From falling to flying: the path to powered flight of a robotic samara nano air vehicle

This paper details the development of a nano-scale (>15 cm) robotic samara, or winged seed. The design of prototypes inspired by naturally occurring geometries is presented along with a detailed experimental process which elucidates similarities between mechanical and robotic samara flight dynamics. The helical trajectories of a samara in flight were observed to differ in-flight path and descent velocity. The body roll and pitch angular rates for the differing trajectories were observed to be coupled to variations in wing pitch, and thus provide a means of control. Inspired by the flight modalities of the bio-inspired samaras, a robotic device has been created that mimics the autorotative capability of the samara, whilst providing the ability to hover, climb and translate. A high-speed camera-based motion capture system is used to observe the flight dynamics of the mechanical and robotic samara. Similarities in the flight dynamics are compared and discussed as it relates to the design of the robotic samara.     

Splitting of the spectra of MHD waves and the structure of a satellite alfvén resonance in a cold plasma in a strong axial magnetic field and a weak helical field

The possibility is demonstrated of splitting the eigenfrequencies of MHD plasma waves in a stellarator with a weakly rippled helical confining magnetic field. The distribution of the fields of an Alfvén wave in the satellite Alfvén resonance region is investigated when the influence of the helical ripple in a confining magnetic field on the resonance structure is comparable with the effects of the finite ion Larmor radius, electron inertia, and collisions between plasma particles.     

A red knot as a black swan: how a single bird shows navigational abilities during repeat crossings of the Greenland Icecap

Despite the wealth of studies on seasonal movements of birds between southern nonbreeding locations and High Arctic breeding locations, the key mechanisms of navigation during these migrations remain elusive. A flight along the shortest possible route between pairs of points on a sphere (‘orthodrome’) requires a bird to be able to assess its current location in relation to its migration goal and to make continuous adjustment of heading to reach that goal. Alternatively, birds may navigate along a vector with a fixed orientation (‘loxodrome’) based on magnetic and/or celestial compass mechanisms. Compass navigation is considered especially challenging for summer migrations in Polar regions, as continuous daylight and complexity in the geomagnetic field may complicate the use of both celestial and magnetic compasses here. We examine the possible use of orientation mechanisms during migratory flights across the Greenland Icecap. Using a novel 2 g solar-powered satellite transmitter, we documented the flight paths travelled by a female red knot Calidris canutus islandica during two northward and two southward migrations. The geometry of the paths suggests that red knots can migrate across the Greenland Icecap along the shortest-, orthodrome-like, path instead of the previously suggested loxodrome path. This particular bird's ability to return to locations visited in a previous year, together with its sudden course changes (which would be appropriate responses to ambient wind fields), suggest a map sense that enables red knots to determine location, so that they can tailor their route depending on local conditions.     

Helical flow as fluid dynamic signature for atherogenesis risk in aortocoronary bypass. A numeric study

The main purpose of the study was to verify if helical flow, widely observed in several vessels, might be a signature of the blood dynamics of vein graft anastomosis. We investigated the existence of a relationship between helical flow structures and vascular wall indexes of atherogenesis in aortocoronary bypass models with different geometric features. In particular, we checked for the existence of a relationship between the degree of helical motion and the magnitude of oscillating shear stress in conventional hand-sewn proximal anastomosis. The study is based on the numerical evaluation of four bypass geometries that are attached to a simplified computer representation of the ascending aorta with different angulations relative to aortic outflow. The finite volume technique was used to simulate realistic graft fluid dynamics, including aortic compliance and proper aortic and graft flow rates. A quantitative method was applied to evaluate the level of helicity in the flow field associated with the four bypass models under investigation. A linear inverse relationship (R = -0.97) was found between the oscillating shear index and the helical flow index for the models under investigation. The results obtained support the hypothesis that an arrangement of the flow field in helical patterns may elicit damping in wall shear stress temporal gradients at the proximal graft. Accordingly, helical flow might play a significant role in preventing plaque deposition or in tuning the mechanotransduction pathways of cells. Therefore, results confirm that helical flow constitutes an important flow signature in vessels, and its strength as a fluid dynamic index (for instance in combination with magnetic resonance imaging flow visualization techniques) for risk stratification, in the activation of both mechanical and biological pathways leading to fibrointimal hyperplasia.     

