1
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Skandalis DA, Baliga VB, Goller B, Altshuler DL. The spatiotemporal richness of hummingbird wing deformations. J Exp Biol 2024; 227:jeb246223. [PMID: 38680114 PMCID: PMC11166462 DOI: 10.1242/jeb.246223] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Grants] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 06/02/2023] [Accepted: 04/17/2024] [Indexed: 05/01/2024]
Abstract
Animals exhibit an abundant diversity of forms, and this diversity is even more evident when considering animals that can change shape on demand. The evolution of flexibility contributes to aspects of performance from propulsive efficiency to environmental navigation. It is, however, challenging to quantify and compare body parts that, by their nature, dynamically vary in shape over many time scales. Commonly, body configurations are tracked by labelled markers and quantified parametrically through conventional measures of size and shape (descriptor approach) or non-parametrically through data-driven analyses that broadly capture spatiotemporal deformation patterns (shape variable approach). We developed a weightless marker tracking technique and combined these analytic approaches to study wing morphological flexibility in hoverfeeding Anna's hummingbirds (Calypte anna). Four shape variables explained >95% of typical stroke cycle wing shape variation and were broadly correlated with specific conventional descriptors such as wing twist and area. Moreover, shape variables decomposed wing deformations into pairs of in-plane and out-of-plane components at integer multiples of the stroke frequency. This property allowed us to identify spatiotemporal deformation profiles characteristic of hoverfeeding with experimentally imposed kinematic constraints, including through shape variables explaining <10% of typical shape variation. Hoverfeeding in front of a visual barrier restricted stroke amplitude and elicited increased stroke frequencies together with in-plane and out-of-plane deformations throughout the stroke cycle. Lifting submaximal loads increased stroke amplitudes at similar stroke frequencies together with prominent in-plane deformations during the upstroke and pronation. Our study highlights how spatially and temporally distinct changes in wing shape can contribute to agile fluidic locomotion.
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Affiliation(s)
- Dimitri A. Skandalis
- Department of Zoology, University of British Columbia, Vancouver, BC, Canada, V6T 1Z4
| | - Vikram B. Baliga
- Department of Zoology, University of British Columbia, Vancouver, BC, Canada, V6T 1Z4
| | - Benjamin Goller
- Department of Zoology, University of British Columbia, Vancouver, BC, Canada, V6T 1Z4
- College of Agriculture Data Services, Purdue University, West Lafayette, IN 47907-2053, USA
| | - Douglas L. Altshuler
- Department of Zoology, University of British Columbia, Vancouver, BC, Canada, V6T 1Z4
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2
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Tang D, Shi W, Liu D, Yang Y, Zhu L, Xu L. Quantitative analysis of the morphing wing mechanism of raptors: Bionic design of Falco Peregrinus wing skeleton. PLoS One 2024; 19:e0299982. [PMID: 38564602 PMCID: PMC10986943 DOI: 10.1371/journal.pone.0299982] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [MESH Headings] [Grants] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 08/01/2023] [Accepted: 02/20/2024] [Indexed: 04/04/2024] Open
Abstract
The wing is one of the most important parts of a bird's locomotor system and is the inspiration origination for bionic wing design. During wing motions, the wing shape is closely related to the rotation angles of wing bones. Therefore, the research on the law of bone movement in the process of wing movement can be good guidance for the design of the bionic morphing wing. In this paper, the skeletal posture of the peregrine falcon wing during the extension/flexion is studied to obtain critical data on skeletal posture. Since an elbow joint and a wrist joint rotate correlatively to drive a wing to flex/extend, the wing skeleton is simplified as a four-bar mechanism in this paper. The degree of reproduction of wing skeleton postures was quantitatively analyzed using the four-bar mechanism model, and the bionic wing skeleton was designed. It is found that the wing motions have been reproduced with high precision.
