Dynamic Flight Stability of a Model Hoverfly in Inclined-Stroke-Plane Hovering

Most hovering insects flap their wings in a horizontal plane,called ‘normal hovering'.But some of the best hoverers,e.g.true hoverflies,hover with an inclined stroke plane.In the present paper,the longitudinal dynamic flight stability of a model hoverfly in inclined-stroke-plane hovering was studied.Computational fluid dynamics was used to compute the aerodynamic derivatives and the eigenvalue and eigenvector analysis was used to solve the equations of motion.The primary findings are as follows.(1) For inclined-stroke-plane hovering,the same three natural modes of motion as those for normal hovering were identified:one unstable oscillatory mode,one stable fast subsidence mode,and one stable slow subsidence mode.The unstable oscillatory mode and the fast subsidence mode mainly have horizontal translation and pitch rotation,and the slow subsidence mode mainly has vertical translation.(2) Because of the existence of the unstable oscillatory mode,inclined-stroke-plane hovering flight is not stable.(3) Although there are large differences in stroke plane and body orientations between the inclined-stroke-plane hovering and normal hovering,the relative position between the mean center of pressure and center of mass for these two cases is not very different,resulting in similar stability derivatives,hence similar dynamic stability properties for these two types of hovering.     

Dipteran insect flight dynamics. Part 1 Longitudinal motion about hover

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

Dipteran insect flight dynamics. Part 2: Lateral-directional motion about hover

The purpose of this study is to determine computationally tractable models describing the lateral-directional motion of a Drosophila-like dipteran insect, which may then be used to estimate the requirements for flight control and stabilization. This study continues the work begun in Faruque and Humbert (2010) to extend the quasi-steady aerodynamics model via inclusion of perturbations from the hover state. The aerodynamics model is considered as forcing upon rigid body dynamics, and frequency-based system identification tools used to derive the models. The analysis indicates two stable real poles, and two very lightly damped and nearly unstable complex poles describing a decoupling of roll/sideslip oscillatory motion from a first order subsidence yaw behavior. The results are presented with uncertainty variation for both a smaller male and larger female phenotype.     

A two-dimensional aerodynamic model of freely flying insects

Possible free flights of insects by a single flapping motion were studied. It is well-known that insects utilize vortices generated by flapping, by which they generate larger lift than that evaluated by the ordinary aerodynamic theory. However, the effect of the motion of the center of mass (CM) of the insect on its flight has not been clarified. To clarify the effect, numerical simulation was performed for a simple model considering the coupling between the vertical CM motion and the separation vortices generated by flapping wing. As a result, it is shown that the flapping flight has the following interesting features. First, despite a single flapping motion, the model exhibits two types of flapping flight: a steady flight in which the CM velocity oscillates and a wandering flight in which the CM velocity varies irregularly. These two types of flights are selected by the initial conditions even when all the parameters are the same. Second, at a certain critical parameter value, the steady flight loses its stability and undergoes an abrupt transition to the wandering flight. Interestingly, at this critical value, the steady flight can be regarded as hovering. The possible flights are analyzed in terms of bifurcation, and the bifurcation structure is qualitatively explained based on a simple assumption. These results suggest the significance of the effect of CM motion.     

Perturbation analysis of 6DoF flight dynamics and passive dynamic stability of hovering fruit fly Drosophila melanogaster

Insects exhibit exquisite control of their flapping flight, capable of performing precise stability and steering maneuverability. Here we develop an integrated computational model to investigate flight dynamics of insect hovering based on coupling the equations of 6 degree of freedom (6DoF) motion with the Navier-Stokes (NS) equations. Unsteady aerodynamics is resolved by using a biology-inspired dynamic flight simulator that integrates models of realistic wing-body morphology and kinematics, and a NS solver. We further develop a dynamic model to solve the rigid body equations of 6DoF motion by using a 4th-order Runge-Kutta method. In this model, instantaneous forces and moments based on the NS-solutions are represented in terms of Fourier series. With this model, we perform a systematic simulation-based analysis on the passive dynamic stability of a hovering fruit fly, Drosophila melanogaster, with a specific focus on responses of state variables to six one-directional perturbation conditions during latency period. Our results reveal that the flight dynamics of fruit fly hovering does not have a straightforward dynamic stability in a conventional sense that perturbations damp out in a manner of monotonous convergence. However, it is found to exist a transient interval containing an initial converging response observed for all the six perturbation variables and a terminal instability that at least one state variable subsequently tends to diverge after several wing beat cycles. Furthermore, our results illustrate that a fruit fly does have sufficient time to apply some active mediation to sustain a steady hovering before losing body attitudes.     

