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.     

Improvement of Artificial Foldable Wing Models by Mimicking the Unfolding/Folding Mechanism of a Beetle Hind Wing

<正> In an attempt to realize a flapping wing micro-air vehicle with morphing wings, we report on improvements to our previousfoldable artificial hind wing.Multiple hinges, which were implemented to mimic the bending zone of a beetle hind wing, weremade of small composite hinge plates and tiny aluminum rivets.The buck-tails of rivets were flared after the hinge plates wereassembled with the rivets so that the folding/unfolding motions could be completed in less time, and the straight shape of theartificial hind wing could be maintained after fabrication.Folding and unfolding actions were triggered by electrically-activatedShape Memory Alloy (SMA) wires.For wing folding, the actuation characteristics of the SMA wire actuator were modifiedthrough heat treatment.Through a series of flapping tests, we confirmed that the artificial wings did not fold back and arbitrarilyfluctuate during the flapping motion.     

Non-Jumping Take off Performance in Beetle Flight （Rhinoceros Beetle Trypoxylus dichotomus）

In recent decades, the take-off mechanisms of flying animals have received much attention in insect flight initiation. Most of previous works have focused on the jumping mechanism, which is the most common take-off mechanism found in flying animals. Here, we presented that the rhinoceros beetle, Trypoxylus dichotomus, takes offwithout jumping. In this study, we used 3-Dimensional （3D） high-speed video techniques to quantitatively analyze the wings and body kinematics during the initiation periods of flight. The details of the flapping angle, angle of attack of the wings and the roll, pitch and yaw angles of the body were investigated to understand the mechanism of take-off in T. dichotomus. The beetle took off gradually with a small velocity and small acceleration. The body kinematic analyses showed that the beetle exhibited stable take-off. To generate high lift force, the beetle modulated its hind wing to control the angle of attack; the angle of attack was large during the upstroke and small during the downstroke. The legs of beetle did not contract and strongly release like other insects. The hind wing could be con- sidered as a main source of lift for heavy beetle.     

Mimicking a Superhydrophobic Insect Wing by Argon and Oxygen Ion Beam Treatment on Polytetrafluoroethylene Film

Biological tiny structures have been observed on many kinds of surfaces such as lotus leaves and insect wings,whichenhance the hydrophobicity of the natural surfaces and play a role of self-cleaning.We presented the fabrication technology of asuperhydrophobic surface using high energy ion beam.Artificial insect wings that mimic the morphology and the superhydrophobocityof cicada’s wings were successfully fabricated using argon and oxygen ion beam treatment on a polytetrafluoroethylene(PTFE)film.The wing structures were supported by carbon/epoxy fibers as artificial flexible veins that were bondedthrough an autoclave process.The morphology of the fabricated surface bears a strong resemblance to the wing surface of acicada,with contact angles greater than 160°,which could be sustained for more than two months.     

Static and Dynamic Mechanics Analysis on Artificial Hip Joints with Different Interface Designs by the Finite Element Method

Four different structural models of artificial joints were developed and the finite element method （FEM） was employed to investigate their mechanical characteristics under static and dynamic conditions. The materials used in the FEM calculation were ultra-high molecular weight polyethylene （UHMWPE）, 316L stainless steel, CoCrMo alloy and Ti6A14V alloy. The stress distribution, strain, and elastic deformation under static and dynamic conditions were obtained. Analysis and comparison of the ~alculation results of different models were conducted. It is shown that with the same parameters the model of a metallic femur head covered with an artificial cartilage layer is more similar to the structure of the natural human joint and its mechanical characteristics are the best of the four models.     

Use of a Digital Image Correlation Technique for Measuring the Material Properties of Beetle Wing

Beetle wings are very specialized flight organs consisting of the veins and membranes.Therefore it is necessary from abionic view to investigate the material properties of a beetle wing experimentally.In the present study,we have used a DigitalImage Correlation (DIC) technique to measure the elastic modulus of a beetle wing membrane.Specimens were prepared bycarefully cutting a beetle hind wing into 3.0 mm by 7.0 mm segments (the gage length was 5 mm).We used a scanning electronmicroscope for a precise measurement of the thickness of the beetle wing membrane.The specimen was attached to a designedfixture to induce a uniform displacement by means of a micromanipulator.We used an ARAMISTM system based on the digitalimage correlation technique to measure the corresponding displacement of a specimen.The thickness of the beetle wing variedat different points of the membrane.The elastic modulus differed in relation to the membrane arrangement showing a structuralanisotropy;the elastic modulus in the chordwise direction is approximately 2.65 GPa,which is three times larger than the elasticmodulus in the spanwise direction of 0.84 GPa.As a result,the digital image correlation-based ARAMIS system was suc-cessfully used to measure the elastic modulus of a beetle wing.In addition to membrane’s elastic modulus,we considered thePoisson’s ratio of the membrane and measured the elastic modulus of a vein using an Instron universal tensile machine.Theresult reveals the Poisson’s ratio is nearly zero and the elastic modulus of a vein is about 11 GPa.     