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Affiliation(s)
- Di Tang
- College of Mechanical Engineering, Zhejiang University of Technology, Hangzhou, Zhejiang, China
| | - Wenxi Shi
- College of Mechanical Engineering, Zhejiang University of Technology, Hangzhou, Zhejiang, China
| | - Dawei Liu
- High Speed Aerodynamic Institute, China Aerodynamics Research and Development Center, Mianyang, Sichuan, China
| | - Yin Yang
- High Speed Aerodynamic Institute, China Aerodynamics Research and Development Center, Mianyang, Sichuan, China
| | - Liwen Zhu
- College of Mechanical Engineering, Zhejiang University of Technology, Hangzhou, Zhejiang, China
| | - Lang Xu
- College of Mechanical Engineering, Zhejiang University of Technology, Hangzhou, Zhejiang, China
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3
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Harvey C. Joint extension speed dictates bio-inspired morphing trajectories for optimal longitudinal flight dynamics. J R Soc Interface 2024; 21:20230734. [PMID: 38654630 PMCID: PMC11040252 DOI: 10.1098/rsif.2023.0734] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Grants] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 12/11/2023] [Revised: 02/05/2024] [Accepted: 03/11/2024] [Indexed: 04/26/2024] Open
Abstract
Avian wing morphing allows dynamic, active control of complex flight manoeuvres. Previous linear time-invariant (LTI) models have quantified the effect of varying fixed wing configurations but the time-dependent effects of morphing between different configurations is not well understood. To fill this gap, I implemented a linear parameter-varying (LPV) model for morphing wing gull flight. This approach models the wing joint angles as scheduled parameters and accounts for nonlinear kinematic and gravitational effects while interpolating between LTI models at discrete trim points. With the resulting model, I investigated the longitudinal response associated with various joint extension trajectories. By optimizing the extension trajectory for four independent objectives (speed and pitch angle overshoot, speed rise time and pitch angle settling time), I found that the extension trajectory inherent to the gull wing does not guarantee an optimal response but may provide a sufficient response with a simpler mechanical implementation. Furthermore, the results indicated that gulls likely require extension speed feedback. This morphing LPV model provides insights into underlying control mechanisms, which may allow for avian-like flight in future highly manoeuvrable uncrewed aerial vehicles.
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Affiliation(s)
- C. Harvey
- Department of Mechanical and Aerospace Engineering, University of California, Davis, CA95616, USA
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4
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Dong Y, Song B, Yang W, Xue D. A numerical study on the aerodynamic effects of dynamic twisting on forward flight flapping wings. BIOINSPIRATION & BIOMIMETICS 2024; 19:026013. [PMID: 38306681 DOI: 10.1088/1748-3190/ad253b] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Received: 08/23/2023] [Accepted: 02/01/2024] [Indexed: 02/04/2024]
Abstract
To better understand the secret of natural flying vertebrates such as how humming-birds twist their wings to achieve superb flight ability, we presented a numerical investigation of dynamic twisting based on a hummingbird-like flapping wing model. Computational fluid dynamic simulations were performed to examine the effects of dynamic twisting on the unsteady flow field, the generation of instantaneous aerodynamic forces, and the time-averaged aerodynamic performance. This research reveals the details of leading-edge vortices (LEVs) and the underlying mechanisms behind the positive effects of wing torsion. The results demonstrated that wing torsion can effectively maintain the favorable distribution of effective angle of attack along the wing spanwise, resulting in a higher time-averaged thrust and vertical force. Further, the proper parameters of dynamic twisting can also improve the propulsive efficiency in forward flight. Dynamic twisting also showed a superior ability in controlling the airflow separation over the wing surface and maintaining the stability of the LEV. The amplitudes of effective angle of attack associated with the highest peak thrust and the maximum thrust-to-power at different advanced ratios were also explored, and it was found that the amplitudes decrease with increasing advanced ratio. To improve the efficiency during larger advanced ratio, specific modifications to the pitching of the wing were proposed in this work. The research in this paper has promising implications for the bio-inspired flapping wing.
