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Stanchak KE, Deora T, Weber AI, Hickner MK, Moalin A, Abdalla L, Daniel TL, Brunton BW. Intraspecific Variation in the Placement of Campaniform Sensilla on the Wings of the Hawkmoth Manduca Sexta. Integr Org Biol 2024; 6:obae007. [PMID: 38715720 PMCID: PMC11074993 DOI: 10.1093/iob/obae007] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Grants] [Track Full Text] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 08/02/2023] [Revised: 01/30/2024] [Accepted: 03/12/2024] [Indexed: 05/15/2024] Open
Abstract
Flight control requires active sensory feedback, and insects have many sensors that help them estimate their current locomotor state, including campaniform sensilla (CS), which are mechanoreceptors that sense strain resulting from deformation of the cuticle. CS on the wing detect bending and torsional forces encountered during flight, providing input to the flight feedback control system. During flight, wings experience complex spatio-temporal strain patterns. Because CS detect only local strain, their placement on the wing is presumably critical for determining the overall representation of wing deformation; however, how these sensilla are distributed across wings is largely unknown. Here, we test the hypothesis that CS are found in stereotyped locations across individuals of Manduca sexta, a hawkmoth. We found that although CS are consistently found on the same veins or in the same regions of the wings, their total number and distribution can vary extensively. This suggests that there is some robustness to variation in sensory feedback in the insect flight control system. The regions where CS are consistently found provide clues to their functional roles, although some patterns might be reflective of developmental processes. Collectively, our results on intraspecific variation in CS placement on insect wings will help reshape our thinking on the utility of mechanosensory feedback for insect flight control and guide further experimental and comparative studies.
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Affiliation(s)
- K E Stanchak
- University of Washington, Department of Biology, Seattle 98195, WA
| | - T Deora
- Department of Life Sciences, School of Natural Sciences, Shiv Nadar Institution of Eminence, Delhi-NCR 201314, India
| | - A I Weber
- University of Washington, Department of Biology, Seattle 98195, WA
| | - M K Hickner
- University of Washington, Department of Mechanical Engineering, Seattle 98195, WA
| | - A Moalin
- University of Washington, Department of Biology, Seattle 98195, WA
| | - L Abdalla
- University of Washington, Department of Biology, Seattle 98195, WA
| | - T L Daniel
- University of Washington, Department of Biology, Seattle 98195, WA
| | - B W Brunton
- University of Washington, Department of Biology, Seattle 98195, WA
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Jin B, Xu H, Peng J, Lu K, Lu Y. Derivative-Free Observability Analysis for Sensor Placement Optimization of Bioinspired Flexible Flapping Wing System. Biomimetics (Basel) 2022; 7:biomimetics7040178. [PMID: 36412706 PMCID: PMC9680383 DOI: 10.3390/biomimetics7040178] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 09/29/2022] [Revised: 10/18/2022] [Accepted: 10/21/2022] [Indexed: 12/14/2022] Open
Abstract
Observability analysis of a bioinspired flexible flapping wing system provides a measure of how well the states of flexible flapping wing micro-aerial vehicles can be estimated from real-time measurements during high-speed flight. However, the traditional observability analysis approaches have trouble in terms of lack of quantitative analysis index, high computational complexity, low accuracy, and unavailability in stochastic systems with memory, including bioinspired flexible flapping wing systems. Therefore, a novel derivative-free observability analysis method is proposed here based on the generalized polynomial chaos expansion. By formulating a surrogate model to represent the relationship between the cumulative measurement and the random initial state, the observability coefficient matrix is calculated and the observability rank condition is stated. Consequently, several observability indices are proposed to quantity the observability of the system. Altogether, the proposed method avoids the disadvantages of the traditional approaches, especially in assessing the observability degree of each state and the effect of stochastic noise on observability. The validation of the proposed method is first provided by demonstrating the equivalence between the traditional and proposed methods and subsequently by comparing the observability of the Lorenz system calculated via three different approaches. Finally, the proposed method is applied on a bioinspired flexible wing system to optimize the placement of sensors, which is consistent with the natural configuration of campaniform sensilla on the wing of the hawkmoth.