Analysis of Maneuvering Flight of an Insect

Wing motion of a dragonfly in the maneuvering flight, which was measured by Wang et al. was investigated. Equations of motion for a maneuvering flight of an insect were derived. These equations were applied for analyzing the maneuvering flight. Inertial forces and moments acting on a body and wings were estimated by using these equations and the measured motions of the body and the wings. The results indicated the following characteristics of this flight: ( 1 ) The phase difference in flapping motion between the two fore wings and two hind wings, and the phase difference between the flapping motion and the feathering motion of the four wings are equal to those in a steady forward flight with the maximum efficiency. (2)The camber change and the feathering motion were mainly controlled by muscles at the wing bases.     

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.     

Wetting Characteristics of Insect Wing Surfaces

Biological tiny structures have been observed on many kinds of surfaces such as lotus leaves,which have an effect on thecoloration of Morpho butterflies and enhance the hydrophobicity of natural surfaces.We investigated the micro-scale andnano-scale structures on the wing surfaces of insects and found that the hierarchical multiple roughness structures help in enhancingthe hydrophobicity.After examining 10 orders and 24 species of flying Pterygotan insects,we found that micro-scaleand nano-scale structures typically exist on both the upper and lower wing surfaces of flying insects.The tiny structures such asdenticle or setae on the insect wings enhance the hydrophobicity,thereby enabling the wings to be cleaned more easily.And thehydrophobic insect wings undergo a transition from Cassie to Wenzel states at pitch/size ratio of about 20.In order to examinethe wetting characteristics on a rough surface,a biomimetic surface with micro-scale pillars is fabricated on a silicon wafer,which exhibits the same behavior as the insect wing,with the Cassie-Wenzel transition occurring consistently around apitch/width value of 20.     

Effects of Methanol on Wettability of the Non-Smooth Surface on Butterfly Wing

The contact angles of distilled water and methanol solution on the wings of butterflies were determined by a visual contact angle measuring system. The scale structures of the wings were observed using scanning electron microscopy, The influence of the scale micro- and ultra-structure on the wettability was investigated. Results show that the contact angle of distilled water on the wing surfaces varies from 134.0° to 159.2°. High hydrophobicity is found in six species with contact angles greater than 150°. The wing surfaces of some species are not only hydrophobic but also resist the wetting by methanol solution with 55% concentration. Only two species in Parnassius can not resist the wetting because the micro-structure （spindle-like shape） and ultra-structure （pinnule-like shape） of the wing scales are remarkably different from that of other species. The concentration of methanol solution for the occurrence of spreading/wetting on the wing surfaces of different species varies from 70% to 95%. After wetting by methanol solution for 10 min, the distilled water contact angle on the wing surface increases by 0.8°-2.1°, showing the promotion of capacity against wetting by distilled water.     

Effect of an Artificial Caudal Fin on the Performance of a Biomimetic Fish Robot Propelled by Piezoelectric Actuators

This paper addresses the design of a biomimetic fish robot actuated by piezoeeramic actuators and the effect of artificial caudal fins on the fish robot＇s performance. The limited bending displacement produced by a lightweight piezocomposite actuator was amplified and transformed into a large tail beat motion by means of a linkage system. Caudal fins that mimic the shape of a mackerel fin were fabricated for the purpose of examining the effect of caudal fm characteristics on thrust production at an operating frequency range. The thickness distribution of a real mackerel＇s fin was measured and used to design artificial caudal fins. The thrust performance of the biomimetic fish robot propelled by fins of various thicknesses was examined in terms of the Strouhal number, the Froude number, the Reynolds number, and the power consumption. For the same fm area and aspect ratio, an artificial caudal fin with a distributed thickness shows the best forward speed and the least power consumption.     

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.     