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Affiliation(s)
- Yuanbo Dong
- National Key Laboratory of Science and Technology on Aerodynamic Design and Research, School of Aeronautics, Northwestern Polytechnical University, Xi'an 710072, People's Republic of China
| | - Bifeng Song
- National Key Laboratory of Science and Technology on Aerodynamic Design and Research, School of Aeronautics, Northwestern Polytechnical University, Xi'an 710072, People's Republic of China
- Research & Development Institute of Northwestern Polytechnical University in Shenzhen, Shenzhen 518057, People's Republic of China
- Yangtze River Delta Research Institute of Northwestern Polytechnical University, Taicang 215400, People's Republic of China
| | - Wenqing Yang
- National Key Laboratory of Science and Technology on Aerodynamic Design and Research, School of Aeronautics, Northwestern Polytechnical University, Xi'an 710072, People's Republic of China
- Research & Development Institute of Northwestern Polytechnical University in Shenzhen, Shenzhen 518057, People's Republic of China
- Yangtze River Delta Research Institute of Northwestern Polytechnical University, Taicang 215400, People's Republic of China
| | - Dong Xue
- National Key Laboratory of Science and Technology on Aerodynamic Design and Research, School of Aeronautics, Northwestern Polytechnical University, Xi'an 710072, People's Republic of China
- Research & Development Institute of Northwestern Polytechnical University in Shenzhen, Shenzhen 518057, People's Republic of China
- Yangtze River Delta Research Institute of Northwestern Polytechnical University, Taicang 215400, People's Republic of China
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5
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Demuth OE, Herbst E, Polet DT, Wiseman ALA, Hutchinson JR. Modern three-dimensional digital methods for studying locomotor biomechanics in tetrapods. J Exp Biol 2023; 226:jeb245132. [PMID: 36810943 PMCID: PMC10042237 DOI: 10.1242/jeb.245132] [Citation(s) in RCA: 7] [Impact Index Per Article: 7.0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Grants] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 02/24/2023]
Abstract
Here, we review the modern interface of three-dimensional (3D) empirical (e.g. motion capture) and theoretical (e.g. modelling and simulation) approaches to the study of terrestrial locomotion using appendages in tetrapod vertebrates. These tools span a spectrum from more empirical approaches such as XROMM, to potentially more intermediate approaches such as finite element analysis, to more theoretical approaches such as dynamic musculoskeletal simulations or conceptual models. These methods have much in common beyond the importance of 3D digital technologies, and are powerfully synergistic when integrated, opening a wide range of hypotheses that can be tested. We discuss the pitfalls and challenges of these 3D methods, leading to consideration of the problems and potential in their current and future usage. The tools (hardware and software) and approaches (e.g. methods for using hardware and software) in the 3D analysis of tetrapod locomotion have matured to the point where now we can use this integration to answer questions we could never have tackled 20 years ago, and apply insights gleaned from them to other fields.
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Affiliation(s)
- Oliver E. Demuth
- Department of Earth Sciences, University of Cambridge, Cambridge, CB2 3EQ, UK
| | - Eva Herbst
- Palaeontological Institute and Museum, University of Zurich, 8006 Zürich, Switzerland
| | - Delyle T. Polet
- Structure and Motion Laboratory, Department of Comparative Biomedical Sciences, Royal Veterinary College, North Mymms, AL9 7TA, UK
| | - Ashleigh L. A. Wiseman
- McDonald Institute for Archaeological Research, University of Cambridge, Cambridge, CB2 3ER, UK
| | - John R. Hutchinson
- Structure and Motion Laboratory, Department of Comparative Biomedical Sciences, Royal Veterinary College, North Mymms, AL9 7TA, UK
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Zhang J, Zhao N, Qu F. Bio-inspired flapping wing robots with foldable or deformable wings: a review. BIOINSPIRATION & BIOMIMETICS 2022; 18:011002. [PMID: 36317380 DOI: 10.1088/1748-3190/ac9ef5] [Citation(s) in RCA: 4] [Impact Index Per Article: 2.0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Received: 06/25/2022] [Accepted: 10/31/2022] [Indexed: 06/16/2023]
Abstract
Traditional flapping-wing robots (FWRs) obtain lift and thrust by relying on the passive deformation of their wings which cannot actively fold or deform. In contrast, flying creatures such as birds, bats, and insects can maneuver agilely through active folding or deforming their wings. Researchers have developed many bio-inspired foldable or deformable wings (FDWs) imitating the wings of flying creatures. The foldable wings refer to the wings like the creatures' wings that can fold in an orderly manner close to their bodies. Such wings have scattered feathers or distinct creases that can be stacked and folded to reduce the body envelope, which in nature is beneficial for these animals to prevent wing damage and ensure agility in crossing bushes. The deformable wings refer to the active deformation of the wings using active driving mechanisms and the passive deformation under the aerodynamic force, which functionally imitates the excellent hydrodynamic performance of the deformable body and wings of the creatures. However, the shape and external profile changes of deformable wings tend to be much smaller than that of folding wings. FDWs enable the FWRs to improve flight degree of flexibility, maneuverability, and efficiency and reduce flight energy consumption. However, FDWs still need to be studied, and a comprehensive review of the state-of-the-art progress of FDWs in FWR design is lacking. This paper analyzes the wing folding and deformation mechanisms of the creatures and reviews the latest progress of FWRs with FDWs. Furthermore, we summarize the current limitations and propose future directions in FDW design, which could help researchers to develop better FWRs for safe maneuvering in obstacle-dense environments.