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Affiliation(s)
- Bingyu Jin
- College of Automation Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, China
| | - Hao Xu
- School of Automation, Southeast University, Nanjing 210096, China
| | - Jicheng Peng
- School of Automation, Southeast University, Nanjing 210096, China
| | - Kelin Lu
- School of Automation, Southeast University, Nanjing 210096, China
- Correspondence:
| | - Yuping Lu
- College of Automation Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, China
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Fabian J, Siwanowicz I, Uhrhan M, Maeda M, Bomphrey RJ, Lin HT. Systematic characterization of wing mechanosensors that monitor airflow and wing deformations. iScience 2022; 25:104150. [PMID: 35465360 PMCID: PMC9018384 DOI: 10.1016/j.isci.2022.104150] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 05/19/2021] [Revised: 02/07/2022] [Accepted: 03/21/2022] [Indexed: 11/30/2022] Open
Abstract
Animal wings deform during flight in ways that can enhance lift, facilitate flight control, and mitigate damage. Monitoring the structural and aerodynamic state of the wing is challenging because deformations are passive, and the flow fields are unsteady; it requires distributed mechanosensors that respond to local airflow and strain on the wing. Without a complete map of the sensor arrays, it is impossible to model control strategies underpinned by them. Here, we present the first systematic characterization of mechanosensors on the dragonfly’s wings: morphology, distribution, and wiring. By combining a cross-species survey of sensor distribution with quantitative neuroanatomy and a high-fidelity finite element analysis, we show that the mechanosensors are well placed to perceive features of the wing dynamics relevant to flight. This work describes the wing sensory apparatus in its entirety and advances our understanding of the sensorimotor loop that facilitates exquisite flight control in animals with highly deformable wings. Dragonfly wings are innervated by an extensive collection of sensory neurons Mechanosensors are spread across the whole span of the wing with consistent patterns The axons of wing sensory neurons are scaled to compensate for transmission latencies Anatomically accurate models reveal wing strain fields that inform sensor distribution
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Affiliation(s)
- Joseph Fabian
- Imperial College London, London, SW7 2AZ, UK.,The University of Adelaide, Adelaide, South Australia, 5005, Australia
| | | | | | | | | | - Huai-Ti Lin
- Imperial College London, London, SW7 2AZ, UK
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Weber AI, Daniel TL, Brunton BW. Wing structure and neural encoding jointly determine sensing strategies in insect flight. PLoS Comput Biol 2021; 17:e1009195. [PMID: 34379622 PMCID: PMC8382179 DOI: 10.1371/journal.pcbi.1009195] [Citation(s) in RCA: 1] [Impact Index Per Article: 0.3] [Reference Citation Analysis] [Abstract] [MESH Headings] [Grants] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 01/22/2021] [Revised: 08/23/2021] [Accepted: 06/18/2021] [Indexed: 11/21/2022] Open
Abstract
Animals rely on sensory feedback to generate accurate, reliable movements. In many flying insects, strain-sensitive neurons on the wings provide rapid feedback that is critical for stable flight control. While the impacts of wing structure on aerodynamic performance have been widely studied, the impacts of wing structure on sensing are largely unexplored. In this paper, we show how the structural properties of the wing and encoding by mechanosensory neurons interact to jointly determine optimal sensing strategies and performance. Specifically, we examine how neural sensors can be placed effectively on a flapping wing to detect body rotation about different axes, using a computational wing model with varying flexural stiffness. A small set of mechanosensors, conveying strain information at key locations with a single action potential per wingbeat, enable accurate detection of body rotation. Optimal sensor locations are concentrated at either the wing base or the wing tip, and they transition sharply as a function of both wing stiffness and neural threshold. Moreover, the sensing strategy and performance is robust to both external disturbances and sensor loss. Typically, only five sensors are needed to achieve near-peak accuracy, with a single sensor often providing accuracy well above chance. Our results show that small-amplitude, dynamic signals can be extracted efficiently with spatially and temporally sparse sensors in the context of flight. The demonstrated interaction of wing structure and neural encoding properties points to the importance of understanding each in the context of their joint evolution. In addition to generating forces for flight, insect wings also serve an important role as sensory structures, providing rapid feedback about wing bending that is used to stabilize flight. While much is known about how wing structure affects aerodynamic performance, the effects of wing structure on sensing remain unexplored. Using a computational model of a flapping wing, we examine how sensing strategies depend on wing stiffness and sensor properties. We show that body rotations can be accurately detected with a small number of sensors on the wing across a wide range of conditions. Optimal sensor locations are clustered at either the wing base or wing tip, depending on a combination of wing stiffness and sensor properties. Moreover, sensing performance is robust to multiple kinds of perturbations. Our work provides a basis for understanding how wing structure impacts incoming sensory information during flight.
