Biomechanics and biomimetics in insect-inspired flight systems

Bio-inspired compensatory strategies for damage to flapping robotic propulsors

Natural swimmers and flyers can fully recover from catastrophic propulsor damage by altering stroke mechanics: some fish can lose even 76% of their propulsive surface without loss of thrust. We consider applying these principles to enable robotic flapping propulsors to autonomously repair functionality. However, direct transference of these alterations from an organism to a robotic flapping propulsor may be suboptimal owing to irrelevant evolutionary pressures. Instead, we use machine learning techniques to compare these alterations with those optimal for a robotic system. We implement an online artificial evolution with hardware-in-the-loop, performing experimental evaluations with a flexible plate. To recoup thrust, the learned strategy increased amplitude, frequency and angle of attack (AOA) amplitude, and phase-shifted AOA by approximately 110°. Only amplitude increase is reported by most fish literature. When recovering side force, we find that force direction is correlated with AOA. No clear amplitude or frequency trend is found, whereas frequency increases in most insect literature. These results suggest that how mechanical flapping propulsors most efficiently adjust to damage may not align with natural swimmers and flyers.

Vein-Membrane Interaction in Cambering of Flapping Insect Wings

It is still unclear how elastic deformation of flapping insect wings caused by the aerodynamic pressure results in their significant cambering. In this study, we present that a vein-membrane interaction (VMI) can clarify this mechanical process. In order to investigate the VMI, we propose a numerical method that consists of (a) a shape simplification model wing that consists of a few beams and a rectangular shell structure as the structural essence of flapping insect wings for the VMI, and (b) a monolithic solution procedure for strongly coupled beam and shell structures with large deformation and large rotation to analyze the shape simplification model wing. We incorporate data from actual insects into the proposed numerical method for the VMI. In the numerical analysis, we demonstrate that the model wing can generate a camber equivalent to that of the actual insects. Hence, the VMI will be a mechanical basis of the cambering of flapping insect wings. Furthermore, we present the mechanical roles of the veins in cambering. The intermediate veins increase the out-of-plane deflection of the wing membrane due to the aerodynamic pressure in the central area of the wing, while they decrease it in the vicinity of the trailing edge. As a result, these veins create the significant camber. The torsional flexibility of the leading-edge veins increases the magnitude of cambering.

Earwig-inspired foldable origami wing for micro air vehicle gliding

Foldable wings serve as an effective solution for reducing the size of micro air vehicles (MAVs) during non-flight phases, without compromising the gliding capacity provided by the wing area. Among insects, earwigs exhibit the highest folding ratio in their wings. Inspired by the intricate folding mechanism in earwig hindwings, we aimed to develop artificial wings with similar high-folding ratios. By leveraging an origami hinge, which is a compliant mechanism, we successfully designed and prototyped wings capable of opening and folding in the wind, which helps reduce the surface area by a factor of seven. The experimental evaluation involved measuring the lift force generated by the wings under Reynolds numbers less than 2.2 × 104. When in the open position, our foldable wings demonstrated increased lift force proportional to higher wind speeds. Properties such as wind responsiveness, efficient folding ratios, and practical feasibility highlight the potential of these wings for diverse applications in MAVs.

Fluid-structure interactions of bristled wings: the trade-off between weight and drag

The smallest flying insects often have bristled wings resembling feathers or combs. We combined experiments and three-dimensional numerical simulations to investigate the trade-off between wing weight and drag generation. In experiments of bristled strips, a reduced physical model of the bristled wing, we found that the elasto-viscous number indicates when reconfiguration occurs in the bristles. Analysis of existing biological data suggested that bristled wings of miniature insects lie below the reconfiguration threshold, thus avoiding drag reduction. Numerical simulations of bristled strips showed that there exist optimal numbers of bristles that maximize the weighted drag when the additional volume due to the bristles is taken into account. We found a scaling relationship between the rescaled optimal numbers and the dimensionless bristle length. This result agrees qualitatively with and provides an upper bound for the bristled wing morphological data analysed in this study.