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Affiliation(s)
- Jun Zhang
- The State Key Laboratory of Bioelectronics, School of Instrument Science and Engineering, Southeast University, Nanjing 210096, People's Republic of China
| | - Ning Zhao
- The State Key Laboratory of Bioelectronics, School of Instrument Science and Engineering, Southeast University, Nanjing 210096, People's Republic of China
| | - Feiyang Qu
- The State Key Laboratory of Bioelectronics, School of Instrument Science and Engineering, Southeast University, Nanjing 210096, People's Republic of China
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7
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Quantitative analysis of the morphing wing mechanism of raptors: analysis methods, folding motions, and bionic design of Falco peregrinus. FUNDAMENTAL RESEARCH 2022. [DOI: 10.1016/j.fmre.2022.03.023] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/19/2022] Open
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8
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Wiseman ALA, Demuth OE, Hutchinson JR. A Guide to Inverse Kinematic Marker-Guided Rotoscoping using IK Solvers. Integr Org Biol 2022; 4:obac002. [PMID: 35261964 PMCID: PMC8896983 DOI: 10.1093/iob/obac002] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/17/2022] Open
Abstract
X-ray Reconstruction of Moving Morphology (XROMM) permits researchers to see beneath the skin, usually to see musculoskeletal movements. These movements can be tracked and later used to provide information regarding the mechanics of movement. Here, we discuss “IK marker-guided rotoscoping”—a method that combines inverse kinematic solvers with that of traditional scientific rotoscoping methods to quickly and efficiently overlay 3D bone geometries with the X-ray shadows from XROMM data. We use a case study of three Nile crocodiles’ (Crocodylus niloticus) forelimbs and hindlimbs to evaluate this method. Within these limbs, different marker configurations were used: some configurations had six markers, others had five markers, and all forelimb data only had three markers. To evaluate IK marker-guided rotoscoping, we systematically remove markers in the six-marker configuration and then test the magnitudes of deviation in translations and rotations of the rigged setup with fewer markers versus those of the six-marker configuration. We establish that IK marker-guided rotoscoping is a suitable method for “salvaging” data that may have too few markers.
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Affiliation(s)
- Ashleigh L A Wiseman
- Structure and Motion Laboratory, Comparative Biomedical Sciences, Royal Veterinary College, Hatfield, UK
- McDonald Institute for Archaeological Research, University of Cambridge, Cambridge, UK
| | - Oliver E Demuth
- Structure and Motion Laboratory, Comparative Biomedical Sciences, Royal Veterinary College, Hatfield, UK
- Department of Earth Sciences, University of Cambridge, Cambridge, UK
| | - John R Hutchinson
- Structure and Motion Laboratory, Comparative Biomedical Sciences, Royal Veterinary College, Hatfield, UK
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9
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Cheney JA, Stevenson JPJ, Durston NE, Maeda M, Song J, Megson-Smith DA, Windsor SP, Usherwood JR, Bomphrey RJ. Raptor wing morphing with flight speed. J R Soc Interface 2021; 18:20210349. [PMID: 34255986 PMCID: PMC8277465 DOI: 10.1098/rsif.2021.0349] [Citation(s) in RCA: 8] [Impact Index Per Article: 2.7] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Grants] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 04/28/2021] [Accepted: 06/21/2021] [Indexed: 11/15/2022] Open
Abstract
In gliding flight, birds morph their wings and tails to control their flight trajectory and speed. Using high-resolution videogrammetry, we reconstructed accurate and detailed three-dimensional geometries of gliding flights for three raptors (barn owl, Tyto alba; tawny owl, Strix aluco, and goshawk, Accipiter gentilis). Wing shapes were highly repeatable and shoulder actuation was a key component of reconfiguring the overall planform and controlling angle of attack. The three birds shared common spanwise patterns of wing twist, an inverse relationship between twist and peak camber, and held their wings depressed below their shoulder in an anhedral configuration. With increased speed, all three birds tended to reduce camber throughout the wing, and their wings bent in a saddle-shape pattern. A number of morphing features suggest that the coordinated movements of the wing and tail support efficient flight, and that the tail may act to modulate wing camber through indirect aeroelastic control.