Effects of flight behaviour on body temperature and kinematics during inter-male mate competition in the solitary desert bee Centris pallida

Abstract. Body temperatures and kinematics are measured for male Centris pallida bees engaged in a variety of flight behaviours (hovering, patrolling, pursuit) at a nest aggregation site in the Sonoran Desert. The aim of the study is to test for evidence of thermoregulatory variation in convective heat loss and metabolic heat production and to assess the mechanisms of acceleration and forward flight in field conditions. Patrolling males have slightly (1–3 °C) cooler body temperatures than hoverers, despite similar wingbeat frequencies and larger body masses, suggesting that convective heat loss is likely to be greater during patrolling flight than during hovering. Comparisons of thorax and head temperature as a function of air temperature (T_a) indicate that C. pallida males are thermoregulating the head by increasing heat transfer from the thorax to the head at cool T_a. During patrolling flight and hovering, wingbeat frequency significantly decreases as T_a increases, indicating that variation in metabolic heat production contributes to thermal stability during these behaviours, as has been previously demonstrated for this species during flight in a metabolic chamber. However, wingbeat frequency during brief (1–2 s) pursuits is significantly higher than during other flight behaviours and independent of T_a. Unlike most other hovering insects, C. pallida males hover with extremely inclined stroke plane angles and nearly horizontal body angles, suggesting that its ability to vary flight speed depends on changes in wingbeat frequency and other kinematic mechanisms that are not yet described.     

Aphid aerial density profiles are consistent with turbulent advection amplifying flight behaviours: abandoning the epithet 'passive'

Seminal field studies led by C. G. Johnson in the 1940s and 1950s showed that aphid aerial density diminishes with height above the ground such that the linear regression coefficient, b, of log density on log height provides a single-parameter characterization of the vertical density profile. This coefficient decreases with increasing atmospheric stability, ranging from -0.27 for a fully convective boundary layer to -2.01 for a stable boundary layer. We combined a well-established Lagrangian stochastic model of atmospheric dispersal with simple models of aphid behaviour in order to account for the range of aerial density profiles. We show that these density distributions are consistent with the aphids producing just enough lift to become neutrally buoyant when they are in updraughts and ceasing to produce lift when they are in downdraughts. This active flight behaviour in a weak flier is thus distinctly different from the aerial dispersal of seeds and wingless arthropods, which is passive once these organisms have launched into the air. The novel findings from the model indicate that the epithet 'passive' often applied to the windborne migration of small winged insects is misleading and should be abandoned. The implications for the distances traversed by migrating aphids under various boundary-layer conditions are outlined.     

Animal flight dynamics II. Longitudinal stability in flapping flight

Stability is essential to flying and is usually assumed to be especially problematic in flapping flight. If so, problems of stability may have presented a particular hurdle to the evolution of flapping flight. In spite of this, the stability of flapping flight has never been properly analysed. Here we use quasi-static and blade element approaches to analyse the stability provided by a flapping wing. By using reduced order approximations to the natural modes of motion, we show that wing beat frequencies are generally high enough compared to the natural frequencies of motion for a quasi-static approach to be valid as a first approximation. Contrary to expectations, we find that there is noting inherently destabilizing about flapping: beating the wings faster simply amplifies any existing stability or instability, and flapping can even enhance stability compared to gliding at the same air speed. This suggests that aerodynamic stability may not have been a particular hurdle in the evolution of flapping flight. Hovering animals, like hovering helicopters, are predicted to possess neutral static stability. Flapping animals, like fixed wing aircraft, are predicted to be stable in forward flight if the mean flight force acts above and/or behind the centre of gravity. In this case, the downstroke will always be stabilizing. The stabilizing contribution may be diminished by an active upstroke with a low advance ratio and more horizontal stroke plane; other forms of the upstroke may make a small positive contribution to stability. An active upstroke could, therefore, be used to lower stability and enhance manoeuvrability. Translatory mechanisms of unsteady lift production are predicted to amplify the stability predicted by a quasi-static analysis. Non-translatory mechanisms will make little or no contribution to stability. This may be one reason why flies, and other animals which rely upon non-translatory aerodynamic mechanisms, often appear inherently unstable.     

