Flies compensate for unilateral wing damage through modular adjustments of wing and body kinematics

Sensorimotor adaptation to destabilizing dynamics in weakly electric fish

Humans and other animals can readily learn to compensate for changes in the dynamics of movement. Such changes can result from an injury or changes in the weight of carried objects. These changes in dynamics can lead not only to reduced performance but also to dramatic instabilities. We evaluated the impacts of compensatory changes in control policies in relation to stability and robustness in Eigenmannia virescens, a species of weakly electric fish. We discovered that these fish retune their sensorimotor control system in response to experimentally generated destabilizing dynamics. Specifically, we used an augmented reality system to manipulate sensory feedback during an image stabilization task in which a fish maintained its position within a refuge. The augmented reality system measured the fish's movements in real time. These movements were passed through a high-pass filter and multiplied by a gain factor before being fed back to the refuge motion. We adjusted the gain factor to gradually destabilize the fish's sensorimotor loop. The fish retuned their sensorimotor control system to compensate for the experimentally induced destabilizing dynamics. This retuning was partially maintained when the augmented reality feedback was abruptly removed. The compensatory changes in sensorimotor control improved tracking performance as well as control-theoretic measures of robustness, including reduced sensitivity to disturbances and improved phase margins.

Machine learning reveals the control mechanics of an insect wing hinge

Insects constitute the most species-rich radiation of metazoa, a success that is due to the evolution of active flight. Unlike pterosaurs, birds and bats, the wings of insects did not evolve from legs1, but are novel structures that are attached to the body via a biomechanically complex hinge that transforms tiny, high-frequency oscillations of specialized power muscles into the sweeping back-and-forth motion of the wings2. The hinge consists of a system of tiny, hardened structures called sclerites that are interconnected to one another via flexible joints and regulated by the activity of specialized control muscles. Here we imaged the activity of these muscles in a fly using a genetically encoded calcium indicator, while simultaneously tracking the three-dimensional motion of the wings with high-speed cameras. Using machine learning, we created a convolutional neural network3 that accurately predicts wing motion from the activity of the steering muscles, and an encoder-decoder4 that predicts the role of the individual sclerites on wing motion. By replaying patterns of wing motion on a dynamically scaled robotic fly, we quantified the effects of steering muscle activity on aerodynamic forces. A physics-based simulation incorporating our hinge model generates flight manoeuvres that are remarkably similar to those of free-flying flies. This integrative, multi-disciplinary approach reveals the mechanical control logic of the insect wing hinge, arguably among the most sophisticated and evolutionarily important skeletal structures in the natural world.

Machine learning reveals the control mechanics of an insect wing hinge

Insects constitute the most species-rich radiation of metazoa, a success due to the evolution of active flight. Unlike pterosaurs, birds, and bats, the wings of insects did not evolve from legs 1 , but are novel structures attached to the body via a biomechanically complex hinge that transforms tiny, high-frequency oscillations of specialized power muscles into the sweeping back-and-forth motion of the wings 2 . The hinge consists of a system of tiny, hardened structures called sclerites that are interconnected to one another via flexible joints and regulated by the activity of specialized control muscles. Here, we imaged the activity of these muscles in a fly using a genetically encoded calcium indicator, while simultaneously tracking the 3D motion of the wings with high-speed cameras. Using machine learning approaches, we created a convolutional neural network 3 that accurately predicts wing motion from the activity of the steering muscles, and an encoder-decoder 4 that predicts the role of the individual sclerites on wing motion. By replaying patterns of wing motion on a dynamically scaled robotic fly, we quantified the effects of steering muscle activity on aerodynamic forces. A physics-based simulation that incorporates our model of the hinge generates flight maneuvers that are remarkably similar to those of free flying flies. This integrative, multi-disciplinary approach reveals the mechanical control logic of the insect wing hinge, arguably among the most sophisticated and evolutionarily important skeletal structures in the natural world.