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Affiliation(s)
- Jorn A. Cheney
- Structure and Motional Laboratory, Royal Veterinary College, Hatfield AL9 7TA, UK
| | | | - Nicholas E. Durston
- Department of Aerospace Engineering, University of Bristol, Bristol BS8 1TR, UK
| | - Masateru Maeda
- Structure and Motional Laboratory, Royal Veterinary College, Hatfield AL9 7TA, UK
| | - Jialei Song
- Structure and Motional Laboratory, Royal Veterinary College, Hatfield AL9 7TA, UK
- School of Mechanical Engineering, Dongguan University of Technology, Guangdong, People's Republic of China
| | - David A. Megson-Smith
- Interface Analysis Centre, School of Physics, University of Bristol, Bristol BS8 1TL, UK
| | - Shane P. Windsor
- Department of Aerospace Engineering, University of Bristol, Bristol BS8 1TR, UK
| | - James R. Usherwood
- Structure and Motional Laboratory, Royal Veterinary College, Hatfield AL9 7TA, UK
| | - Richard J. Bomphrey
- Structure and Motional Laboratory, Royal Veterinary College, Hatfield AL9 7TA, UK
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10
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Burgess S. A review of linkage mechanisms in animal joints and related bioinspired designs. BIOINSPIRATION & BIOMIMETICS 2021; 16:041001. [PMID: 33848991 DOI: 10.1088/1748-3190/abf744] [Citation(s) in RCA: 7] [Impact Index Per Article: 2.3] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Received: 10/12/2020] [Accepted: 04/13/2021] [Indexed: 06/12/2023]
Abstract
This paper presents a review of biological mechanical linkage mechanisms. One purpose is to identify the range of kinematic functions that they are able to perform. A second purpose is to review progress in bioinspired designs. Ten different linkage mechanisms are presented. They are chosen because they cover a wide range of functionality and because they have potential for bioinspired design. Linkage mechanisms enable animal joints to perform highly sophisticated and optimised motions. A key function of animal linkage mechanisms is the optimisation of actuator location and mechanical advantage. This is crucially important for animals where space is highly constrained. Many of the design features used by engineers in linkage mechanisms are seen in nature, such as short coupler links, extended bars, elastic energy storage and latch mechanisms. However, animal joints contain some features rarely seen in engineering such as integrated cam and linkage mechanisms, nonplanar four-bar mechanisms, resonant hinges and highly redundant actuators. The extreme performance of animal joints together with the unusual design features makes them an important area of investigation for bioinspired designs. Whilst there has been significant progress in bioinspiration, there is the potential for more, especially in robotics where compactness is a key design driver.
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Affiliation(s)
- Stuart Burgess
- Department of Mechanical Engineering, Bristol University, (currently Visiting Fellow, Clare Hall College, Cambridge), Bristol BS8 1TR, United Kingdom
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11
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Harvey C, Baliga VB, Goates CD, Hunsaker DF, Inman DJ. Gull-inspired joint-driven wing morphing allows adaptive longitudinal flight control. J R Soc Interface 2021; 18:20210132. [PMID: 34102085 PMCID: PMC8187025 DOI: 10.1098/rsif.2021.0132] [Citation(s) in RCA: 7] [Impact Index Per Article: 2.3] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Grants] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 02/12/2021] [Accepted: 05/17/2021] [Indexed: 11/12/2022] Open
Abstract
Birds dynamically adapt to disparate flight behaviours and unpredictable environments by actively manipulating their skeletal joints to change their wing shape. This in-flight adaptability has inspired many unmanned aerial vehicle (UAV) wings, which predominately morph within a single geometric plane. By contrast, avian joint-driven wing morphing produces a diverse set of non-planar wing shapes. Here, we investigated if joint-driven wing morphing is desirable for UAVs by quantifying the longitudinal aerodynamic characteristics of gull-inspired wing-body configurations. We used a numerical lifting-line algorithm (MachUpX) to determine the aerodynamic loads across the range of motion of the elbow and wrist, which was validated with wind tunnel tests using three-dimensional printed wing-body models. We found that joint-driven wing morphing effectively controls lift, pitching moment and static margin, but other mechanisms are required to trim. Within the range of wing extension capability, specific paths of joint motion (trajectories) permit distinct longitudinal flight control strategies. We identified two unique trajectories that decoupled stability from lift and pitching moment generation. Further, extension along the trajectory inherent to the musculoskeletal linkage system produced the largest changes to the investigated aerodynamic properties. Collectively, our results show that gull-inspired joint-driven wing morphing allows adaptive longitudinal flight control and could promote multifunctional UAV designs.