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.     

Sexual dimorphism in the hoverfly motion vision pathway

Many insects perform high-speed aerial maneuvers in which they navigate through visually complex surrounds. Among insects, hoverflies stand out, with males switching from stationary hovering to high-speed pursuit at extreme angular velocities [1]. In dipterans, 50-60 large interneurons -- the lobula-plate tangential cells (LPTCs) -- detect changes in optic flow experienced during flight [2-5]. It has been predicted that large LPTC receptive fields are a requirement of accurate "matched filters" of optic flow [6]. Whereas many fly taxa have three horizontal system (HS) LPTC neurons in each hemisphere, hoverflies have four [7], possibly reflecting the more sophisticated flight behavior. We here show that the most dorsal hoverfly neuron (HS north [HSN]) is sexually dimorphic, with the male receptive field substantially smaller than in females or in either sex of blowflies. The (hoverfly-specific) HSN equatorial (HSNE) is, however, sexually isomorphic. Using complex optic flow, we show that HSN, despite its smaller receptive field, codes yaw velocity as well as HSNE. Responses to a target moving against a plain or textured background suggest that the male HSN could potentially play a role in target pursuit under some conditions.     

Observations on the orientation of tsetse flies (Glossina pallidipes) to wind-borne odours

ABSTRACT. Observations of the upwind flight of Glossina pallidipes Austen near a source of host odour show that in the absence of a visual target the insects tend to overshoot the odour source in fast, low flight. There is no sign of the crosswind 'casting' flight which characterizes the behaviour of moths under similar circumstances, except that a 180 turn is executed to bring the tsetse flies back to the vicinity of the odour source in downwind flight. This may be followed by a second overshoot and another 180 turn before the insects alight within a metre or so of the source. The results indicate that the orientation of tsetse flies to host odour may involve a step-wise approach to the odour source, providing an opportunity for assessment of wind direction when the insects are at rest between successive bursts of flight.     

Wingbeat frequency, temperature and body size in bees and flies

ABSTRACT. This paper describes the relationship between ambient temperature and wingbeat frequency in bees and flies of different sizes, and presents new data from insects in free fight. The slope of the relationship changes with the size of the insect, and was different for insects in hovering flight compared with individuals of the same species in forward flight.     

Paleoecology of early middle Eocene bats from Messel,FRG. aspects of flight,feeding and echolocation

By their diversified flight apparatus Messel bats occupied specific flight niches similar to those of extant tropical bats. The small Palaeochiropteryx tupaiodon is considered to be most specialized for hunting close to the ground and for hovering inside dense vegetation. Contrarily, Hassianycteris spp. most likely were high and fast flyers in the open space.

The analysis of gut contents proves that Palaeochiropteryx spp. exclusively fed on small moths and caddis flies, i.e. slow and low flying insects. For P. tupaiodon this confirms the foraging strategy independently from wing morphology. Hassianycteris spp. preyed mainly on beetles or other insects with thick cuticules.

Inner ears of Messel microbats are less specialized compared to those of recent species. Especially P. tupaiodon shows no acoustical specialization with regard to its hunting habitat. Thus, we assume that during the early evolution of bats the development of different flight styles and wing shapes preceded acoustical refinements of the echolocation system.     

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     

Animal locomotion: a new spin on bat flight

Biologists and engineers have long struggled to understand the hovering flight of insects, birds, and bats. The enormous diversity of these groups would suggest they fly using a variety of mechanisms, but a new study shows that hovering bats use the same aerodynamic mechanisms as do moths and other insects.     