Flies adaptively control flight to compensate for added inertia

Animal locomotion is highly adaptive, displaying a large degree of flexibility, yet how this flexibility arises from the integration of mechanics and neural control remains elusive. For instance, animals require flexible strategies to maintain performance as changes in mass or inertia impact stability. Compensatory strategies to mechanical loading are especially critical for animals that rely on flight for survival. To shed light on the capacity and flexibility of flight neuromechanics to mechanical loading, we pushed the performance of fruit flies (Drosophila) near its limit and implemented a control theoretic framework. Flies with added inertia were placed inside a virtual reality arena which permitted free rotation about the vertical (yaw) axis. Adding inertia increased the fly's response time yet had little influence on overall gaze stabilization performance. Flies maintained stability following the addition of inertia by adaptively modulating both visuomotor gain and damping. By contrast, mathematical modelling predicted a significant decrease in gaze stabilization performance. Adding inertia altered saccades, however, flies compensated for the added inertia by increasing saccade torque. Taken together, in response to added inertia flies increase reaction time but maintain flight performance through adaptive neural control. Overall, adding inertia decreases closed-loop flight robustness. Our work highlights the flexibility and capacity of motor control in flight.

Effects of wing damage and moult gaps on vertebrate flight performance

Vertebrates capable of powered flight rely on wings, muscles that drive their flapping and sensory inputs to the brain allowing for control of the motor output. In birds, the wings are formed of arrangements of adjacent flight feathers (remiges), whereas the wings of bats consist of double-layered skin membrane stretched out between the forelimb skeleton, body and legs. Bird feathers become worn from use and brittle from UV exposure, which leads to loss of function; to compensate, they are renewed (moulted) at regular intervals. Bird feathers and the wings of bats can be damaged by accident. Wing damage and loss of wing surface due to moult almost invariably cause reduced flight performance in measures such as take-off angle and speed. During moult in birds, this is partially counteracted by concurrent mass loss and enlarged flight muscles. Bats have sensory hairs covering their wing surface that provide feedback information about flow; thus, wing damage affects flight speed and turning ability. Bats also have thin, thread-like muscles, distributed within the wing membrane and, if these are damaged, the control of wing camber is lost. Here, I review the effects of wing damage and moult on flight performance in birds, and the consequences of wing damage in bats. I also discuss studies of life-history trade-offs that make use of experimental trimming of flight feathers as a way to handicap parent birds feeding their young.

Laser-assisted failure recovery for dielectric elastomer actuators in aerial robots

Insects maintain remarkable agility after incurring severe injuries or wounds. Although robots driven by rigid actuators have demonstrated agile locomotion and manipulation, most of them lack animal-like robustness against unexpected damage. Dielectric elastomer actuators (DEAs) are a class of muscle-like soft transducers that have enabled nimble aerial, terrestrial, and aquatic robotic locomotion comparable to that of rigid actuators. However, unlike muscles, DEAs suffer local dielectric breakdowns that often cause global device failure. These local defects severely limit DEA performance, lifetime, and size scalability. We developed DEAs that can endure more than 100 punctures while maintaining high bandwidth (>400 hertz) and power density (>700 watt per kilogram)-sufficient for supporting energetically expensive locomotion such as flight. We fabricated electroluminescent DEAs for visualizing electrode connectivity under actuator damage. When the DEA suffered severe dielectric breakdowns that caused device failure, we demonstrated a laser-assisted repair method for isolating the critical defects and recovering performance. These results culminate in an aerial robot that can endure critical actuator and wing damage while maintaining similar accuracy in hovering flight. Our work highlights that soft robotic systems can embody animal-like agility and resilience-a critical biomimetic capability for future robots to interact with challenging environments.

Wing kinematics measurement and aerodynamics of hovering droneflies with wing damage

In this study, we performed successive unilateral and bilateral wing shearing to simulate wing damage in droneflies (Eristalis tenax) and measured the wing kinematics using high-speed photography technology. Two different shearing types were considered in the artificial wing damage. The aerodynamic force and power consumption were obtained by numerical method. Our major findings are the following. Different shearing methods have little influence on the kinematics, forces and energy consumption of insects. Following wing damage, among the potential strategies to adjust the three Euler angles of the wing, adjusting stroke angle (φ) in isolation, or combing the adjustment of stroke angle (φ) with pitch angle (ψ), contributed most to the change in vertical force. The balance of horizontal thrust can be restored by the adjustment of deviation angle (θ) under the condition of unilateral wing damage. Considering zero elastic energy storage, the mass-specific power (P₁) increases significantly following wing damage. However, the increase in mass-specific power with 100% elastic energy storage (P₂) is very small. The extra cost of the unilateral wing damage is that the energy consumption of the damaged wing and intact wing is highly asymmetrical when zero elastic energy storage is considered. The insects may alleviate the problems of increasing power consumption and asymmetric power distribution by storage and reuse of the negative inertial work of the wing.