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Affiliation(s)
- C. Harvey
- Department of Aerospace Engineering, University of Michigan, Ann Arbor, MI 48109, USA
| | - V. B. Baliga
- Department of Zoology, University of British Columbia, Vancouver, BC V6T 1Z4, Canada
| | - C. D. Goates
- Department of Mechanical and Aerospace Engineering, Utah State University, Logan, UT 84322, USA
| | - D. F. Hunsaker
- Department of Mechanical and Aerospace Engineering, Utah State University, Logan, UT 84322, USA
| | - D. J. Inman
- Department of Aerospace Engineering, University of Michigan, Ann Arbor, MI 48109, USA
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12
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Olsen AM, Hernandez LP, Brainerd EL. Multiple Degrees of Freedom in the Fish Skull and Their Relation to Hydraulic Transport of Prey in Channel Catfish. Integr Org Biol 2021; 2:obaa031. [PMID: 33791570 PMCID: PMC7671092 DOI: 10.1093/iob/obaa031] [Citation(s) in RCA: 1] [Impact Index Per Article: 0.3] [Reference Citation Analysis] [Abstract] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/14/2022] Open
Abstract
Fish perform many complex manipulation behaviors without hands or flexible muscular tongues, instead relying on more than 20 movable skeletal elements in their highly kinetic skulls. How fish use their skulls to accomplish these behaviors, however, remains unclear. Most previous mechanical models have represented the fish skull using one or more planar four-bar linkages, which have just a single degree of freedom (DoF). In contrast, truncated-cone hydrodynamic models have assumed up to five DoFs. In this study, we introduce and validate a 3D mechanical linkage model of a fish skull that incorporates the pectoral girdle and mandibular and hyoid arches. We validate this model using an in vivo motion dataset of suction feeding in channel catfish and then use this model to quantify the DoFs in the fish skull, to categorize the motion patterns of the cranial linkage during feeding, and to evaluate the association between these patterns and food motion. We find that the channel catfish skull functions as a 17-link, five-loop parallel mechanism. Despite having 19 potential DoFs, we find that seven DoFs are sufficient to describe most of the motion of the cranial linkage, consistent with the fish skull functioning as a multi-DoF, manipulation system. Channel catfish use this linkage to generate three different motion patterns (rostrocaudal wave, caudorostral wave, and compressive wave), each with its own associated food velocity profile. These results suggest that biomechanical manipulation systems must have a minimum number of DoFs to effectively control objects, whether in water or air.
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Affiliation(s)
- A M Olsen
- Department of Ecology and Evolutionary Biology, Brown University, 171 Meeting St, Box G-B 204, Providence, RI 02912, USA
| | - L P Hernandez
- Department of Biological Sciences, Science and Engineering Hall, The George Washington University, 800 22nd Street NW, Suite 6000, Washington, DC 20052, USA
| | - E L Brainerd
- Department of Ecology and Evolutionary Biology, Brown University, 171 Meeting St, Box G-B 204, Providence, RI 02912, USA
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13
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Matloff LY, Chang E, Feo TJ, Jeffries L, Stowers AK, Thomson C, Lentink D. How flight feathers stick together to form a continuous morphing wing. Science 2020; 367:293-297. [PMID: 31949079 DOI: 10.1126/science.aaz3358] [Citation(s) in RCA: 25] [Impact Index Per Article: 6.3] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 08/31/2019] [Accepted: 12/18/2019] [Indexed: 11/02/2022]
Abstract
Variable feather overlap enables birds to morph their wings, unlike aircraft. They accomplish this feat by means of elastic compliance of connective tissue, which passively redistributes the overlapping flight feathers when the skeleton moves to morph the wing planform. Distinctive microstructures form "directional Velcro," such that when adjacent feathers slide apart during extension, thousands of lobate cilia on the underlapping feathers lock probabilistically with hooked rami of overlapping feathers to prevent gaps. These structures unlock automatically during flexion. Using a feathered biohybrid aerial robot, we demonstrate how both passive mechanisms make morphing wings robust to turbulence. We found that the hooked microstructures fasten feathers across bird species except silent fliers, whose feathers also lack the associated Velcro-like noise. These findings could inspire innovative directional fasteners and morphing aircraft.