Effect of the helical nonuniformity of the confining magnetic field on the MHD eigenmodes in straight stellarators

Perturbation theory is applied to derive the dispersion relation describing the propagation of magnetohydrodynamic waves in a plasma in the helical magnetic field of a stellarator. The correction to the eigenfrequency, δω, introduced by a small deviation of the magnetic surfaces from being cylindrical is found.     

Structure of the controlled halo-current magnetic field in the T-10 tokamak

In the T-10 tokamak, the magnetic field spatially resonant with a helical MHD perturbation is generated using the controlled halo current supplied using a contact method in the scrape-off-layer plasma. This paper is concerned with studying the spatial structure of the halo current and its magnetic field. For this purpose, the magnetic field of the halo current was measured in one of the cross sections of the torus near the tokamak vacuum vessel wall. The spatial distribution of the magnetic field as a function of the halo current configuration was calculated in the cylindrical approximation. The terms proportional to the plasma pressure were disregarded. The configuration of the halo current and the spatial structure of its magnetic field were determined by comparing the calculated and experimental results.     

Morphology and ultrastructure of helical and nonhelical strains of Spiroplasma citri.

Cells of the nonhelical strain of Spiroplasma citri underwent changes of morphology comparable to those which occurred in the normal helical strain. Cells of the nonhelical strain had the same ultrastructural features as helical cells and released long flexible fibrils similar to those seen in other spiroplasmas. Nonhelical organisms showed an increased tendency to aggregate, forming cell clusters of an unusual annular form. The cytoplasmic membrane of the nonhelical strain lacked a single protein present in all helical strains. Loss of helicity associated with the senescence of spiroplasma cells was not accompanied by the disappearance of this protein. Differences in colony morphology were shown to be a consequence of motility, and a technique was developed which facilitated the identification of nonmotile organisms.     

On the significance of the time constants of magnetic field sensitivity in animals

A variety of organisms is known to have the ability to transduce and respond to relatively weak magnetic fields, including the earth's field. Though biogenic magnetite has been identified as the transducer in a number of cases with regards to geomagnetic field sensing, the mechanism underlying neurophysiological responses in human studies is not understood. Here we note that the time constants involved in this latter type of field sensitivity are much longer than those in organisms that make use of the earth's magnetic field for navigation. The purpose of this brief communication is to suggest that the time constants associated with magnetic field sensitivity may be a useful way to distinguish field sensitivity due to magnetite based receptors from sensitivity that may depend on direct (or downstream) biochemical processes.     

Temporal fluctuations of the geomagnetic field affect pigeons’ entire homing flight

Tracks of pigeons, recorded with the help of GPS-receivers from two sites 30 km north and south of the Frankfurt loft, were analyzed in view of an influence of irregular fluctuations of the geomagnetic field. The data obtained were correlated with indices characterizing different aspects of these fluctuations. We found the best correlations with the index quantifying the average amplitude of the magnetic disturbance, and with an index that quantifies the average variability of the magnetic field on the day of release: stronger and more variable fluctuations lead to a counter-clockwise shift of the mean headings during the initial phase at the release site and the following departure phase, but not during the final homing phase leading to the loft. The steadiness of flight was not affected during the initial phase; however, during the later parts of the homing flight, stronger fluctuations, as well as higher variability in the magnetic field led to a marked decrease in steadiness. This continuing effect of magnetic fluctuations indicates that magnetic factors not only affect the beginning, but remain an integral part of the pigeons’ navigational processes during the entire homing flight.     

Swimming behaviour of the multicellular magnetotactic prokaryote ‘Candidatus Magnetoglobus multicellularis’ under applied magnetic fields and ultraviolet light

Magnetotactic bacteria move by rotating their flagella and concomitantly are aligned to magnetic fields because they present magnetosomes, which are intracellular organelles composed by membrane-bound magnetic crystals. This results in magnetotaxis, which is swimming along magnetic field lines. Magnetotactic bacteria are morphologically diverse, including cocci, rods, spirilla and multicellular forms known as magnetotactic multicellular prokaryotes (MMPs). ‘Candidatus Magnetoglobus multicellularis’ is presently the best known MMP. Here we describe the helical trajectories performed by these microorganisms as they swim forward, as well as their response to UV light. We measured the radius of the trajectory, time period and translational velocity (velocity along the helix axis), which enabled the calculation of other trajectory parameters such as pitch, tangential velocity (velocity along the helix path), angular frequency, and theta angle (the angle between the helix path and the helix axis). The data revealed that ‘Ca. M. multicellularis’ swims along elongated helical trajectories with diameters approaching the diameter of the microorganism. In addition, we observed that ‘Ca. M. multicellularis’ responds to UV laser pulses by swimming backwards, returning to forward swimming several seconds after the UV laser pulse. UV light from a fluorescence microscope showed a similar effect. Thus, phototaxis is used in addition to magnetotaxis in this microorganism.     