Flies trade off stability and performance via adaptive compensation to wing damage

Physical injury often impairs mobility, which can have dire consequences for survival in animals. Revealing mechanisms of robust biological intelligence to prevent system failure can provide critical insights into how complex brains generate adaptive movement and inspiration to design fault-tolerant robots. For flying animals, physical injury to a wing can have severe consequences, as flight is inherently unstable. Using a virtual reality flight arena, we studied how flying fruit flies compensate for damage to one wing. By combining experimental and mathematical methods, we show that flies compensate for wing damage by corrective wing movement modulated by closed-loop sensing and robust mechanics. Injured flies actively increase damping and, in doing so, modestly decrease flight performance but fly as stably as uninjured flies. Quantifying responses to injury can uncover the flexibility and robustness of biological systems while informing the development of bio-inspired fault-tolerant strategies.

Distinct forms of resonant optimality within insect indirect flight motors

Insect flight motors are extraordinary natural structures that operate efficiently at high frequencies. Structural resonance is thought to play a role in ensuring efficient motor operation, but the details of this role are elusive. While the efficiency benefits associated with resonance may be significant, a range of counterintuitive behaviours are observed. In particular, the relationship between insect wingbeat frequencies and thoracic natural frequencies is uncertain, with insects showing wingbeat frequency modulation over both short and long time scales. Here, we offer new explanations for this modulation. We show how, in linear and nonlinear models of an indirect flight motor, resonance is not a unitary state at a single frequency, but a complex cluster of distinct and mutually exclusive states, each representing a different form of resonant optimality. Additionally, by characterizing the relationship between resonance and the state of negative work absorption within the motor, we demonstrate how near-perfect resonant energetic optimality can be maintained over significant wingbeat frequency ranges. Our analysis leads to a new conceptual model of flight motor operation: one in which insects are not energetically restricted to a precise wingbeat frequency, but instead are robust to changes in thoracic and environmental properties-an illustration of the extraordinary robustness of these natural motors.

Effects of clipping of flight feathers on resource use in Gallus gallus domesticus

Ground-dwelling species of birds, such as domestic chickens (Gallus gallus domesticus), experience difficulties sustaining flight due to high wing loading. This limited flight ability may be exacerbated by loss of flight feathers that is prevalent among egg-laying chickens. Despite this, chickens housed in aviary style systems need to use flight to access essential resources stacked in vertical tiers. To understand the impact of flight feather loss on chickens' ability to access elevated resources, we clipped primary and secondary flight feathers for two hen strains (brown-feathered and white-feathered, n = 120), and recorded the time hens spent at elevated resources (feeders, nest-boxes). Results showed that flight feather clipping significantly reduced the percentage of time that hens spent at elevated resources compared to ground resources. When clipping both primary and secondary flight feathers, all hens exhibited greater than or equal to 38% reduction in time spent at elevated resources. When clipping only primary flight feathers, brown-feathered hens saw a greater than 50% reduction in time spent at elevated nest-boxes. Additionally, brown-feathered hens scarcely used the elevated feeder regardless of treatment. Clipping of flight feathers altered the amount of time hens spent at elevated resources, highlighting that distribution and accessibility of resources is an important consideration in commercial housing.

A population of descending neurons that regulates the flight motor of Drosophila

Like many insect species, Drosophila melanogaster are capable of maintaining a stable flight trajectory for periods lasting up to several hours^1,2. Because aerodynamic torque is roughly proportional to the fifth power of wing length³, even small asymmetries in wing size require the maintenance of subtle bilateral differences in flapping motion to maintain a stable path. Flies can even fly straight after losing half of a wing, a feat they accomplish via very large, sustained kinematic changes to both the damaged and intact wings⁴. Thus, the neural network responsible for stable flight must be capable of sustaining fine-scaled control over wing motion across a large dynamic range. In this paper, we describe an unusual type of descending neuron (DNg02) that projects directly from visual output regions of the brain to the dorsal flight neuropil of the ventral nerve cord. Unlike many descending neurons, which exist as single bilateral pairs with unique morphology, there is a population of at least 15 DNg02 cell pairs with nearly identical shape. By optogenetically activating different numbers of DNg02 cells, we demonstrate that these neurons regulate wingbeat amplitude over a wide dynamic range via a population code. Using 2-photon functional imaging, we show that DNg02 cells are responsive to visual motion during flight in a manner that would make them well suited to continuously regulate bilateral changes in wing kinematics. Collectively, we have identified a critical set of DNs that provide the sensitivity and dynamic range required for flight control.

