flight, the beetle unfolds forewings and hind wings, and maintains the unfolded configuration unless it is exhausted. The artificial wing has to be able to maintain a fully unfolded configuration while flapping at a desirable flapping frequency. The artificial foldable hind wing developed in this work is based on two four-bar linkages which adapt the behaviors of the beetle＇s hind wing. The four-bar-linkages are designed to mimic rotational motion of the wing base and the vein folding/unfolding motion of the beetle＇s hind wing. The behavior of the artificial wings, which are installed in a flapping-wing system, is observed using a high-speed camera. The observation shows that the wing could maintain a fully unfolded configuration during flapping motion. A series of thrust measurements are also conducted to estimate the force generated by the flapping-wing system with foldable artificial wings. Although the artificial foldable wings give added burden to the flapping-wing system because of its weight, the thrust measurement results show that the flapping-wing system could still generate reasonable thrust.     

Effect of Chord Flexure on Aerodynamic Performance of a Flapping Wing

Inspired by the fact that a high flexible wing in nature generates high aerodynamic performance, we investigated the aerodynamic performance of the flapping wing with different chord flexures. The unsteady, incompressible, and viscous flow over airfoil NACA0012 in a plunge motion was analyzed by using Navier-Stokes equation. Grid deformation, in which finite element and interpolation ideas are mixed, was introduced for computing large grid deformation caused by the chord flexures. We explored the optimal phase angle for thrust force and propulsive efficiency by varying the chord flexure from 0.05 to 0.7 when reduced frequency and plunge amplitude were fixed. Throughout parametric study on the phase angle and chord flexure amplitude, the maximum thrust force is achieved near at 0° in all given conditions, meanwhile, it is found that the optimal phase angle has dependency of chord flexure amplitude, which achieves higher aerodynamic performance compared to previous studies. These findings will provide a useful guideline for determining wing flexibility in design of a bio-mimetic air vehicle.     

Unsteady flow field around a human hand and propulsive force in swimming

Much effort has been undertaken for the estimation of propulsive force of swimmers in the front crawl. Estimation is typically based on steady flow theory: the so-called quasi-steady analysis. Flow fields around a swimmer, however, are extremely unsteady because the change direction of hand produces unsteady vortex motions. To evaluate the force correctly, it is necessary to know the unsteady properties determined from the vortex dynamics because that unsteadiness is known to make the force greater. Unsteady flow measurements were made for this study using a sophisticated technique called particle image velocimetry (PIV) in several horizontal planes for subjects swimming in a flume. Using that method, a 100 time-sequential flow fields are obtainable simultaneously. Each flow field was calculated from two particle images using the cross-correlation method. The intensity of vortices and their locations were identified. A strong vortex was generated near the hand and then shed by directional change of the hand in the transition phase from in-sweep to out-sweep. When the vortex was shed, a new vortex rotating in the opposite direction around the hand was created. The pair of vortices induced the velocity component in the direction opposite to the swimming. Results of this study show that the momentum change attributable to the increase in this velocity component is the origin of thrust force by the hand.     

Flow Visualization of Rhinoceros Beetle (Trypoxylus dichotomus) in Free Flight

Aerodynamic characteristics of the beetle,Trypoxylus dichotomus,which has a pair of elytra (forewings) and flexible hind wings,are investigated.Visualization experiments were conducted for various flight conditions of a beetle,Trypoxylus dichotomus:free,tethered,hovering,forward and climbing flights.Leading edge,trailing edge and tip vortices on both wings were observed clearly.The leading edge vortex was stable and remained on the top surface of the elytron for a wide interval during the downstroke of free forward flight.Hence,the elytron may have a considerable role in lift force generation of the beetle.In addition,we reveal a suction phenomenon between the gaps of the hind wing and the elytron in upstroke that may improve the positive lift force on the hind wing.We also found the reverse clap-fling mechanism of the T.dichotomus beetle in hovering flight.The hind wings touch together at the beginning of the upstroke.The vortex generation,shedding and interaction give a better understanding of the detailed aerodynamic mechanism of beetle flight.     

