A balance between aerodynamic and olfactory performance during flight in Drosophila

Exploration-exploitation model of moth-inspired olfactory navigation

Navigation of male moths towards females during the mating search offers a unique perspective on the exploration-exploitation (EE) model in decision-making. This study uses the EE model to explain male moth pheromone-driven flight paths. Wind tunnel measurements and three-dimensional tracking using infrared cameras have been leveraged to gain insights into male moth behaviour. During the experiments in the wind tunnel, disturbance to the airflow has been added and the effect of increased fluctuations on moth flights has been analysed, in the context of the proposed EE model. The exploration and exploitation phases are separated using a genetic algorithm to the experimentally obtained dataset of moth three-dimensional trajectories. First, the exploration-to-exploitation rate (EER) increases with distance from the source of the female pheromone is demonstrated, which can be explained in the context of the EE model. Furthermore, our findings reveal a compelling relationship between EER and increased flow fluctuations near the pheromone source. Using an olfactory navigation simulation and our moth-inspired navigation model, the phenomenon where male moths exhibit an enhanced EER as turbulence levels increase is explained. This research extends our understanding of optimal navigation strategies based on general biological EE models and supports the development of bioinspired navigation algorithms.

Postural Change of the Annual Cicada (Tibicen linnei) Helps Facilitate Backward Flight

Cicadas are heavy fliers well known for their life cycles and sound production; however, their flight capabilities have not been extensively investigated. Here, we show for the first time that cicadas appropriate backward flight for additional maneuverability. We studied this flight mode using computational fluid dynamics (CFD) simulations based on three-dimensional reconstructions of high-speed videos captured in a laboratory. Backward flight was characterized by steep body angles, high angles of attack, and high wing upstroke velocities. Wing motion occurred in an inclined stroke plane that was fixed relative to the body. Likewise, the directions of the half-stroke-averaged aerodynamic forces relative to the body (local frame) were constrained in a narrow range (<20°). Despite the drastic difference of approximately 90° in body posture between backward and forward flight in the global frame, the aerodynamic forces in both flight scenarios were maintained in a similar direction relative to the body. The forces relative to the body were also oriented in a similar direction when observed during climbs and turns, although the body orientation and motions were different. Hence, the steep posture appropriated during backward flight was primarily utilized for reorienting both the stroke plane and aerodynamic force in the global frame. A consequence of this reorientation was the reversal of aerodynamic functions of the half strokes in backward flight when compared to forward flight. The downstroke generated propulsive forces, while the upstroke generated vertical forces. For weight support, the upstroke, which typically generates lesser forces in forward flight, is aerodynamically active in backward flight. A leading-edge vortex (LEV) was observed on the forewings during both half strokes. The LEV's effect, together with the high upstroke velocity, increased the upstroke's force contribution from 10% of the net forces in forward flight to 50% in backward flight. The findings presented in this study have relevance to the design of micro-aerial vehicles (MAVs), as backward flight is an important characteristic for MAV maneuverability or for taking off from vertical surfaces.

Numerical Investigation of Odor-Guided Navigation in Flying Insects: Impact of Turbulence, Wingbeat-Induced Flow, and Schmidt Number on Odor Plume Structures

Odor-guided navigation is fundamental to the survival and reproductive success of many flying insects. Despite its biological importance, the mechanics of how insects sense and interpret odor plumes in the presence of complex flow fields remain poorly understood. This study employs numerical simulations to investigate the influence of turbulence, wingbeat-induced flow, and Schmidt number on the structure and perception of odor plumes by flying insects. Using an in-house computational fluid dynamics solver based on the immersed-boundary method, we solve the three-dimensional Navier-Stokes equations to model the flow field. The solver is coupled with the equations of motion for passive flapping wings to emulate wingbeat-induced flow. The odor landscape is then determined by solving the odor advection-diffusion equation. By employing a synthetic isotropic turbulence generator, we introduce turbulence into the flow field to examine its impact on odor plume structures. Our findings reveal that both turbulence and wingbeat-induced flow substantially affect odor plume characteristics. Turbulence introduces fluctuations and perturbations in the plume, while wingbeat-induced flow draws the odorant closer to the insect's antennae. Moreover, we demonstrate that the Schmidt number, which affects odorant diffusivity, plays a significant role in odor detectability. Specifically, at high Schmidt numbers, larger fluctuations in odor sensitivity are observed, which may be exploited by insects to differentiate between various odorant volatiles emanating from the same source. This study provides new insights into the complex interplay between fluid dynamics and sensory biology and behavior, enhancing our understanding of how flying insects successfully navigate using olfactory cues in turbulent environments.