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Affiliation(s)
- Laura Y Matloff
- Department of Mechanical Engineering, Stanford University, Stanford, CA, USA
| | - Eric Chang
- Department of Mechanical Engineering, Stanford University, Stanford, CA, USA
| | - Teresa J Feo
- Department of Vertebrate Zoology, National Museum of Natural History, Smithsonian Institution, Washington, DC, USA.,California Council on Science and Technology, Sacramento, CA, USA
| | - Lindsie Jeffries
- Department of Mechanical Engineering, Stanford University, Stanford, CA, USA
| | - Amanda K Stowers
- Department of Mechanical Engineering, Stanford University, Stanford, CA, USA
| | - Cole Thomson
- Department of Mechanical Engineering, Stanford University, Stanford, CA, USA
| | - David Lentink
- Department of Mechanical Engineering, Stanford University, Stanford, CA, USA.
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14
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Baek SM, Yim S, Chae SH, Lee DY, Cho KJ. Ladybird beetle–inspired compliant origami. Sci Robot 2020; 5:5/41/eaaz6262. [DOI: 10.1126/scirobotics.aaz6262] [Citation(s) in RCA: 47] [Impact Index Per Article: 11.8] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 09/28/2019] [Accepted: 03/20/2020] [Indexed: 02/01/2023]
Abstract
Origami can enable structures that are compact and lightweight. The facets of an origami structure in traditional designs, however, are essentially nondeformable rigid plates. Therefore, implementing energy storage and robust self-locking in these structures can be challenging. We note that the intricately folded wings of a ladybird beetle can be deployed rapidly and effectively sustain aerodynamic forces during flight; these abilities originate from the geometry and deformation of a specialized vein in the wing of this insect. We report compliant origami inspired by the wing vein in ladybird beetles. The deformation and geometry of the compliant facet enables both large energy storage and self-locking in a single origami joint. On the basis of our compliant origami, we developed a deployable glider module for a multimodal robot. The glider module is compactly foldable, is rapidly deployable, and can effectively sustain aerodynamic forces. We also apply our compliant origami to enhance the energy storage capacity of the jumping mechanism in a jumping robot.
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Affiliation(s)
- Sang-Min Baek
- Soft Robotics Research Center, Seoul National University, Seoul, Republic of Korea
- Department of Mechanical and Aerospace Engineering, Institute of Advanced Machines and Design, Seoul National University, Seoul, Republic of Korea
| | - Sojung Yim
- Soft Robotics Research Center, Seoul National University, Seoul, Republic of Korea
- Department of Mechanical and Aerospace Engineering, Institute of Advanced Machines and Design, Seoul National University, Seoul, Republic of Korea
| | - Soo-Hwan Chae
- Soft Robotics Research Center, Seoul National University, Seoul, Republic of Korea
- Department of Mechanical and Aerospace Engineering, Institute of Advanced Machines and Design, Seoul National University, Seoul, Republic of Korea
| | - Dae-Young Lee
- Soft Robotics Research Center, Seoul National University, Seoul, Republic of Korea
- Department of Mechanical and Aerospace Engineering, Institute of Advanced Machines and Design, Seoul National University, Seoul, Republic of Korea
- School of Engineering and Applied Sciences, Harvard University, Cambridge, MA, USA
- Wyss Institute for Biologically Inspired Engineering, Harvard University, Cambridge, MA, USA
| | - Kyu-Jin Cho
- Soft Robotics Research Center, Seoul National University, Seoul, Republic of Korea
- Department of Mechanical and Aerospace Engineering, Institute of Advanced Machines and Design, Seoul National University, Seoul, Republic of Korea
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15
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Chang E, Matloff LY, Stowers AK, Lentink D. Soft biohybrid morphing wings with feathers underactuated by wrist and finger motion. Sci Robot 2020; 5:5/38/eaay1246. [DOI: 10.1126/scirobotics.aay1246] [Citation(s) in RCA: 56] [Impact Index Per Article: 14.0] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 07/28/2019] [Accepted: 12/17/2019] [Indexed: 11/02/2022]
Affiliation(s)
- Eric Chang
- Department of Mechanical Engineering, Stanford University, Stanford, CA, USA
| | - Laura Y. Matloff
- Department of Mechanical Engineering, Stanford University, Stanford, CA, USA
| | - Amanda K. Stowers
- Department of Mechanical Engineering, Stanford University, Stanford, CA, USA
| | - David Lentink
- Department of Mechanical Engineering, Stanford University, Stanford, CA, USA
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