Pressure distribution over the palm region during forward falls on the outstretched hands

Falls on the outstretched hands are the cause of over 90% of wrist fractures, yet little is known about bone loading during this event. We tested how the magnitude and distribution of pressure over the palm region during a forward fall is affected by foam padding (simulating a glove) and arm configuration, and by the faller's body mass index (BMI) and thickness of soft tissues over the palm region. Thirteen young women with high (n=7) or low (n=6) BMI participated in a "torso release experiment" that simulated falling on both outstretched hands with the arm inclined either at 20° or 40° from the vertical. Trials were acquired with and without a 5 mm thick foam pad secured to the palm. Outcome variables were the magnitude and location of peak pressure (d, θ) with respect to the scaphoid, total impact force, and integrated force applied to three concentric areas, including "danger zone" of 2.5 cm radius centered at the scaphoid. Soft tissue thickness over the palm was measured by ultrasound. The 5mm foam pad reduced peak pressure, and peak force to the danger zone, by 83% and 13%, respectively. Peak pressure was 77% higher in high BMI when compared with low BMI participants. Soft tissue thickness over the palm correlated positively with distance (d) (R=0.79, p=0.001) and force applied outside the danger zone (R=0.76, p=0.002), but did not correlate with BMI (R=0.43, p=0.14). The location of peak pressure was shunted 4 mm further from the scaphoid at 20° than that of 40° falls (d=25 mm (SD 8), θ=-9° (SD 17) in the 20° falls versus d=21 mm (SD 8), θ=-5° (SD 24) in the 40° falls). Peak force to the entire palm was 11% greater in 20° compared with 40° falls. These results indicate that even a 5 mm thick foam layer protects against wrist injury, by attenuating peak pressure over the palm during forward falls. Increased soft tissue thickness shunts force away from the scaphoid. However, soft tissue thickness is not predicted by BMI, and peak pressures are greater in high individuals than that of low BMI individuals. These results contribute to our understanding of the mechanics and prevention of wrist and hand injuries during falls.     

Flow visualization and unsteady aerodynamics in the flight of the hawkmoth,Manduca sexta

The aerodynamic mechanisms employed durng the flight of the hawkmoth, Manduca sexta, have been investigated through smoke visualization studies with tethered moths. Details of the flow around the wings and of the overall wake structure were recorded as stereophotographs and high-speed video sequences. The changes in flow which accompanied increases in flight speed from 0.4 to 5.7 m s^-1 were analysed. The wake consists of an alternating series of horizontal and vertical vortex rings which are generated by successive down- and upstrokes, respectively. The downstroke produces significantly more lift than the upstroke due to a leading-edge vortex which is stabilized by a radia flow moving out towards the wingtip. The leading-edge vortex grew in size with increasing forward flight velocity. Such a phenomenon is proposed as a likely mechanism for lift enhancement in many insect groups. During supination, vorticity is shed from the leading edge as postulated in the ''flex'' mechanism. This vorticity would enhance upstroke lift if it was recaptured diring subsequent translation, but it is not. Instead, the vorticity is left behind and the upstroke circulation builds up slowly. A small jet provides additional thrust as the trailing edges approach at the end of the upstroke. The stereophotographs also suggest that the bound circulation may not be reversed between half strokes at the fastest flight speeds.     

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 most efficient metazoan swimmer creates a ‘virtual wall’ to enhance performance

It has been well documented that animals (and machines) swimming or flying near a solid boundary get a boost in performance. This ground effect is often modelled as an interaction between a mirrored pair of vortices represented by a true vortex and an opposite sign ‘virtual vortex’ on the other side of the wall. However, most animals do not swim near solid surfaces and thus near body vortex–vortex interactions in open-water swimmers have been poorly investigated. In this study, we examine the most energetically efficient metazoan swimmer known to date, the jellyfish Aurelia aurita, to elucidate the role that vortex interactions can play in animals that swim away from solid boundaries. We used high-speed video tracking, laser-based digital particle image velocimetry (dPIV) and an algorithm for extracting pressure fields from flow velocity vectors to quantify swimming performance and the effect of near body vortex–vortex interactions. Here, we show that a vortex ring (stopping vortex), created underneath the animal during the previous swim cycle, is critical for increasing propulsive performance. This well-positioned stopping vortex acts in the same way as a virtual vortex during wall-effect performance enhancement, by helping converge fluid at the underside of the propulsive surface and generating significantly higher pressures which result in greater thrust. These findings advocate that jellyfish can generate a wall-effect boost in open water by creating what amounts to a ‘virtual wall’ between two real, opposite sign vortex rings. This explains the significant propulsive advantage jellyfish possess over other metazoans and represents important implications for bio-engineered propulsion systems.     