Effect of incorporating wing veins on soft wings for flapping micro air vehicles

Small insects with flapping wings, such as bees and flies, have flexible wings with veins, and their compliant motion enhances flight efficiency and robustness. This study investigated the effects of integrating wing veins into soft wings for micro-flapping aerial vehicles. Prototypes of soft wings, featuring various wing areas and vein patterns in both the wing-chord and wing-span directions, were fabricated and evaluated to determine the force generated through flapping. The results indicated that the force is not solely dependent upon the wing area and is influenced by the wing vein pattern. Wings incorporating wing-chord veins produced more force compared to those with wing-span veins. In contrast, when the wing area was the specific wing area, wings with crossed wing veins, comprising both wing-span veins and wing-chord veins, produced more force. Although wing-chord veins tended to exert more influence on the force generated than the wing-span veins, the findings suggested that a combination of wing-span and wing-chord veins may be requisite, depending upon the wing area.

Wing Kinematics-Based Flight Control Strategy in Insect-Inspired Flight Systems: Deep Reinforcement Learning Gives Solutions and Inspires Controller Design in Flapping MAVs

Flying insects exhibit outperforming stability and control via continuous wing flapping even under severe disturbances in various conditions of wind gust and turbulence. While conventional linear proportional derivative (PD)-based controllers are widely employed in insect-inspired flight systems, they usually fail to deal with large perturbation conditions in terms of the 6-DoF nonlinear control strategy. Here we propose a novel wing kinematics-based controller, which is optimized based on deep reinforcement learning (DRL) to stabilize bumblebee hovering under large perturbations. A high-fidelity Open AI Gym environment is established through coupling a CFD data-driven aerodynamic model and a 6-DoF flight dynamic model. The control policy with an action space of 4 is optimized using the off-policy Soft Actor-Critic (SAC) algorithm with automating entropy adjustment, which is verified to be of feasibility and robustness to achieve fast stabilization of the bumblebee hovering flight under full 6-DoF large disturbances. The 6-DoF wing kinematics-based DRL control strategy may provide an efficient autonomous controller design for bioinspired flapping-wing micro air vehicles.

Metal deposition and shape reproduction at biological temperatures on cell-level samples

The use of metal deposition has been limited to a limited number of applicable samples due to the increased temperature caused by accelerated electron impact on the substrate surface. The surfaces of various biological samples have a nanoscale structure with specific properties, which have been simulated in numerous studies. However, no examples of nano/microscale reproductions of biological surface features have used moulds. In this study, a mould that imitates the surface shape of a cellular-level biological material was fabricated, for the first time, and the shape was successfully reproduced using the mould. Al thin films were deposited on bovine sperm using magnetron sputtering without thermal denaturation with a cathode operating at a biological temperature. It is difficult to deposit films used as metal coatings on pre-treated biological materials at temperatures below 40 °C during evaporation. The Al thin film was peeled off and used as a mould to reproduce the shape of the sperm with high accuracy using a polymer. The results of this study represent a major innovation in reproducible biomimetic moulding technology, demonstrating biological temperature sputtering. We expect our non-destructive metal deposition and metal nano-moulding methods for biological samples to be the basis for the effective utilization of various biological structures.

Elastic storage enables robustness of flapping wing dynamics

Flying insects could perform robust flapping-wing dynamics under various environments while minimizing the high energetic cost by using elastic flight muscles and motors. Here we propose a fluid-structure interaction model that couples unsteady flapping aerodynamics and three-torsional-spring-based elastic wing-hinge dynamics to determine passive and active mechanisms (PAM) in bumblebee hovering. The results show that a strategy of active-controlled stroke, passive-controlled wing pitch and deviation enables an optimal elastic storage. The flapping-wing dynamics is robust, which is characterized by dynamics-based passive elevation-rotation and aerodynamics-based passive feathering-rotation, capable of producing aerodynamic force while achieving high power efficiency over a broad range of wing-hinge stiffness. A force-impulse model further confirms the capability of external perturbation robustness under the PAM-based strategy.

Systematic characterization of wing mechanosensors that monitor airflow and wing deformations

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.