Dynamic culture improves MSC adhesion on freeze-dried bone as a scaffold for bone engineering

AIM:To investigate the interaction between mesenchymal stem cells(MSCs) and bone grafts using two different cultivation methods:static and dynamic.METHODS:MSCs were isolated from rat bone marrow.MSC culture was analyzed according to the morphology,cell differentiation potential,and surface molecular markers.Before cell culture,freeze-dried bone(FDB) was maintained in culture for 3 d in order to verify culture medium pH.MSCs were co-cultured with FDB using two different cultivation methods:static co-culture(two-dimensional) and dynamic co-culture(threedimensional).After 24 h of cultivation by dynamic or static methods,histological analysis of Cell adhesion on FDB was performed.Cell viability was assessed by the Trypan Blue exclusion method on days 0,3 and 6 after dynamic or static culture.Adherent cells were detached from FDB surface,stained with Trypan Blue,and quantified to determine whether the cells remained on the graft surface in prolonged non-dynamic culture.Statistical analyses were performed with SPSS and a P < 0.05 was considered significant.RESULTS:The results showed a clear potential for adipogenic and osteogenic differentiation of MSC cultures.Rat MSCs were positive for CD44,CD90 and CD29 and negative for CD34,CD45 and CD11bc.FDBs were maintained in culture for 3 d and the results showed there was no significant variation in the culture medium pH with FDB compared to pure medium pH(P > 0.05).In histological analysis,there was a significant difference in the amount of adhered cells on FDB between the two cultivation methods(P < 0.05).The MSCs in the dynamic co-culture method demonstrated greater adhesion on the bone surface than in static co-culture method.On day 0,the cell viability in the dynamic system was significantly higher than in the static system(P < 0.05).There was a statistical difference in cell viability between days 0,3 and 6 after dynamic culture(P < 0.05).In static culture,cell viability on day 6 was significantly lower than on day 3 and 0(P < 0.05).CONCLUSION:An alternative cultivation method was developed to improve the MSCs adhesion on FDB,demonstrating that dynamic co-culture provides a superior environment over static conditions.     

The Role of Elytra in Beetle Flight: Ⅰ.Generation of Quasi-Static Aerodynamic Forces

##正## We conducted a comprehensive study to investigate the aerodynamic characteristics and force generation of the elytra of abeetle,Allomyrina dichotoma.Our analysis included wind tunnel experiments and three-dimensional computational fluiddynamics simulations using ANSYS-CFX software.Our first approach was a quasi-static study that considered the effect ofinduced flapping flow due to the flapping motion of the fore-wings (elytra) at a frequency of around 30 Hz to 40 Hz.The dihedralangle was varied to represent flapping motion during the upstroke and downstroke.We found that an elytron producespositive lift at 0° geometric angle of attack,negative lift during the upstroke,and always produces drag during both the upstrokeand downstroke.We also found that the lift coefficient of an elytron does not drop even at a very high geometric angle of attack.For a beetle with a body weight of 5 g,based on the quasi-static method,the fore-wings (elytra) can produce lift of less than 1%of its body weight.     

The Role of Elytra in Beetle Flight: I. Generation of Quasi-Static Aerodynamic Forces

We conducted a comprehensive study to investigate the aerodynamic characteristics and force generation of the elytra of abeetle,Allomyrina dichotoma.Our analysis included wind tunnel experiments and three-dimensional computational fluiddynamics simulations using ANSYS-CFX software.Our first approach was a quasi-static study that considered the effect ofinduced flapping flow due to the flapping motion of the fore-wings (elytra) at a frequency of around 30 Hz to 40 Hz.The dihedralangle was varied to represent flapping motion during the upstroke and downstroke.We found that an elytron producespositive lift at 0° geometric angle of attack,negative lift during the upstroke,and always produces drag during both the upstrokeand downstroke.We also found that the lift coefficient of an elytron does not drop even at a very high geometric angle of attack.For a beetle with a body weight of 5 g,based on the quasi-static method,the fore-wings (elytra) can produce lift of less than 1%of its body weight.     