Ambient temperature affects free-flight performance in the fruit fly Drosophila melanogaster

To gain insight into how temperature affects locomotor performance in insects, the limits of flight performance have been estimated in freely flying fruit flies Drosophila melanogaster by determining the maximum load that a fly could carry following take-off. At a low ambient temperature of 15 °C, muscle mechanical power output matches the minimum power requirements for hovering flight. Aerodynamic force production rises with increasing temperature and eventually saturates at a flight force that is roughly equal to 2.1 times the body mass. Within the two-fold range of different body sizes, maximum flight force production during free flight does not decrease with decreasing body size as suggested by standard aerodynamic theories. Estimations of flight muscle mechanical power output yields a peak performance of 110 W kg⁻¹ muscle tissue for short-burst flight that was measured at an ambient temperature of 30 °C. With respect to the uncertainties in estimating muscle mechanical power during free flight, the estimated values are similar to those that were published for flight under tethered flight conditions. Accepted: 5 January 1999     

Bird flight and optimal migration

The development of the mechanical and aerodynamical theory of bird flight has greatly stimulated research at widely different levels in the field of bird movement. Recent work has shown that the drag of bird bodies is less than was previously assumed. Furthermore, the structure and circulation of wingtip vortices in the wake of flying birds have been revealed, with implications for estimating flight performance on the basis of vortex theory. Predictions about optimal speed and flight behaviour have been successfully tested by field studies using optical and radar registration. Flight theory also allows predictions about optimal fuel deposition rules for migrating birds. Research about bird flight, with the dynamic interplay between theoretical development and empirical work in biophysics, physiology and ecology, represents a fine example of a highly successful use of the optimality approach in biology.     

Unsteady hydrodynamic forces acting on a robotic arm and its flow field: Application to the crawl stroke

This study aims to clarify the mechanisms by which unsteady hydrodynamic forces act on the hand of a swimmer during a crawl stroke. Measurements were performed for a hand attached to a robotic arm with five degrees of freedom independently controlled by a computer. The computer was programmed so the hand and arm mimicked a human performing the stroke. We directly measured forces on the hand and pressure distributions around it at 200 Hz; flow fields underwater near the hand were obtained via 2D particle image velocimetry (PIV). The data revealed two mechanisms that generate unsteady forces during a crawl stroke. One is the unsteady lift force generated when hand movement changes direction during the stroke, leading to vortex shedding and bound vortex created around it. This bound vortex circulation results in a lift that contributes to the thrust. The other occurs when the hand moves linearly with a large angle of attack, creating a Kármán vortex street. This street alternatively sheds clockwise and counterclockwise vortices, resulting in a quasi-steady drag contributing to the thrust. We presume that professional swimmers benefit from both mechanisms. Further studies are necessary in which 3D flow fields are measured using a 3D PIV system and a human swimmer.     

Characteristics of a Beetle's Free Flight and a Flapping-Wing System that Mimics Beetle Flight

In this work, we first present a method to experimentally capture the free flight of a beetle (Allomyrina dichotoma), which is not an active flyer. The beetle is suspended in the air by a hanger to induce the free flight. This flight is filmed using two high-speed cameras. The high speed images are then examined to obtain flapping angle, flapping frequency, and wing rotation of the hind wing. The acquired data of beetle free flight are used to design a motor-driven flapper that can approximately mimic the beetle in terms of size, flapping frequency and wing kinematics. The flapper can create a large flapping angle over 140° with a large passive wing rotation angle. Even though the flapping frequency of the flapper is not high enough compared to that of a real beetle due to the limited motor torque, the flapper could produce positive average vertical force. This work will provide important experience for future development of a beetle-mimicking Flapping-Wing Micro Air Vehicle (FWMAV).     

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.     