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Dragonfly wings are innervated by an extensive collection of sensory neurons

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Mechanosensors are spread across the whole span of the wing with consistent patterns

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The axons of wing sensory neurons are scaled to compensate for transmission latencies

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Anatomically accurate models reveal wing strain fields that inform sensor distribution

Bristled-wing design of materials, microstructures, and aerodynamics enables flapping flight in tiny wasps

Parasitoid wasps of the smallest flying insects with bristled wings exhibit sophisticated flight behaviors while challenging biomechanical limitations in miniaturization and low-speed flow regimes. Here, we investigate the morphology, material composition, and mechanical properties of the bristles of the parasitoid wasps Anagrus Haliday. The bristles are extremely stiff and exhibit a high-aspect-ratio conical tubular structure with a large Young's modulus. This leads to a marginal deflection and uniform structural stress distribution in the bristles while they experience high-frequency flapping–induced aerodynamic loading, indicating that the bristles are robust to fatigue. The flapping aerodynamics of the bristled wings reveal that the wing surfaces act as porous flat paddles to reduce the overall inertial load while utilizing a passive shear-based aerodynamic drag-enhancing mechanism to generate the requisite aerodynamic forces. The bristled wing may have evolved as a novel design that achieves multiple functions and provides innovative ideas for developing bioinspired engineering microdevices.

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Bristles are extremely stiff and exhibit a high-aspect-ratio conical tubular structure

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Bristles uniformalize structural stress distributions and are robust to loading fatigue

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Bristled wings are light, using less power to achieve novel aerodynamic force production

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Bristled wings may bring an innovative design for bioinspired engineering microdevices

Computational Approach for the Fluid-Structure Interaction Design of Insect-Inspired Micro Flapping Wings

A flight device for insect-inspired flapping wing nano air vehicles (FWNAVs), which consists of the micro wings, the actuator, and the transmission, can use the fluid-structure interaction (FSI) to create the characteristic motions of the flapping wings. This design will be essential for further miniaturization of FWNAVs, since it will reduce the mechanical and electrical complexities of the flight device. Computational approaches will be necessary for this biomimetic concept because of the complexity of the FSI. Hence, in this study, a computational approach for the FSI design of insect-inspired micro flapping wings is proposed. This approach consists of a direct numerical modeling of the strongly coupled FSI, the dynamic similarity framework, and the design window (DW) search. The present numerical examples demonstrated that the dynamic similarity framework works well to make different two FSI systems with the strong coupling dynamically similar to each other, and this framework works as the guideline for the systematic investigation of the effect of characteristic parameters on the FSI system. Finally, an insect-inspired micro flapping wing with the 2.5-dimensional structure was designed using the proposed approach such that it can create the lift sufficient to support the weight of small insects. The existing area of satisfactory design solutions or the DW increases the fabricability of this wing using micromachining techniques based on the photolithography in the micro-electro-mechanical systems (MEMS) technology. Hence, the proposed approach will contribute to the further miniaturization of FWNAVs.

The Basis of Navigation Across Species

Animals navigate a wide range of distances, from a few millimeters to globe-spanning journeys of thousands of kilometers. Despite this array of navigational challenges, similar principles underlie these behaviors across species. Here, we focus on the navigational strategies and supporting mechanisms in four well-known systems: the large-scale migratory behaviors of sea turtles and lepidopterans as well as navigation on a smaller scale by rats and solitarily foraging ants. In lepidopterans, rats, and ants we also discuss the current understanding of the neural architecture which supports navigation. The orientation and navigational behaviors of these animals are defined in terms of behavioral error-reduction strategies reliant on multiple goal-directed servomechanisms. We conclude by proposing to incorporate an additional component into this system: the observation that servomechanisms operate on oscillatory systems of cycling behavior. These oscillators and servomechanisms comprise the basis for directed orientation and navigational behaviors. Expected final online publication date for the Annual Review of Psychology, Volume 73 is January 2022. Please see http://www.annualreviews.org/page/journal/pubdates for revised estimates.