Using an activation screen in flying flies, Namiki et al. identify a population of descending neurons that regulates wing amplitude over a large dynamic range. Via functional imaging and activation of different numbers of cells, they show that this population is a core component of the flight circuit, allowing the fly to steer and fly straight.

Design optimization and wind tunnel investigation of a flapping system based on the flapping wing trajectories of a beetle's hindwings

To design a flapping-wing micro air vehicle (FWMAV), the hovering flight action of a beetle species (Protaetia brevitarsis) was captured, and various parameters, such as the hindwing flapping frequency, flapping amplitude, angle of attack, rotation angle, and stroke plane angle, were obtained. The wing tip trajectories of the hindwings were recorded and analyzed, and the flapping kinematics were assessed. Based on the wing tip trajectory functions, bioinspired wings and a linkage mechanism flapping system were designed. The critical parameters for the aerodynamic characteristics were investigated and optimized by means of wind tunnel tests, and the artificial flapping system with the best wing parameters was compared with the natural beetle. This work provides insight into how natural flyers execute flight by experimentally duplicating beetle hindwing kinematics and paves the way for the future development of beetle-mimicking FWMAVs.

Flight activity and age cause wing damage in house flies

Wing damage attenuates aerial performance in many flying animals such as birds, bats and insects. Especially insect wings are fragile and light in order to reduce inertial power requirements for flight at elevated wing flapping frequencies. There is a continuing debate on the factors causing wing damage in insects including collisions with objects, mechanical stress during flight activity, and aging. This experimental study is engaged with the reasons and significance of wing damage for flight in the house fly Musca domestica. We determined natural wing area loss under two housing conditions and recorded flight activity and flight ability throughout the animals' lifetime. Our data show that wing damage occurs on average after 6 h of flight, is sex-specific, and depends on housing conditions. Statistical tests show that both physiological age and flight activity have similar significance as predictors for wing damage. Tests on freely flying flies showed that minimum wing area for active flight is approximately 10-34% below the initial area and requires a left-right wing area asymmetry of less than approximately 25%. Our findings broadly confirm predictions from simple aerodynamic theory based on mean wing velocity and area, and are also consistent with previous wing damage measurements in other insect species.

The evolution of two distinct strategies of moth flight

Across insects, wing shape and size have undergone dramatic divergence even in closely related sister groups. However, we do not know how morphology changes in tandem with kinematics to support body weight within available power and how the specific force production patterns are linked to differences in behaviour. Hawkmoths and wild silkmoths are diverse sister families with divergent wing morphology. Using three-dimensional kinematics and quasi-steady aerodynamic modelling, we compare the aerodynamics and the contributions of wing shape, size and kinematics in 10 moth species. We find that wing movement also diverges between the clades and underlies two distinct strategies for flight. Hawkmoths use wing kinematics, especially high frequencies, to enhance force and wing morphologies that reduce power. Silkmoths use wing morphology to enhance force, and slow, high-amplitude wingstrokes to reduce power. Both strategies converge on similar aerodynamic power and can support similar body weight ranges. However, inter-clade within-wingstroke force profiles are quite different and linked to the hovering flight of hawkmoths and the bobbing flight of silkmoths. These two moth groups fly more like other, distantly related insects than they do each other, demonstrating the diversity of flapping flight evolution and a rich bioinspired design space for robotic flappers.