Modulation of leading edge vorticity and aerodynamic forces in flexible flapping wings

In diverse biological flight systems, the leading edge vortex has been implicated as a flow feature of key importance in the generation of flight forces. Unlike fixed wings, flapping wings can translate at higher angles of attack without stalling because their leading edge vorticity is more stable than the corresponding fixed wing case. Hence, the leading edge vorticity has often been suggested as the primary determinant of the high forces generated by flapping wings. To test this hypothesis, it is necessary to modulate the size and strength of the leading edge vorticity independently of the gross kinematics while simultaneously monitoring the forces generated by the wing. In a recent study, we observed that forces generated by wings with flexible trailing margins showed a direct dependence on the flexural stiffness of the wing. Based on that study, we hypothesized that trailing edge flexion directly influences leading edge vorticity, and thereby the magnitude of aerodynamic forces on the flexible flapping wings. To test this hypothesis, we visualized the flows on wings of varying flexural stiffness using a custom 2D digital particle image velocimetry system, while simultaneously monitoring the magnitude of the aerodynamic forces. Our data show that as flexion decreases, the magnitude of the leading edge vorticity increases and enhances aerodynamic forces, thus confirming that the leading edge vortex is indeed a key feature for aerodynamic force generation in flapping flight. The data shown here thus support the hypothesis that camber influences instantaneous aerodynamic forces through modulation of the leading edge vorticity.     

Experimental Hydrodynamics and Evolution: Function of Median Fins in Ray-finned Fishes

The median fins of fishes consist of the dorsal, anal, and caudal fins and have long been thought to play an important role in generating locomotor force during both steady swimming and maneuvering. But the orientations and magnitudes of these forces, the mechanisms by which they are generated, and how fish modulate median fin forces have remained largely unknown until the recent advent of Digital Particle Image Velocimetry (DPIV) which allows empirical analysis of force magnitude and direction. Experimental hydrodynamic studies of median fin function in fishes are of special utility when conducted in a comparative phylogenetic context, and we have examined fin function in four ray-finned fish clades (sturgeon, trout, sunfish, and mackerel) with the goal of testing classical hypotheses of fin function and evolution. In this paper we summarize two recent technical developments in DPIV methodology, and discuss key recent findings relevant to median fin function. High-resolution DPIV using a recursive local-correlation algorithm allows quantification of small vortices, while stereo-DPIV permits simultaneous measurement of x, y, and z flow velocity components within a single planar light sheet. Analyses of median fin wakes reveal that lateral forces are high relative to thrust force, and that mechanical performance of median fins (i.e., thrust as a proportion of total force) averages 0.35, a surprisingly low value. Large lateral forces which could arise as an unavoidable consequence of thrust generation using an undulatory propulsor may also enhance stability and maneuverability. Analysis of hydrodynamic function of the soft dorsal fin in bluegill sunfish shows that a thrust wake is generated that accounts for 12% of total thrust and that the thrust generation by the caudal fin may be enhanced by interception of the dorsal fin wake. Integration of experimental studies of fin wakes, computational approaches, and mechanical models of fin function promise understanding of instantaneous forces on fish fins during the propulsive cycle as well as exploration of a broader locomotor design space and its hydrodynamic consequences.     

How Could Beetle＇s Elytra Support Their Own Weight during Forward Flight？

The aerodynamic role of the elytra during a beetle＇s flapping motion is not well-elucidated, although it is well-recognized that the evolution of elytra has been a key in the success of coleopteran insects due to their protective function. An experimental study on wing kinematics reveals that for almost concurrent flapping with the hind wings, the flapping angle of the elytra is 5 times smaller than that of the hind wings. Then, we explore the aerodynamic forces on elytra in free forward flight with and without an effect of elytron-hind wing interaction by three-dimensional numerical simulation. The numerical results show that vertical force generated by the elytra without interaction is not sufficient to support even its own weight. However, the elytron-hind wing interaction improves the vertical force on the elytra up to 80%; thus, the total vertical force could fully support its own weight. The interaction slightly increases the vertical force on the hind wind by 6% as well.     