Active smelling in the American cockroach

Motion plays an essential role in sensory acquisition. From changing the position in which information can be acquired to fine-scale probing and active sensing, animals actively control the way they interact with the environment. In olfaction, movement impacts the time and location of odour sampling as well as the flow of odour molecules around the olfactory organs. Employing a detailed spatiotemporal analysis, we investigated how insect antennae interact with the olfactory environment in a species with a well-studied olfactory system - the American cockroach. Cockroaches were tested in a wind-tunnel setup during the presentation of odours with different attractivity levels: colony extract, butanol and linalool. Our analysis revealed significant changes in antennal kinematics when odours were presented, including a shift towards the stream position, an increase in vertical movement and high-frequency local oscillations. Nevertheless, the antennal shifting occurred predominantly in a single antenna while the overall range covered by both antennae was maintained throughout. These findings hold true for both static and moving stimuli and were more pronounced for attractive odours. Furthermore, we found that upon odour encounter, there was an increase in the occurrence of high-frequency antennal sweeps and vertical strokes, which were shown to impact the olfactory environment's statistics directly. Our study lays out a tractable system for exploring the tight coupling between sensing and movement, in which antennal sweeps, in parallel to mammalian sniffing, are actively involved in facilitating odour capture and transport, generating odour intermittency in environments with low air movement where cockroaches dwell.

Active Sensing in Bees Through Antennal Movements Is Independent of Odor Molecule

When sampling odors, many insects are moving their antennae in a complex but repeatable fashion. Previous studies with bees have tracked antennal movements in only two dimensions, with a low sampling rate and with relatively few odorants. A detailed characterization of the multimodal antennal movement patterns as function of olfactory stimuli is thus wanted. The aim of this study is to test for a relationship between the scanning movements and the properties of the odor molecule. We tracked several key locations on the antennae of bumblebees at high frequency and in three dimensions while stimulating the insect with puffs of 11 common odorants released in a low-speed continuous flow. Water and paraffin were used as negative controls. Movement analysis was done with the neural network Deeplabcut. Bees use a stereotypical oscillating motion of their antennae when smelling odors, similar across all bees, independently of the identity of the odors and hence their diffusivity and vapor pressure. The variability in the movement amplitude among odors is as large as between individuals. The main type of oscillation at low frequencies and large amplitude is triggered by the presence of an odor and is in line with previous work, as is the speed of movement. The second oscillation mode at higher frequencies and smaller amplitudes is constantly present. Antennae are quickly deployed when a stimulus is perceived, decorrelate their movement trajectories rapidly, and oscillate vertically with a large amplitude and laterally with a smaller one. The cone of airspace thus sampled was identified through the 3D understanding of the motion patterns. The amplitude and speed of antennal scanning movements seem to be function of the internal state of the animal, rather than determined by the odorant. Still, bees display an active olfactory sampling strategy. First, they deploy their antennae when perceiving an odor. Second, fast vertical scanning movements further increase the odorant capture rate. Finally, lateral movements might enhance the likelihood to locate the source of odor, similarly to the lateral scanning movement of insects at odor plume boundaries.