Wings and halteres act as coupled dual oscillators in flies

The mechanics of Dipteran thorax is dictated by a network of exoskeletal linkages that, when deformed by the flight muscles, generate coordinated wing movements. In Diptera, the forewings power flight, whereas the hindwings have evolved into specialized structures called halteres, which provide rapid mechanosensory feedback for flight stabilization. Although actuated by independent muscles, wing and haltere motion is precisely phase-coordinated at high frequencies. Because wingbeat frequency is a product of wing-thorax resonance, any wear-and-tear of wings or thorax should impair flight ability. How robust is the Dipteran flight system against such perturbations? Here, we show that wings and halteres are independently driven, coupled oscillators. We systematically reduced the wing length in flies and observed how wing-haltere synchronization was affected. The wing-wing system is a strongly coupled oscillator, whereas the wing-haltere system is weakly coupled through mechanical linkages that synchronize phase and frequency. Wing-haltere link acts in a unidirectional manner; altering wingbeat frequency affects haltere frequency, but not vice versa. Exoskeletal linkages are thus key morphological features of the Dipteran thorax that ensure wing-haltere synchrony, despite severe wing damage.

Adaptive shifts underlie the divergence in wing morphology in bombycoid moths

The evolution of flapping flight is linked to the prolific success of insects. Across Insecta, wing morphology diversified, strongly impacting aerodynamic performance. In the presence of ecological opportunity, discrete adaptive shifts and early bursts are two processes hypothesized to give rise to exceptional morphological diversification. Here, we use the sister-families Sphingidae and Saturniidae to answer how the evolution of aerodynamically important traits is linked to clade divergence and through what process(es) these traits evolve. Many agile Sphingidae evolved hover feeding behaviours, while adult Saturniidae lack functional mouth parts and rely on a fixed energy budget as adults. We find that Sphingidae underwent an adaptive shift in wing morphology coincident with life history and behaviour divergence, evolving small high aspect ratio wings advantageous for power reduction that can be moved at high frequencies, beneficial for flight control. By contrast, Saturniidae, which do not feed as adults, evolved large wings and morphology which surprisingly does not reduce aerodynamic power, but could contribute to their erratic flight behaviour, aiding in predator avoidance. We suggest that after the evolution of flapping flight, diversification of wing morphology can be potentiated by adaptative shifts, shaping the diversity of wing morphology across insects.

Aerial course stabilization is impaired in motion-blind flies

Visual motion detection is among the best understood neuronal computations. As extensively investigated in tethered flies, visual motion signals are assumed to be crucial to detect and counteract involuntary course deviations. During free flight, however, course changes are also signalled by other sensory systems. Therefore, it is as yet unclear to what extent motion vision contributes to course control. To address this question, we genetically rendered flies motion-blind by blocking their primary motion-sensitive neurons and quantified their free-flight performance. We found that such flies have difficulty maintaining a straight flight trajectory, much like unimpaired flies in the dark. By unilateral wing clipping, we generated an asymmetry in propulsive force and tested the ability of flies to compensate for this perturbation. While wild-type flies showed a remarkable level of compensation, motion-blind animals exhibited pronounced circling behaviour. Our results therefore directly confirm that motion vision is necessary to fly straight under realistic conditions.

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.

Hybrid visual control in fly flight: insights into gaze shift via saccades

Flies fly by alternating between periods of fixation and body saccades, analogous to how our own eyes move. Gaze fixation via smooth movement in fly flight has been studied extensively, but comparatively less is known about the mechanism by which flies trigger and control body saccades to shift their gaze. Why do flies implement a hybrid fixate-and-saccade locomotion strategy? Here we review recent developments that provide new insights into this question. We focus on the interplay between smooth movement and saccades, the trigger classes of saccades, and the timeline of saccade execution. We emphasize recent mechanistic advances in Drosophila, where genetic tools have enabled cellular circuit analysis at an unprecedented level in a flying insect. In addition, we review trade-offs in behavioral paradigms used to study saccades. Throughout we highlight exciting avenues for future research in the control of fly flight.

Insect wing damage: causes, consequences and compensatory mechanisms

The evolution of wings has played a key role in the success of insect species, allowing them to diversify to fill many niches. Insect wings are complex multifunctional structures, which not only have to withstand aerodynamic forces but also need to resist excessive stresses caused by accidental collisions. This Commentary provides a summary of the literature on damage-reducing morphological adaptations in wings, covering natural causes of wing collisions, their impact on the structural integrity of wings and associated consequences for both insect flight performance and life expectancy. Data from the literature and our own observations suggest that insects have evolved strategies that (i) reduce the likelihood of wing damage and (ii) allow them to cope with damage when it occurs: damage-related fractures are minimized because wings evolved to be damage tolerant and, in the case of wing damage, insects compensate for the reduced aerodynamic efficiency with dedicated changes in flight kinematics.