Photosynthetic Characterization of the Plant Dicranopteris dichotoma Bernh. in a Rare Earth Elements Mine

In order to investigate the distribution of rare earth elements （REEs） in the natural hyperaccumulator fern Dicranopteris dichotoma Bernh. and to characterize this plant photosynthetically, concentrations of REEs in D. dichotoma from mines mining heavy and light REEs （HREEs and LREEs, respectively）, as well as in D. dichotoma from an area in which no mining occurred, in southern Jiangxi Province were determined using inductively coupled plasma-mass spectrometry. The REE concentrations in the lamina of D. dichotoma were in the order LREEs mine 〉 HREEs mine 〉 non-mining area. The maximum REE content in the lamina of D. dichotoma from the LREE mine was approximately 2 648 mg/kg dry weight. The photosynthetic activity of D. dichotoma from areas of HREE and LREE mines was improved by the presence of high concentrations of REEs in the lamina compared with D. dichotoma from the non-mining area. However, this enhancement varied according to the concentrations of the REEs, as well as their type. In addition, 77K fluorescence, electron transport rate, and chlorophyll-protein complex studies showed that the enhancement of the photosynthetic activity of D. dichotoma from HREE mines was mainly due to an increase in the chlorophyll-protein complex of the reaction center of photosystem （PS） Ⅰ, whereas the enhancement observed in D. dichotoma from LREE mines was due to an increase in the internal antennae chlorophyll-protein complex of PS Ⅱ and greater light energy distribution to the light-harvesting chlorophyll-protein complex of PS Ⅱ.     

Kinematics,Deformation,and Aerodynamics of a Flexible Flapping Rotary Wing in Hovering Flight

The Flapping Rotary Wing(FRW)is a micro air vehicle wing layout coupling flapping,pitching,and rotating motions.It can gain bencfits in high lift from a fast passive rotating motion,which is tightly related to the passive pitching motion directly caused by wing flexible deformation.Therefore,flexible deformation is crucial for the wing kinematics and aerodynamic performance of an FRW.In this paper,we explored the effct of flexibility on wing kinematics and acrodynamics on the basis of a mechanical FRW model.A photogrammetric method was adopted to capture motion images according to which wing orientations and deformations were reconstructed.Corresponding acrodynamic force was computed using computational fluid dynamic method,and wing kinematics and deformations were used as simulation inputs.The experimental measurements presented the real orientation and deformation pattem of a real FRW.The wing passive deformation of a high-intensity FRW was found to be mainly caused by inertial force,and a linear positive spanwise twist was observed in the FRW.The effects of wing deformation on aerodynamic force production and the underlying mechanism were addressed.Results showed that lift augment,rotating moment enhancement,and power efficiency improvement can be achieved when a wing becomes flexible.Wing spanwise twist mainly accounts for these changes in aerodynamics,and increment in spanwise twist could further contributes to aerodynamic improvement.     

Prototype Design and Experimental Study on Locust Air-Posture Righting

Locust has the capacity to maintain a righting posture and glide through attitude adjustment after leaping. A prototype inspired by the dynamic mechanism of attitude adjustment of locusts was developed. The prototype consists of a pair of wings driven by a four-bar mechanism, and a 2 Degree of Freedom （DOF） tail to imitate the movement of the locust abdomen. The power source, microcontroller, wireless data transmission module, and attitude sensors are contained in the fuselage. Experiments imitating the flight of locust were conducted to determine the mechanism of locust Subsequent Attitude Adjustment （SAA）. The tethered prototype was driven by the movement of the tail and the flapping of the wings. Results show that the pitch and yaw of the tail, and the asymmetric action of the flapping wings significantly influence the posture of the prototype. These findings suggest that both the wiggling abdomen and flapping wings contribute to the locust SAA in the air. This research lays the groundwork and technical support for the probable design and development of practical jumping robots with attitude adjustment function.     

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.     

Geometric morphometric analysis of Eysarcoris guttiger,E.annamita and E.ventralis (Hemiptera: Pentatomidae)

The genus Eysarcoris can be easily distinguished from other genera through the two spots in the basal angle of the scutellum.Nevertheless,Eysarcoris species show complex variances.Geometric morphometric methods have been increasingly applied to distinguish species and to define the boundary of genera among insects.In the present study,geometric morphometric approach was firstly employed to evaluate the shape variation of three characters (fore wing,hind wing and pygophore) of E.guttiger,E.annamita and E.ventralis using E.aeneus as outgroup to ascertain whether this approach is a reliable method for the taxonomy of Eysarcoris.Analysis was conducted on the landmarks of the three characters of these species.Multivariate regression of procrustes coordinates against centroid size was conducted to test the presence of allometry.Principal component analysis (PCA),canonical variate analysis (CVA)and cluster analysis were utilized to describe variations in shapes among the studied species.For all of the three characters,though PCA analysis showed some overlap among species,p-values for procrustes distance and mahalanobis distance were all less than 0.0001.The distribution of the three studied species corresponds with their species status.This study demonstrates that the geometric morphometrics of both the fore wing and the hind wing might represent a possible tool for the identification of species within this genus.