Wing Kinematics and Unsteady Aerodynamics of a Hummingbird Pure Yawing Maneuver

As one of few animals with the capability to execute agile yawing maneuvers, it is quite desirable to take inspiration from hummingbird flight aerodynamics. To understand the wing and body kinematics and associated aerodynamics of a hummingbird performing a free yawing maneuver, a crucial step in mimicking the biological motion in robotic systems, we paired accurate digital reconstruction techniques with high-fidelity computational fluid dynamics (CFD) simulations. Results of the body and wing kinematics reveal that to achieve the pure yaw maneuver, the hummingbird utilizes very little body pitching, rolling, vertical, or horizontal motion. Wing angle of incidence, stroke, and twist angles are found to be higher for the inner wing (IW) than the outer wing (OW). Unsteady aerodynamic calculations reveal that drag-based asymmetric force generation during the downstroke (DS) and upstroke (US) serves to control the speed of the turn, a characteristic that allows for great maneuvering precision. A dual-loop vortex formation during each half-stroke is found to contribute to asymmetric drag production. Wake analysis revealed that asymmetric wing kinematics led to leading-edge vortex strength differences of around 59% between the IW and OW. Finally, analysis of the role of wing flexibility revealed that flexibility is essential for generating the large torque necessary for completing the turn as well as producing sufficient lift for weight support.

Planktos: An Agent-Based Modeling Framework for Small Organism Movement and Dispersal in a Fluid Environment with Immersed Structures

Multiscale modeling of marine and aerial plankton has traditionally been difficult to address holistically due to the challenge of resolving individual locomotion dynamics while being carried with larger-scale flows. However, such problems are of paramount importance, e.g., dispersal of marine larval plankton is critical for the health of coral reefs, and aerial plankton (tiny arthropods) can be used as effective agricultural biocontrol agents. Here we introduce the open-source, agent-based modeling software Planktos targeted at 2D and 3D fluid environments in Python. Agents in this modeling framework are relatively tiny organisms in sufficiently low densities that their effect on the surrounding fluid motion can be considered negligible. This library can be used for scientific exploration and quantification of collective and emergent behavior, including interaction with immersed structures. In this paper, we detail the implementation and functionality of the library along with some illustrative examples. Functionality includes arbitrary agent behavior obeying either ordinary differential equations, stochastic differential equations, or coded movement algorithms, all under the influence of time-dependent fluid velocity fields generated by computational fluid dynamics, experiments, or analytical models in domains with static immersed mesh structures with sliding or sticky collisions. In addition, data visualization tools provide images or animations with kernel density estimation and velocity field analysis with respect to deterministic agent behavior via the finite-time Lyapunov exponent.

Bio-Inspired Propulsion: Towards Understanding the Role of Pectoral Fin Kinematics in Manta-like Swimming

Through computational fluid dynamics (CFD) simulations of a model manta ray body, the hydrodynamic role of manta-like bioinspired flapping is investigated. The manta ray model motion is reconstructed from synchronized high-resolution videos of manta ray swimming. Rotation angles of the model skeletal joints are altered to scale the pitching and bending, resulting in eight models with different pectoral fin pitching and bending ratios. Simulations are performed using an in-house developed immersed boundary method-based numerical solver. Pectoral fin pitching ratio (PR) is found to have significant implications in the thrust and efficiency of the manta model. This occurs due to more optimal vortex formation and shedding caused by the lower pitching ratio. Leading edge vortexes (LEVs) formed on the bottom of the fin, a characteristic of the higher PR cases, produced parasitic low pressure that hinders thrust force. Lowering the PR reduces the influence of this vortex while another LEV that forms on the top surface of the fin strengthens it. A moderately high bending ratio (BR) can slightly reduce power consumption. Finally, by combining a moderately high BR = 0.83 with PR = 0.67, further performance improvements can be made. This enhanced understanding of manta-inspired propulsive mechanics fills a gap in our understanding of the manta-like mobuliform locomotion. This motivates a new generation of manta-inspired robots that can mimic the high speed and efficiency of their biological counterpart.