Reduced Efficiency of Magnetotaxis in Magnetotactic Coccoid Bacteria in Higher than Geomagnetic Fields

Magnetotactic bacteria are microorganisms that orient and migrate along magnetic field lines. The classical model of polar magnetotaxis predicts that the field-parallel migration velocity of magnetotactic bacteria increases monotonically with the strength of an applied magnetic field. We here test this model experimentally on magnetotactic coccoid bacteria that swim along helical trajectories. It turns out that the contribution of the field-parallel migration velocity decreases with increasing field strength from 0.1 to 1.5 mT. This unexpected observation can be explained and reproduced in a mathematical model under the assumption that the magnetosome chain is inclined with respect to the flagellar propulsion axis. The magnetic disadvantage, however, becomes apparent only in stronger than geomagnetic fields, which suggests that magnetotaxis is optimized under geomagnetic field conditions. It is therefore not beneficial for these bacteria to increase their intracellular magnetic dipole moment beyond the value needed to overcome Brownian motion in geomagnetic field conditions.     

Oblique section 3-D reconstruction of relaxed insect flight muscle reveals the cross-bridge lattice in helical registration.

In this work we examined the arrangement of cross-bridges on the surface of myosin filaments in the A-band of Lethocerus flight muscle. Muscle fibers were fixed using the tannic-acid-uranyl-acetate, ("TAURAC") procedure. This new procedure provides remarkably good preservation of native features in relaxed insect flight muscle. We computed 3-D reconstructions from single images of oblique transverse sections. The reconstructions reveal a square profile of the averaged myosin filaments in cross section view, resulting from the symmetrical arrangement of four pairs of myosin heads in each 14.5-nm repeat along the filament. The square profiles form a very regular right-handed helical arrangement along the surface of the myosin filament. Furthermore, TAURAC fixation traps a near complete 38.7 nm labeling of the thin filaments in relaxed muscle marking the left-handed helix of actin targets surrounding the thick filaments. These features observed in an averaged reconstruction encompassing nearly an entire myofibril indicate that the myosin heads, even in relaxed muscle, are in excellent helical register in the A-band.     

Instability of a low-pressure hollow-cathode discharge in a magnetic field

Mechanisms responsible for current oscillations at the ion branch of the probe characteristic are investigated experimentally and theoretically. A comparison between experiment and theory shows that the oscillations in a hollow-cathode discharge in a longitudinal magnetic field are most likely related to the onset of helical instability.     

Curved paths in raptor flight: Deterministic models

Two deterministic models for flight of Peregrine Falcons and possibly other raptors as they approach their prey are examined mathematically. Both models make two assumptions. The first, applicable to both models, is that the angle of sight between falcon and prey is constant, consistent with observations that the falcon keeps its head straight during flight and keeps on course by use of the deep foveal region in its eye which allows maximum acuity at an angle of sight of about 45 degrees . The second assumption for the first model (conical spiral), is that the initial direction of flight determines the overall path. For the second model (flight constrained to a tilted plane), a parameter that fixes the orientation of the plane is required. A variational calculation also shows that the tilted plane flight path is the shortest total path, and, consequently, the conical spiral is another shortest total path. Numerical calculations indicate that the flight paths for the two models are very similar for the experimental conditions under which observations have been made. However, the angles of flight and bank differ significantly. More observations are needed to investigate the applicability of the two models.     

A nonlinear single-mode structure in a plasma with anisotropic temperature

An exact solution is derived to the equations of vortex electron anisotropic hydrodynamics for a plasma that is unstable against the Weibel instability driven by the electron temperature anisotropy. This solution describes saturation of the Weibel instability in the single-mode regime with an arbitrary wavelength and corresponds to a standing helical wave of magnetic perturbations in which the amplitude of the generated magnetic field varies periodically over time. The longitudinal and transverse (with respect to the rotating anisotropy axis) plasma temperatures are subject to the same periodic variations. In this case, the maximum magnetic field energy can be on the order of the plasma thermal energy.