Organismal Design and Biomimetics: A Problem of Scale

Organisms and their features represent a complex system of solutions that can efficiently inspire the development of original and cutting-edge design applications: the related discipline is known as biomimetics. From the smallest to the largest, every species has developed and adapted different working principles based on their relative dimensional realm. In nature, size changes determine remarkable effects in organismal structures, functions, and evolutionary innovations. Similarly, size and scaling rules need to be considered in the biomimetic transfer of solutions to different dimensions, from nature to artefacts. The observation of principles that occur at very small scales, such as for nano- and microstructures, can often be seen and transferred to a macroscopic scale. However, this transfer is not always possible; numerous biological structures lose their functionality when applied to different scale dimensions. Hence, the evaluation of the effects and changes in scaling biological working principles to the final design dimension is crucial for the success of any biomimetic transfer process. This review intends to provide biologists and designers with an overview regarding scale-related principles in organismal design and their application to technical projects regarding mechanics, optics, electricity, and acoustics.

Effect of Ducted Multi-Propeller Configuration on Aerodynamic Performance in Quadrotor Drone

Motivated by a bioinspired optimal aerodynamic design of a multi-propeller configuration, here we propose a ducted multi-propeller design to explore the improvement of lift force production and FM efficiency in quadrotor drones through optimizing the ducted multi-propeller configuration. We first conducted a CFD-based study to explore a high-performance duct morphology in a ducted single-propeller model in terms of aerodynamic performance and duct volume. The effect of a ducted multi-propeller configuration on aerodynamic performance is then investigated in terms of the tip distance and the height difference of propellers under a hovering state. Our results indicate that the tip distance-induced interactions have a noticeable effect in impairing the lift force production and FM efficiency but are limited to small tip distances, whereas the height difference-induced interactions have an impact on enhancing the aerodynamic performance over a certain range. An optimal ducted multi-propeller configuration with a minimal tip distance and an appropriate height difference was further examined through a combination of CFD simulations and a surrogate model in a broad-parameter space, which enables a significant improvement in both lift force production and FM efficiency for the multirotor, and thus provides a potential optimal design for ducted multirotor UAVs.

Pausing after clap reduces power required to fling wings apart at low Reynolds number

The smallest flying insects, such as thrips (body length < 2 mm), are challenged with needing to move in air at a chord-based Reynolds number (Re_c) of the order of 10. Pronounced viscous dissipation at such a low Re_crequires considerable energetic expenditure for tiny insects to stay aloft. Thrips flap their densely bristled wings at large stroke amplitudes, bringing both wings in close proximity to each other at the end of upstroke ('clap') and moving their wings apart at the start of downstroke ('fling'). From high-speed videos of free take-off flights of thrips, we observed that their forewings remain clapped for approximately 10% of the wingbeat cycle before the start of downstroke (fling stroke). We sought to examine if there are aerodynamic advantages associated with pausing wing motion after upstroke (clap stroke) and before downstroke (fling stroke) at Re_c= 10. A dynamically scaled robotic clap and fling platform was used to measure lift and drag forces generated by physical models of solid (non-bristled) and bristled wings in single wing and wing pair configurations, for pause times ranging between 0% to 41% of the cycle. For solid and bristled wing pairs, pausing before the start of downstroke (fling stroke) dissipated vorticity generated at the end of upstroke (clap stroke). This resulted in a decrease in the drag coefficient averaged across downstroke (fling stroke) and in turn reduced power requirements. Also, increasing the pause time resulted in a larger decrease in the dimensionless power coefficient for the wing-pair configurations compared to the single-wing configurations. Our findings show that wing-wing interaction observed in the clap and fling motion of tiny insect wings is necessary to realize the aerodynamic benefits of pausing before fling, by reducing the power required to clap and fling for a small compromise in lift.