The role of food odor in invertebrate foraging

Foraging for food is an integral part of animal survival. In small insects and invertebrates, multisensory information and optimized locomotion strategies are used to effectively forage in patchy and complex environments. Here, the importance of olfactory cues for effective invertebrate foraging is discussed in detail. We review how odors are used by foragers to move toward a likely food source and the recent models that describe this sensory-driven behavior. We argue that smell serves a second function by priming an organism for the efficient exploitation of food. By appraising food odors, invertebrates can establish preferences and better adapt to their ecological niches, thereby promoting survival. The smell of food pre-prepares the gastrointestinal system and primes feeding motor programs for more effective ingestion as well. Optimizing resource utilization affects longevity and reproduction as a result, leading to drastic changes in survival. We propose that models of foraging behavior should include odor priming, and illustrate this with a simple toy model based on the marginal value theorem. Lastly, we discuss the novel techniques and assays in invertebrate research that could investigate the interactions between odor sensing and food intake. Overall, the sense of smell is indispensable for efficient foraging and influences not only locomotion, but also organismal physiology, which should be reflected in behavioral modeling.

Thermal and Oxygen Flight Sensitivity in Ageing Drosophila melanogaster Flies: Links to Rapamycin-Induced Cell Size Changes

Simple Summary

Cold-blooded organisms can become physiologically challenged when performing highly oxygen-demanding activities (e.g., flight) across different thermal and oxygen environmental conditions. We explored whether this challenge decreases if an organism is built of smaller cells. This is because small cells create a large cell surface, which is costly, but can ease the delivery of oxygen to cells’ power plants, called mitochondria. We developed fruit flies in either standard food or food with rapamycin (a human drug altering the cell cycle and ageing), which produced flies with either large cells (no supplementation) or small cells (rapamycin supplementation). We measured the maximum speed at which flies were flapping their wings in warm and hot conditions, combined with either normal or reduced air oxygen concentrations. Flight intensity increased with temperature, and it was reduced by poor oxygen conditions, indicating limitations of flying insects by oxygen supply. Nevertheless, flies with small cells showed lower limitations, only slowing down their wing flapping in low oxygen in the hot environment. Our study suggests that small cells in a body can help cold-blooded organisms maintain demanding activities (e.g., flight), even in poor oxygen conditions, but this advantage can depend on body temperature.

Abstract

Ectotherms can become physiologically challenged when performing oxygen-demanding activities (e.g., flight) across differing environmental conditions, specifically temperature and oxygen levels. Achieving a balance between oxygen supply and demand can also depend on the cellular composition of organs, which either evolves or changes plastically in nature; however, this hypothesis has rarely been examined, especially in tracheated flying insects. The relatively large cell membrane area of small cells should increase the rates of oxygen and nutrient fluxes in cells; however, it does also increase the costs of cell membrane maintenance. To address the effects of cell size on flying insects, we measured the wing-beat frequency in two cell-size phenotypes of Drosophila melanogaster when flies were exposed to two temperatures (warm/hot) combined with two oxygen conditions (normoxia/hypoxia). The cell-size phenotypes were induced by rearing 15 isolines on either standard food (large cells) or rapamycin-enriched food (small cells). Rapamycin supplementation (downregulation of TOR activity) produced smaller flies with smaller wing epidermal cells. Flies generally flapped their wings at a slower rate in cooler (warm treatment) and less-oxygenated (hypoxia) conditions, but the small-cell-phenotype flies were less prone to oxygen limitation than the large-cell-phenotype flies and did not respond to the different oxygen conditions under the warm treatment. We suggest that ectotherms with small-cell life strategies can maintain physiologically demanding activities (e.g., flight) when challenged by oxygen-poor conditions, but this advantage may depend on the correspondence among body temperatures, acclimation temperatures and physiological thermal limits.

Principles of odor coding in vertebrates and artificial chemosensory systems

The biological olfactory system is the sensory system responsible for the detection of the chemical composition of the environment. Several attempts to mimic biological olfactory systems have led to various artificial olfactory systems using different technical approaches. Here we provide a parallel description of biological olfactory systems and their technical counterparts. We start with a presentation of the input to the systems, the stimuli, and treat the interface between the external world and the environment where receptor neurons or artificial chemosensors reside. We then delineate the functions of receptor neurons and chemosensors as well as their overall I-O relationships. Up to this point, our account of the systems goes along similar lines. The next processing steps differ considerably: while in biology the processing step following the receptor neurons is the "integration" and "processing" of receptor neuron outputs in the olfactory bulb, this step has various realizations in electronic noses. For a long period of time, the signal processing stages beyond the olfactory bulb, i.e., the higher olfactory centers were little studied. Only recently there has been a marked growth of studies tackling the information processing in these centers. In electronic noses, a third stage of processing has virtually never been considered. In this review, we provide an up-to-date overview of the current knowledge of both fields and, for the first time, attempt to tie them together. We hope it will be a breeding ground for better information, communication, and data exchange between very related but so far little connected fields.