适用于蚜虫等微小昆虫的飞行磨系统

介绍了一套采用计算机进行控制和数据采集的适用于蚜虫等微小昆虫的飞行磨系统。该系统能同时对32头昆虫进行飞行测试,并对测试数据进行自动分析处理。利用该飞行磨系统对不同日龄禾缢管蚜的飞行能力进行了初步测试。结果表明,禾缢管蚜在第1至第5日龄的飞行能力最强,明显高于第7和第9日龄。平均飞行时间在各日龄之间差异不显著,但平均飞行速度随日龄的增加而逐渐降低。本文对飞行磨结构、数据采集接口板电路原理和软件流程设计等方面均进行了较为详细的介绍。并简要介绍了不同日龄禾缢管蚜的飞行能力测试结果。对开展微小型昆虫的飞行行为学研究具有较为重要的参考价值。     

Nocturnal insects use optic flow for flight control

To avoid collisions when navigating through cluttered environments, flying insects must control their flight so that their sensory systems have time to detect obstacles and avoid them. To do this, day-active insects rely primarily on the pattern of apparent motion generated on the retina during flight (optic flow). However, many flying insects are active at night, when obtaining reliable visual information for flight control presents much more of a challenge. To assess whether nocturnal flying insects also rely on optic flow cues to control flight in dim light, we recorded flights of the nocturnal neotropical sweat bee, Megalopta genalis, flying along an experimental tunnel when: (i) the visual texture on each wall generated strong horizontal (front-to-back) optic flow cues, (ii) the texture on only one wall generated these cues, and (iii) horizontal optic flow cues were removed from both walls. We find that Megalopta increase their groundspeed when horizontal motion cues in the tunnel are reduced (conditions (ii) and (iii)). However, differences in the amount of horizontal optic flow on each wall of the tunnel (condition (ii)) do not affect the centred position of the bee within the flight tunnel. To better understand the behavioural response of Megalopta, we repeated the experiments on day-active bumble-bees (Bombus terrestris). Overall, our findings demonstrate that despite the limitations imposed by dim light, Megalopta-like their day-active relatives-rely heavily on vision to control flight, but that they use visual cues in a different manner from diurnal insects.     

Energetic cost of hovering flight in nectar-feeding bats (Phyllostomidae: Glossophaginae) and its scaling in moths, birds and bats

Three groups of specialist nectar-feeders covering a continuous size range from insects, birds and bats have evolved the ability for hovering flight. Among birds and bats these groups generally comprise small species, suggesting a relationship between hovering ability and size. In this study we established the scaling relationship of hovering power with body mass for nectar-feeding glossophagine bats (Phyllostomidae). Employing both standard and fast-response respirometry, we determined rates of gas exchange in Hylonycteris underwoodi (7 g) and Choeronycteris mexicana (13–18 g) during hover-feeding flights at an artificial flower that served as a respirometric mask to estimate metabolic power input. The O₂ uptake rate (V˙ _o2) in ml g⁻¹ h⁻¹ (and derived power input) was 27.3 (1.12 W or 160 W kg⁻¹) in 7-g Hylonycteris and 27.3 (2.63 W or 160 W kg⁻¹) in 16.5-g Choeronycteris and thus consistent with measurements in 11.9-g Glossophagasoricina (158 W kg⁻¹, Winter 1998). V˙ _o2 at the onset of hovering was also used to estimate power during forward flight, because after a transition from level forward to hovering flight gas exchange rates initially still reflect forward flight rates. V˙ _o2 during short hovering events (<1.5 s) was 19.0 ml g⁻¹ h⁻¹ (1.8 W) in 16-g Choeronycteris, which was not significantly different from a previous, indirect estimate of the cost of level forward flight (2.1 W, Winter and von Helversen 1998). Our estimates suggest that power input during hovering flight P _h (W) increased with body mass M (kg) within 13–18-g Choeronycteris (n = 4) as P _h  = 3544 (±2057 SE) M ^{1.76 (±0.21 SE)} and between different glossophagine bat species (n = 3) as P _h  = 128 (±2.4 SE) M ^{0.95 (±0.034 SE)}. The slopes of three scaling functions for flight power (hovering, level forward flight at intermediate speed and submaximal flight power) indicate that: 1. The relationship between flight power to flight speed may change with body mass in the 6–30-g bats from a J- towards a U-shaped curve. 2. A metabolic constraint (hovering flight power equal maximal flight power) may influence the upper size limit of 30–35 g for this group of flower specialists. Mass-specific power input (W kg⁻¹) during hovering flight appeared constant with regard to body size (for the mass ranges considered), but differed significantly (P < 0.001) between groups. Group means were 393 W kg⁻¹ (sphingid moths), 261 W kg⁻¹ (hummingbirds) and 159 W kg⁻¹ (glossophagine bats). Thus, glossophagine bats expend the least metabolic power per unit of body mass supported during hovering flight. At a metabolic power input of 1.1 W a glossophagine bat can generate the lift forces necessary for balancing 7 g against gravitation, whereas a hummingbird can support 4 g and a sphingid moth only 3 g of body mass with the same amount of metabolic energy. These differences in power input were not fully explained by differences in induced power output estimated from Rankine-Froude momentum-jet theory. Accepted: 10 November 1998     