     

On the stability of Suydam modes in a nonuniformly rotating plasma

A simplified wave equation is derived that describes both Suydam modes in a nonuniformly rotating plasma column in a helical magnetic field and related flute modes. A study is made of a low-pressure plasma under the assumption that the azimuthal component of the magnetic field is much weaker than the axial component. It is shown that, when the monotonic radial variation of the plasma rotation velocity is sufficiently sharp, the plasma core becomes stable against short-wavelength Suydam modes. The instabilities that can develop in a nonuniformly rotating plasma are classified.     

Magnetoreception in fish

Magnetoreception is the ability of organisms to perceive magnetic fields in the surrounding environment and changes in its properties such as field direction, intensity and gradient, where the effect on organisms can manifest as an array of reactions. As the magnetic sense is found in many taxa, both evolutionarily young and old, it can be assumed that magnetoreception came into existence as one of the first sensory systems. Many studies on the effect of magnetic fields on fishes have considered both fishes that migrate for long distances and those that are more or less sedentary. Research has focused on tracing the perception of the geomagnetic field by fishes and understanding magnetic fields that are smaller and larger than the ambient Earth's geomagnetic field. The question of the effect of magnetic fields of values higher than the Earth's is gaining importance with the increasing effect of anthropogenic magnetic and electromagnetic fields in aquatic ecosystems. This review draws together the results of studies on the effect and reception of natural and human-generated magnetic fields on fishes at various stages of ontogeny, chronologically arranged from gametes, through embryonic development, embryonic and larval motor function, directional reactions of embryos and larvae, orientation of fishes, to the mechanisms of magnetic field reception. The present state of knowledge indicates a common nature of effect on various ontogenetic stages of fishes. However, understanding of the mechanisms of magnetic sense in fishes and its relevance for ecological outcomes highlights that further progress requires more detailed research.     

The orientation of the primary donor in bacterial photosynthesis.

The triplet state EPR spectra of magnetically aligned whole cells of Rhodopseudomonas viridis and Rhodopseudomonas palustris display a marked dependence on the orientation of the static EPR field with respect to the alignment field direction. This observation implies that the primary donor species on which the triplets are localized are ordered within the membranes. We have developed a theoretical model for the system to enable calculation of the orientation of the magnetic axes of the primary donor species with respect to the membranes in which they reside. The triplet state spectra are generated by an ensemble of partially ordered magnetic systems and a computer simulation of the experimental results. The triplet orientation is very similar for the two organisms studied, where one axis lies predominantly in the plane of the membrane and the other two axes have approximately equal projections onto the normal to the membrane.     

Migratory Orientation: Magnetic Compass Orientation of Garden Warblers (Sylvia borin) after a Simulated Crossing of the Magnetic Equator

Since the birds' magnetic compass works as an inclination compass using the axial course of the magnetic field lines and their inclination, transequatorial migrants have to reverse their reaction with respect to the magnetic field after crossing the magnetic equator. Garden Warblers, long distance migrants breeding in Europe and wintering in tropical and southern Africa, were tested during autumn in the local geomagnetic field on the northern hemisphere. The experimental group was exposed to a field with horizontal field lines, simulating equator crossing, at the beginning of October; afterwards the birds were tested in the local geomagnetic field again. While the controls showed southerly tendencies during the entire season, the experimentals reversed their directional tendencies after staying in the horizontal field and now preferred northerly directions. In a field of the southern hemisphere, this preference corresponds to a southern course which would have meant the continuation of their migration flight.     

磁场对蜜蜂行为影响的研究进展

地球内部存在着天然磁性现象,被称为地磁场。当今社会电子通讯发达,电磁波信号频繁,地球表面充满了电磁场。蜜蜂作为重要的授粉昆虫,其活动范围大部分都处于磁场环境中。目前研究者普遍认为蜜蜂能利用磁场进行导航,但环境中异常的磁场同样会影响蜜蜂的定位导航、飞行行为、采集活动和学习认知能力等。本文对前人的研究结果进行了综述,以期系统地了解磁场对蜜蜂行为特性的影响。