Joint improvements of radar/infrared stealth for exhaust system of unmanned aircraft based on sorting factor Pareto solution

In order to reduce the radar cross section (RCS) of the unmanned aircraft while suppressing its infrared signature, a comprehensive design method (CDM) based on sorting factor Pareto solution is presented. The physical optics and physical diffraction theory are used to evaluate the electromagnetic scattering characteristics of the aircraft, and the Monte Carlo and ray tracing method are used to evaluate the infrared radiation intensity of the exhaust system. CDM is used to evaluate and screen each individual in each offspring, and the design parameters and sub-models of the aircraft exhaust system are continuously improved. The results show that the exhaust port model, lower baffle and nozzle height are the main factors affecting the RCS indicators, nozzle stages, exhaust port model, lower baffle and outer width make the main contribution to infrared radiation suppression. The presented CDM is efficient and effective in enhancing the radar/infrared integrated stealth performance of the aircraft.

Effects of flight altitude on the lift generation of monarch butterflies: from sea level to overwintering mountain

Aerodynamic efficiency behind the annual migration of monarch butterflies, the longest among insects, is an unsolved mystery. Monarchs migrate 4000 km at high-altitudes to their overwintering mountains in Central Mexico. The air is thinner at higher altitudes, yielding reduced aerodynamic drag and enhanced range. However, the lift is also expected to reduce in lower density conditions. To investigate the ability of monarchs to produce sufficient lift to fly in thinner air, we measured the climbing motion of freely flying monarchs in high-altitude conditions. An optical method was used to track the flapping wing and body motions inside a large pressure chamber. The air density inside the chamber was reduced to recreate the higher altitude densities. The lift coefficient generated by monarchs increased from 1.7 at the sea-level to 9.4 at 3000 m. The correlation between this increase and the flapping amplitude and frequency was insignificant. However, it strongly correlated to the effective angle of attack, which measures the wing to body velocity ratio. These results support the hypothesis that monarchs produce sufficiently high lift coefficients at high altitudes despite a lower dynamic pressure.

Wing kinematic and aerodynamic compensations for unilateral wing damage in a small phorid fly

To investigate the way in which very small insects compensate for unilateral wing damage, we measured the wing kinematics of a very small insect, a phorid fly (Megaselia scalaris), with 16.7% wing area loss in the outer part of the left wing and a normal counterpart, and we computed the aerodynamic forces and power expenditures of the phorid flies. Our major findings are the following. The phorid fly compensates for unilateral wing damage by increasing the stroke amplitude and the deviation angle of the damaged wing (the large deviation angle gives the wing a deep U-shaped wing path), unlike the medium and large insects studied previously, which compensate for the unilateral wing damage mainly by increasing the stroke amplitude of the damaged wing. The increased stroke amplitude and the deep U-shaped wing path give the damaged wing a larger wing velocity during its flapping motion and a rapid downward acceleration in the beginning of the upstroke, which enable the damaged wing to generate the required vertical force for weight support. However, the larger wing velocity of the damaged wing also generates larger horizontal and side forces, increasing the resultant aerodynamic force of the damaged wing. Due to the larger aerodynamic force and the smaller wing area, the wing loading of the damaged wing is 25% larger than that of the wings of the normal phorid fly; this may greatly shorten the life of the damaged wing. Furthermore, because the damaged wing has much larger angular velocity and produces larger aerodynamic moment compared with the intact wing of the damaged phorid fly, the aerodynamic power consumed by the damaged wing is 38% larger than that by the intact wing, i.e., the energy distribution between the damaged and intact wings is highly asymmetrical; this may greatly increase the muscle wastage of the damaged side.