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Affiliation(s)
- Alison I. Weber
- Department of Biology, University of Washington, Seattle, Washington, United States of America
- * E-mail:
| | - Thomas L. Daniel
- Department of Biology, University of Washington, Seattle, Washington, United States of America
| | - Bingni W. Brunton
- Department of Biology, University of Washington, Seattle, Washington, United States of America
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Hasan J, Roy A, Chatterjee K, Yarlagadda PKDV. Mimicking Insect Wings: The Roadmap to Bioinspiration. ACS Biomater Sci Eng 2019; 5:3139-3160. [DOI: 10.1021/acsbiomaterials.9b00217] [Citation(s) in RCA: 27] [Impact Index Per Article: 5.4] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 01/06/2023]
Affiliation(s)
- Jafar Hasan
- Science and Engineering Faculty, Queensland University of Technology, 2 George Street, Brisbane, QLD 4001, Australia
| | - Anindo Roy
- Department of Materials Engineering, Indian Institute of Science, C. V. Raman Avenue, Bangalore 560 012, India
| | - Kaushik Chatterjee
- Department of Materials Engineering, Indian Institute of Science, C. V. Raman Avenue, Bangalore 560 012, India
| | - Prasad K. D. V. Yarlagadda
- Science and Engineering Faculty, Queensland University of Technology, 2 George Street, Brisbane, QLD 4001, Australia
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Rauscher MJ, Fox JL. Inertial Sensing and Encoding of Self-Motion: Structural and Functional Similarities across Metazoan Taxa. Integr Comp Biol 2019; 58:832-843. [PMID: 29860381 DOI: 10.1093/icb/icy041] [Citation(s) in RCA: 5] [Impact Index Per Article: 1.0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 12/14/2022] Open
Abstract
To properly orient and navigate, moving animals must obtain information about the position and motion of their bodies. Animals detect inertial signals resulting from body accelerations and rotations using a variety of sensory systems. In this review, we briefly summarize current knowledge on inertial sensing across widely disparate animal taxa with an emphasis on neuronal coding and sensory transduction. We outline systems built around mechanosensory hair cells, including the chordate vestibular complex and the statocysts seen in many marine invertebrates. We next compare these to schemes employed by flying insects for managing inherently unstable aspects of flapping flight, built around comparable mechanosensory cells but taking unique advantage of the physics of rotating systems to facilitate motion encoding. Finally, we highlight fundamental similarities across taxa with respect to the partnering of inertial senses with visual senses and conclude with a discussion of the functional utility of maintaining a multiplicity of encoding schemes for self-motion information.