A Bird's-Eye View of Regulatory, Animal Care, and Training Considerations Regarding Avian Flight Research

A thorough understanding of how animals fly is a central goal of many scientific disciplines. Birds are a commonly used model organism for flight research. The success of this model requires studying healthy and naturally flying birds in a laboratory setting. This use of a nontraditional laboratory animal species presents unique challenges to animal care staff and researchers alike. Here we review regulatory, animal care, and training considerations associated with avian flight research.

Adaptive evolution of butterfly wing shape: from morphology to behaviour

Butterflies display extreme variation in wing shape associated with tremendous ecological diversity. Disentangling the role of neutral versus adaptive processes in wing shape diversification remains a challenge for evolutionary biologists. Ascertaining how natural selection influences wing shape evolution requires both functional studies linking morphology to flight performance, and ecological investigations linking performance in the wild with fitness. However, direct links between morphological variation and fitness have rarely been established. The functional morphology of butterfly flight has been investigated but selective forces acting on flight behaviour and associated wing shape have received less attention. Here, we attempt to estimate the ecological relevance of morpho-functional links established through biomechanical studies in order to understand the evolution of butterfly wing morphology. We survey the evidence for natural and sexual selection driving wing shape evolution in butterflies, and discuss how our functional knowledge may allow identification of the selective forces involved, at both the macro- and micro-evolutionary scales. Our review shows that although correlations between wing shape variation and ecological factors have been established at the macro-evolutionary level, the underlying selective pressures often remain unclear. We identify the need to investigate flight behaviour in relevant ecological contexts to detect variation in fitness-related traits. Identifying the selective regime then should guide experimental studies towards the relevant estimates of flight performance. Habitat, predators and sex-specific behaviours are likely to be major selective forces acting on wing shape evolution in butterflies. Some striking cases of morphological divergence driven by contrasting ecology involve both wing and body morphology, indicating that their interactions should be included in future studies investigating co-evolution between morphology and flight behaviour.

Effects of natural wing damage on flight performance in Morpho butterflies: what can it tell us about wing shape evolution?

Flying insects frequently experience wing damage during their life. Such irreversible alterations of wing shape affect flight performance and ultimately fitness. Insects have been shown to compensate for wing damage through various behavioural adjustments, but the importance of damage location over the wings has been scarcely studied. Using natural variation in wing damage, here we tested how the loss of different wing parts affect flight performance. We quantified flight performance in two species of large butterflies, Morpho helenor and M. achilles, caught in the wild, and displaying large variation in the extent and location of wing damage. We artificially generated more severe wing damage in our sample to contrast natural vs. higher magnitude of wing loss. Wing shape alteration across our sample was quantified using geometric morphometrics to test the effect of different damage distributions on flight performance. Our results show that impaired flight performance clearly depends on damage location over the wings, pointing out a relative importance of different wing parts for flight. Deteriorated forewings leading edge most crucially affected flight performance, specifically decreasing flight speed and proportion of gliding flight. In contrast, most frequent natural damage such as scattered wing margin had no detectable effect on flight behaviour. Damages located on the hindwings – although having a limited effect on flight – were associated with reduced flight height, suggesting that fore- and hindwings play different roles in butterfly flight. By contrasting harmless and deleterious consequences of various types of wing damage, our study points at different selective regimes acting on morphological variations of butterfly wings.

A songbird compensates for wing molt during escape flights by reducing the molt gap and increasing angle-of-attack

During molt, birds replace their feathers to retain feather quality and maintain flight performance. However, wing gaps inherent of this process can also reduce flight capacities, which could be detrimental when foraging or escaping predators. Still, many bird species will not stop their normal activities when molting. In this study, we investigated whether and how birds adjust their escape flight behavior to compensate for the reduction in performance when flying with wing gaps. Using stereoscopic high-speed videography, we filmed 146 upward-directed escape flights of 19 and 22 pied flycatchers (Ficedula hypoleuca) with and without simulated molt gaps, respectively. We then reconstructed the three-dimensional body and wing movements throughout each maneuver. By comparing flights with and without gaps, we determined how wing molt gaps affected wing morphology, escape flight performance, and how the birds adjusted their flight kinematics in order to negate possible negative aerodynamic effects. Our manipulations resulted in a lower second-moment-of-area of the wings, but flight speed and net aerodynamic force production did not differ between the two groups. We found that in manipulated birds, the size of the gap was reduced as the flight feathers adjacent to the gap had moved towards each other. Moreover, the experimental decrease in second-moment-of-area was associated with an increase in angle-of-attack, whereas changes in wingbeat-induced speeds were associated with variations in aerodynamic force production. This suggests that the control of escape flight in molting birds might be modular, allowing relatively simple flight control, thus reducing the burden on the neuro-muscular flight control system.