The reverse flight of a monarch butterfly (Danaus plexippus) is characterized by a weight-supporting upstroke and postural changes

Butterflies are agile fliers which use inactive and active upstrokes (US). The active US plays a secondary role to the downstroke (DS), generating both thrust and negative vertical force. However, whether their active halfstroke function is fixed or facultative has not been clarified. We showed that during multiple backward flights of an individual, postural adjustments via body angles greater than 90°, with pitch-down and pitch-up motions in the DS and US, respectively, reoriented the stroke plane and caused the reversal of the aerodynamic functions of the halfstrokes compared with forward flight. The US and DS primarily provided weight support and horizontal force, respectively, and a leading edge vortex (LEV) was formed in both halfstrokes. The US's LEV was a Class II LEV extending from wingtip to wingtip, previously reported albeit during the DS in forward flight. The US's net force contribution increased from 32% in forward to 60% in backward flight. Likewise, US weight support increased from 8 to 85%. Despite different trajectories, body postures and force orientations among flight sequences in the global frame, the halfstroke-average forces pointed in a uniform direction relative to the body in both forward and backward flight.

Odor Stimuli: Not Just Chemical Identity

In most sensory modalities the underlying physical phenomena are well understood, and stimulus properties can be precisely controlled. In olfaction, the situation is different. The presence of specific chemical compounds in the air (or water) is the root cause for perceived odors, but it remains unknown what organizing principles, equivalent to wavelength for light, determine the dimensions of odor space. Equally important, but less in the spotlight, odor stimuli are also complex with respect to their physical properties, including concentration and time-varying spatio-temporal distribution. We still lack a complete understanding or control over these properties, in either experiments or theory. In this review, we will concentrate on two important aspects of the physical properties of odor stimuli beyond the chemical identity of the odorants: (1) The amplitude of odor stimuli and their temporal dynamics. (2) The spatio-temporal structure of odor plumes in a natural environment. Concerning these issues, we ask the following questions: (1) Given any particular experimental protocol for odor stimulation, do we have a realistic estimate of the odorant concentration in the air, and at the olfactory receptor neurons? Can we control, or at least know, the dynamics of odorant concentration at olfactory receptor neurons? (2) What do we know of the spatio-temporal structure of odor stimuli in a natural environment both from a theoretical and experimental perspective? And how does this change if we consider mixtures of odorants? For both topics, we will briefly summarize the underlying principles of physics and review the experimental and theoretical Neuroscience literature, focusing on the aspects that are relevant to animals’ physiology and behavior. We hope that by bringing the physical principles behind odor plume landscapes to the fore we can contribute to promoting a new generation of experiments and models.

Odor Stimuli: Not Just Chemical Identity

In most sensory modalities the underlying physical phenomena are well understood, and stimulus properties can be precisely controlled. In olfaction, the situation is different. The presence of specific chemical compounds in the air (or water) is the root cause for perceived odors, but it remains unknown what organizing principles, equivalent to wavelength for light, determine the dimensions of odor space. Equally important, but less in the spotlight, odor stimuli are also complex with respect to their physical properties, including concentration and time-varying spatio-temporal distribution. We still lack a complete understanding or control over these properties, in either experiments or theory. In this review, we will concentrate on two important aspects of the physical properties of odor stimuli beyond the chemical identity of the odorants: (1) The amplitude of odor stimuli and their temporal dynamics. (2) The spatio-temporal structure of odor plumes in a natural environment. Concerning these issues, we ask the following questions: (1) Given any particular experimental protocol for odor stimulation, do we have a realistic estimate of the odorant concentration in the air, and at the olfactory receptor neurons? Can we control, or at least know, the dynamics of odorant concentration at olfactory receptor neurons? (2) What do we know of the spatio-temporal structure of odor stimuli in a natural environment both from a theoretical and experimental perspective? And how does this change if we consider mixtures of odorants? For both topics, we will briefly summarize the underlying principles of physics and review the experimental and theoretical Neuroscience literature, focusing on the aspects that are relevant to animals' physiology and behavior. We hope that by bringing the physical principles behind odor plume landscapes to the fore we can contribute to promoting a new generation of experiments and models.