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Affiliation(s)
- Michael J Rauscher
- Department of Biology, Case Western Reserve University, 10900 Euclid Avenue, Cleveland, OH 44106, USA
| | - Jessica L Fox
- Department of Biology, Case Western Reserve University, 10900 Euclid Avenue, Cleveland, OH 44106, USA
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Bomphrey RJ, Godoy-Diana R. Insect and insect-inspired aerodynamics: unsteadiness, structural mechanics and flight control. CURRENT OPINION IN INSECT SCIENCE 2018; 30:26-32. [PMID: 30410869 PMCID: PMC6218012 DOI: 10.1016/j.cois.2018.08.003] [Citation(s) in RCA: 7] [Impact Index Per Article: 1.2] [Reference Citation Analysis] [Abstract] [MESH Headings] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 06/08/2023]
Abstract
Flying insects impress by their versatility and have been a recurrent source of inspiration for engineering devices. A large body of literature has focused on various aspects of insect flight, with an essential part dedicated to the dynamics of flapping wings and their intrinsically unsteady aerodynamic mechanisms. Insect wings flex during flight and a better understanding of structural mechanics and aeroelasticity is emerging. Most recently, insights from solid and fluid mechanics have been integrated with physiological measurements from visual and mechanosensors in the context of flight control in steady airs and through turbulent conditions. We review the key recent advances concerning flight in unsteady environments and how the multi-body mechanics of the insect structure-wings and body-are at the core of the flight control question. The issues herein should be considered when applying bio-informed design principles to robotic flapping wings.
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Affiliation(s)
- Richard J Bomphrey
- Structure and Motion Laboratory, Royal Veterinary College, London, United Kingdom
| | - Ramiro Godoy-Diana
- Physique et Mécanique des Milieux Hétérogènes laboratory (PMMH), CNRS, ESPCI Paris – PSL Research University, Sorbonne Université, Université Paris Diderot, Paris, France
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Pratt B, Deora T, Mohren T, Daniel T. Neural evidence supports a dual sensory-motor role for insect wings. Proc Biol Sci 2018; 284:rspb.2017.0969. [PMID: 28904136 PMCID: PMC5597827 DOI: 10.1098/rspb.2017.0969] [Citation(s) in RCA: 28] [Impact Index Per Article: 4.7] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 05/03/2017] [Accepted: 08/09/2017] [Indexed: 01/29/2023] Open
Abstract
Flying insects use feedback from various sensory modalities including vision and mechanosensation to navigate through their environment. The rapid speed of mechanosensory information acquisition and processing compensates for the slower processing times associated with vision, particularly under low light conditions. While halteres in dipteran species are well known to provide such information for flight control, less is understood about the mechanosensory roles of their evolutionary antecedent, wings. The features that wing mechanosensory neurons (campaniform sensilla) encode remains relatively unexplored. We hypothesized that the wing campaniform sensilla of the hawkmoth, Manduca sexta, rapidly and selectively extract mechanical stimulus features in a manner similar to halteres. We used electrophysiological and computational techniques to characterize the encoding properties of wing campaniform sensilla. To accomplish this, we developed a novel technique for localizing receptive fields using a focused IR laser that elicits changes in the neural activity of mechanoreceptors. We found that (i) most wing mechanosensors encoded mechanical stimulus features rapidly and precisely, (ii) they are selective for specific stimulus features, and (iii) there is diversity in the encoding properties of wing campaniform sensilla. We found that the encoding properties of wing campaniform sensilla are similar to those for haltere neurons. Therefore, it appears that the neural architecture that underlies the haltere sensory function is present in wings, which lends credence to the notion that wings themselves may serve a similar sensory function. Thus, wings may not only function as the primary actuator of the organism but also as sensors of the inertial dynamics of the animal.
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Affiliation(s)
- Brandon Pratt
- Department of Biology, University of Washington, Seattle, WA 98105, USA
| | - Tanvi Deora
- Department of Biology, University of Washington, Seattle, WA 98105, USA
| | - Thomas Mohren
- Department of Mechanical Engineering, University of Washington, Seattle, WA 98105, USA
| | - Thomas Daniel
- Department of Biology, University of Washington, Seattle, WA 98105, USA
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