Carpenter ants use diverse antennae sampling strategies to track odor trails

Directed and meaningful animal behavior depends on the ability to sense key features in the environment. Among the different environmental signals, olfactory cues are critically important for foraging, navigation and social communication in many species, including ants. Ants use their two antennae to explore the olfactory world, but how they do so remains largely unknown. In this study, we used high-resolution videography to characterize the antennae dynamics of carpenter ants (Camponotus pennsylvanicus). Antennae are highly active during both odor tracking and exploratory behavior. When tracking, ants used several distinct behavioral strategies with stereotyped antennae sampling patterns (which we call 'sinusoidal', 'probing' and 'trail following'). In all behaviors, left and right antennae movements were anti-correlated, and tracking ants exhibited biases in the use of left versus right antenna to sample the odor trail. These results suggest non-redundant roles for the two antennae. In one of the behavioral modules (trail following), ants used both antennae to detect trail edges and direct subsequent turns, suggesting a specialized form of tropotaxis. Lastly, removal of an antenna resulted not only in less accurate tracking but also in changes in the sampling pattern of the remaining antenna. Our quantitative characterization of odor trail tracking lays a foundation to build better models of olfactory sensory processing and sensorimotor behavior in terrestrial insects.

Phenotypic plasticity of Drosophila suzukii wing to developmental temperature: implications for flight

Phenotypic plasticity has been proposed as a mechanism that facilitates the success of biological invasions. In order to test the hypothesis of an adaptive role for plasticity in invasions, particular attention should be paid to the relationship between the focal plastic trait, the environmental stimulus and the functional importance of the trait. The Drosophila wing is particularly amenable to experimental studies of phenotypic plasticity. Wing morphology is known for its plastic variation under different experimental temperatures, but this plasticity has rarely been investigated in a functional context of flight. Here, we investigate the effect of temperature on wing morphology and flight in the invasive pest species Drosophila suzukii Although the rapid invasion of both Europe and North America was most likely facilitated by human activities, D. suzukii is also expected to disperse actively. By quantifying wing morphology and individual flight trajectories of flies raised under different temperatures, we tested whether (1) invasive populations of D. suzukii show higher phenotypic plasticity than their native counterparts, and (2) wing plasticity affects flight parameters. Developmental temperature was found to affect both wing morphology and flight parameters (in particular speed and acceleration), leaving open the possibility of an adaptive value for wing plasticity. Our results show no difference in phenotypic plasticity between invasive and native populations, rejecting a role for wing plasticity in the invasion success.

Coevolving advances in animal flight and aerial robotics

Our understanding of animal flight has inspired the design of new aerial robots with more effective flight capacities through the process of biomimetics and bioinspiration. The aerodynamic origin of the elevated performance of flying animals remains, however, poorly understood. In this themed issue, animal flight research and aerial robot development coalesce to offer a broader perspective on the current advances and future directions in these coevolving fields of research. Together, four reviews summarize and 14 reports contribute to our understanding of low Reynolds number flight. This area of applied aerodynamics research is challenging to dissect due to the complicated flow phenomena that include laminar–turbulent flow transition, laminar separation bubbles, delayed stall and nonlinear vortex dynamics. Our mechanistic understanding of low Reynolds number flight has perhaps been advanced most by the development of dynamically scaled robot models and new specialized wind tunnel facilities: in particular, the tiltable Lund flight tunnel for animal migration research and the recently developed AFAR hypobaric wind tunnel for high-altitude animal flight studies. These world-class facilities are now complemented with a specialized low Reynolds number wind tunnel for studying the effect of turbulence on animal and robot flight in much greater detail than previously possible. This is particular timely, because the study of flight in extremely laminar versus turbulent flow opens a new frontier in our understanding of animal flight. Advancing this new area will offer inspiration for developing more efficient high-altitude aerial robots and removes roadblocks for aerial robots operating in turbulent urban environments.