Performance of passively pitching flapping wings in the presence of vertical inflows

The successful implementation of passively pitching flapping wings strongly depends on their ability to operate efficiently in wind disturbances. In this study, we experimentally investigated the interaction between a uniform vertical inflow perturbation and a passive-pitching flapping wing using a Reynolds-scaled apparatus operating in water at Reynolds number ≈3600. A parametric study was performed by systematically varying the Cauchy number (Ch) of the wings from 0.09 to 11.52. The overall lift and drag, and pitch angle of the wing were measured by varying the magnitude of perturbation fromJ_Vert= -0.6 (downward inflow) toJ_Vert= 0.6 (upward inflow) at eachCh, whereJ_Vertis the ratio of the inflow velocity to the wing's velocity. We found that the lift and drag had remarkably different characteristics in response to bothChandJ_Vert. Across allCh, while mean lift tended to increase as the inflow perturbation varied from -0.6 to 0.6, drag was significantly less sensitive to the perturbation. However effect of the vertical inflow on drag was dependent onCh, where it tended to vary from an increasing to a decreasing trend asChwas changed from 0.09 to 11.52. The differences in the lift and drag with perturbation magnitude could be attributed to the reorientation of the net force over the wing as a result of the interaction with the perturbation. These results highlight the complex interactions between passively pitching flapping wings and freestream perturbations and will guide the design of miniature flying crafts with such architectures.

Flexible Flaps Inspired by Avian Feathers Can Enhance Aerodynamic Robustness in low Reynolds Number Airfoils

Unlike rigid rotors of drones, bird wings are composed of flexible feathers that can passively deform while achieving remarkable aerodynamic robustness in response to wind gusts. In this study, we conduct an experimental study on the effects of the flexible flaps inspired by the covert of bird wings on aerodynamic characteristics of fixed-wings in disturbances. Through force measurements and flow visualization in a low-speed wind tunnel, it is found that the flexible flaps can suppress the large-scale vortex shedding and hence reduce the fluctuations of aerodynamic forces in a disturbed flow behind an oscillating plate. Our results demonstrate that the stiffness of the flaps strongly affects the aerodynamic performance, and the force fluctuations are observed to be reduced when the deformation synchronizes with the strong vortex generation. The results point out that the simple attachment of the flexible flaps on the upper surface of the wing is an effective method, providing a novel biomimetic design to improve the aerodynamic robustness of small-scale drones with fixed-wings operating in unpredictable aerial environments.

Flexibility Effects of a Flapping Mechanism Inspired by Insect Musculoskeletal System on Flight Performance

Flying animals such as insects display great flight performances with high stability and maneuverability even under unpredictable disturbances in natural and man-made environments. Unlike man-made mechanical systems like a drone, insects can achieve various flapping motions through their flexible musculoskeletal systems. However, it remains poorly understood whether flexibility affects flight performances or not. Here, we conducted an experimental study on the effects of the flexibility associated with the flapping mechanisms on aerodynamic performance with a flexible flapping mechanism (FFM) inspired by the flexible musculoskeletal system of insects. Based on wing kinematic and force measurements, we found an appropriate combination of the flexible components could improve the aerodynamic efficiency by increasing the wingbeat amplitude. Results of the wind tunnel experiments suggested that, through some passive adjustment of the wing kinematics in concert with the flexible mechanism, the disturbance-induced effects could be suppressed. Therefore, the flight stability under the disturbances is improved. While the FFM with the most rigid spring was least efficient in the static experiments, the model was most robust against the wind within the range of the study. Our results, particularly regarding the trade-off between the efficiency and the robustness, point out the importance of the passive response of the flapping mechanisms, which may provide a functional biomimetic design for the flapping micro air vehicles (MAVs) capable of achieving high efficiency and stability.

Simulation-based insect-inspired flight systems

Insects power and control their flight by flapping their wings. By controlling their aerodynamic forces and torques, they can generate precise and agile aerial manoeuvres. From an engineer's perspective, their closed-loop, flight control system depends on an overarching external mechanical 'frame' consisting of wings and thoracic shell, which is actuated by an internal system consisting of flight muscles and a complex nervous system. Insect flights are diverse but robust relying on the integration of different flexible structures including wings, exoskeletal elements, wing-hinges, musculoskeletal elements, and sensors. Computational modelling of biomechanics in insect-inspired flight systems can offer a powerful and feasible tool to unravel a passive and active mechanism (PAM) strategy, that is, how these flexible structures work interactively and complementarily to achieve a systematically efficient and robust flapping-wing dynamics and aerodynamics as well as flight control in various natural environments.