A new look at the comparative physiology of insect and human hearts

Recent electrocardiographic (ECG) studies of insect hearts revealed the presence of human-like, involuntary and purely myogenic hearts. Certain insects, like a small light-weight species of hoverfly (Episyrphus balteatus), have evolved a very efficient cardiac system comprised of a compact heart ventricle and a narrow tube of aorta, which evolved as an adaptation to sustained hovering flights. Application of thermocardiographic and optocardiographic ECG methods revealed that adult flies of this species use the compact muscular heart chamber (heart ventricle) for intensive pumping of insect "blood" (haemolymph) into the head and thorax which is ringed all over with indirect flight musculature. The recordings of these hearts revealed extremely high, record rates of forward-directed, anterograde heartbeat (up to 10Hz), associated with extremely enhanced synchronic (not peristaltic) propagation of systolic myocardial contractions (32.2mm/s at room temperature). The relatively slow, backward-directed or retrograde cardiac contractions occurred only sporadically in the form of individual or twinned pulses replacing occasionally the resting periods. The compact heart ventricle contained bi-directional lateral apertures, whose opening and closure diverted the intracardiac anterograde "blood" streams between the abdominal haemocoelic cavity and the aortan artery, respectively. The visceral organs of this flying machine (crop, midgut) exhibited myogenic, extracardiac peristaltic pulsations similar to heartbeat, including the periodically reversed forward and backward direction of the peristaltic waves. The tubular crop contracted with a periodicity of 1Hz, both forwards and backwards, with propagation of the peristaltic waves at 4.4mm/s. The air-inflated and blindly ended midgut contracted at 0.2Hz, with a 0.9mm/s propagation of the peristaltic contraction waves. The neurogenic system of extracardiac haemocoelic pulsations, widely engaged in the regulation of circulatory and respiratory functions in other insect species, has been replaced here by a more economic, myogenic pulsation of the visceral organs as a light-weight evolutionary adaptation to prolonged hovering flight. Striking structural, functional and even genetic similarities found between the hearts of Episyrphus, Drosophila and human hearts, have been practically utilised for inexpensive testing of new cardioactive or cardioinhibitory drugs on insect heart.     

Macroscale evolutionary patterns of flight muscle dimorphism in the carrion beetle Necrophila japonica

Some insect species exhibit polymorphisms in flight muscles or wings, which provide opportunities for studying the factors that drive dispersal polymorphisms and the evolution of flightlessness in insects. We investigated the macroscale evolutionary pattern of flightlessness in the widespread Japanese beetle Necrophila japonica (Coleoptera: Silphidae), which exhibits flight muscle dimorphisms using phylogeographic approaches. N. japonica lives in both stable and unstable habitats, and the flight muscle dimorphisms may have been maintained through the use of these diverse habitats. We studied the distribution pattern of the proportion of individuals lacking flight muscles in relation to the genetic differentiation among geographic populations using an 842-base pair sequence of the COI-II gene. Both flight-capable and flightless individuals occurred over the distribution area, and the flight muscle condition showed no significant phylogeographic pattern. Several populations comprised flight-capable individuals only, whereas few comprised flightless ones only. Demographic expansion was suggested for major clades of COI-II haplotypes, and the genetic differentiation showed an isolation-by-distance pattern among the populations in Japan. The proportion of flightless individuals was higher in a population with a higher annual mean temperature and with higher genetic diversity among individuals. These results indicate that geographic expansion occurred recently while flight muscle dimorphisms have been maintained, that flight-capable individuals have colonized cooler (peripheral) habitats, and that flightlessness has increased in long-persisting populations as suggested by high genetic diversity.