Particle-Image Velocimetry and Force Measurements of Leading-Edge Serrations on Owl-Based Wing Models

High-resolution Particle-Image Velocimetry （PIV） and time-resolved force measurements were performed to analyze the impact of the comb-like structure on the leading edge of barn owl wings on the flow field and overall aerodynamic performance. The Reynolds number was varied in the range of 40,000 to 120,000 and the range of angle of attack was 0° to 6° for the PIV and -15° to ＋20° for the force measurements to cover the full flight envelope of the owl. As a reference, a wind-tunnel model which possessed a geometry based on the shape of a typical barn owl wing without any owl-specific adaptations was built, and measurements were performed in the aforementioned Reynolds number and angle of attack： range. This clean wing model shows a separation bubble in the distal part of the wing at higher angles of attack. Two types of comb-like structures, i.e., artificial serrations, were manufactured to model the owl＇s leading edge with respect to its length, thickness, and material properties. The artificial structures were able to reduce the size of the separation region and additionally cause a more uniform size of the vortical structures shed by the separation bubble within the Reynolds number range investigated, resulting in stable gliding flight independent of the flight velocity. However, due to increased drag coefficients in conjunction with similar lift coefficients, the overall aerodynamic performance, i.e., lift-to-drag ratio is reduced for the serrated models. Nevertheless, especially at lower Reynolds numbers the stabilizing effect of the uniform vortex size outperforms the lower aerodynamic performance.     

On the mechanism of speed and altitude control in Drosophila melanogaster

ABSTRACT The total power output of tethered flying Drosophila melanogaster in still air depends on translational velocity components of image flow on the eye, whereas the orientation of the average flight force in the midsagittal plane of the fly is widely independent of visual input (Götz, 1968). The fly does not seem to control the vertical and the horizontal force component independently. Freely flying flies nevertheless generate different ratios between lift and thrust, simply by changing the inclination of their body. By the combined adjustment of the body angle and the total power output a fly appears to be able to stabilize height and speed (David, 1985). Here a possible mechanism is proposed by which the appropriate torque about the transverse body axis could be generated. Translational pattern motion influences the posture of the abdomen and the plane of wing oscillation. Thus the position of the centre of gravity relative to the flight force vector is changed. When abdomen and stroke plane deviate from an equilibrium state, a lever is generated by which the force vector will rotate the fly about its transverse axis.     

Aerodynamic Interactions Between Wing and Body of a Model Insect in Forward Flight and Maneuvers

The aerodynamic interactions between the body and the wings of a model insect in forward flight and maneuvers are studied using the method of numerically solving the Navier-Stokes equations over moving overset grids. Three cases are considered, including a complete insect, wing pair only and body only. By comparing the results of these cases, the interaction effect between the body and the wing pair can be identified. The changes in the force and moment coefficients of the wing pair due to the presence of the body are less than 4.5% of the mean vertical force coefficient of the model insect; the changes in the aerodynamic force coefficients of the body due to the presence of the wings are less than 5.0% of the mean vertical force coefficient of the model insect. The results of this paper indicate that in studying the aerodynamics and flight dynamics of a flapping insect in forward flight or maneuver, separately computing (or measuring) the aerodynamic forces and moments on the wing pair and on the body could be a good approximation.     

Accuracy, stability, and corrective behavior in a visuomotor tracking task: a preliminary study

Visuomotor tracking tasks have been used to elucidate the underlying mechanisms that allow for the coordination of a movement to an environmental event. The main purpose of the present study was to examine the relationship between accuracy and stability of tracking performance and the amount of corrective movements that emerge for various coordination patterns in a unimanual visuomotor tracking task. Participants (N = 6) produced rhythmic elbow flexion-extension motions and were required to track an external sinusoidal signal at five different relative phases, 0°, 45°, 90°, 135°, and 180°. Differential accuracy and stability were found among the five tracking patterns with the 0° relative phase pattern being the most accurate and stable pattern. Corrective movements were correlated with changes in accuracy only for the 0° relative phase pattern, with more corrections emerging for less accurate performance. The amount of corrective movements decreased as the stability of tracking performance increased for the 0°, 45°, and 135° patterns. For the 90° and 180° tracking patterns, the amount of corrective movements was not correlated with pattern accuracy or pattern stability. The results demonstrate that corrective behaviors are an important motor process in maintaining the stability of stable perception-action coordination patterns, while offering little benefit for unstable perception-action patterns.