Intermittent control strategy can enhance stabilization robustness in bumblebee hovering

Active flight control plays a crucial role in stabilizing the body posture of insects to stay aloft under a complex natural environment. Insects can achieve a closed-loop flight control by integrating the external mechanical system and the internal working system through manipulating wing kinematics according to feedback information from multiple sensors. While studies of proportional derivative/proportional integral derivative-based algorithms are the main subject to explore the continuous flight control mechanisms associated with insect flights, it is normally observed that insects achieve an intermittent spike firing in steering muscles to manipulate wings in flight control discontinuously. Here we proposed a novel intermittent control strategy for a 3 degree of freedom (DoF) pitch-control and explored its stabilization robustness in bumblebee hovering. An integrated computational model was established and validated, which comprises an insect-inspired dynamic flight simulator and a novel discrete feedback controller as well as a simplified free-flight dynamic model. We found that the intermittent control model can achieve an angular-dominant flight control, whereas the continuous control model corresponds to an angular-velocity-dominant one. Given the biological constraints in sensorimotor neurobiology and musculoskeletal mechanics, the intermittent control strategy was examined capable of enhancing the stabilization robustness in terms of sensory latency, stroke derivation, spike interval, and damping strength. Our results indicate that the intermittent control strategy is likely a sophisticated flight control mechanism in insect flights while providing a bioinspired flight-control design for insect size flapping-wing micro air vehicles.

Wing Design in Flies: Properties and Aerodynamic Function

The shape and function of insect wings tremendously vary between insect species. This review is engaged in how wing design determines the aerodynamic mechanisms with which wings produce an air momentum for body weight support and flight control. We work out the tradeoffs associated with aerodynamic key parameters such as vortex development and lift production, and link the various components of wing structure to flight power requirements and propulsion efficiency. A comparison between rectangular, ideal-shaped and natural-shaped wings shows the benefits and detriments of various wing shapes for gliding and flapping flight. The review expands on the function of three-dimensional wing structure, on the specific role of wing corrugation for vortex trapping and lift enhancement, and on the aerodynamic significance of wing flexibility for flight and body posture control. The presented comparison is mainly concerned with wings of flies because these animals serve as model systems for both sensorimotor integration and aerial propulsion in several areas of biology and engineering.

How do hoverflies use their righting reflex?

When taking off from a sloping surface, flies have to reorient themselves dorsoventrally and stabilize their body by actively controlling their flapping wings. We have observed that righting is achieved solely by performing a rolling manoeuvre. How flies manage to do this has not yet been elucidated. It was observed here for the first time that hoverfly reorientation is entirely achieved within 6 wingbeats (48.8 ms) at angular roll velocities of up to 10×103 deg s-1 and that the onset of their head rotation consistently follows that of their body rotation after a time lag of 16 ms. The insects' body roll was found to be triggered by the asymmetric wing stroke amplitude, as expected. The righting process starts immediately with the first wingbeat and seems unlikely to depend on visual feedback. A dynamic model for the fly's righting reflex is presented, which accounts for the head/body movements and the time lag recorded in these experiments. This model consists of a closed-loop control of the body roll, combined with a feedforward control of the head/body angle. During the righting manoeuvre, a strong coupling seems to exist between the activation of the halteres (which measure the body's angular speed) and the gaze stabilization reflex. These findings again confirm the fundamental role played by the halteres in both body and head stabilization processes.

Three-DoF Flapping-Wing Robot with Variable-Amplitude Link Mechanism

This paper describes the development of a three-degrees-of-freedom flapping-wing robot with a variable-amplitude link mechanism for controlling the lift and thrust forces acting on it. The variable-amplitude link mechanism comprises a lever-crank mechanism driven by a brushless DC motor and a linear actuator to control the amplitude of the flapping angle. The robot also comprises two DC motors with reduction gears for feathering and lead-lag motion. In our experiments, the measurement of force-torque revealed the effects of the motion of each wing. We found that the flapping-amplitude difference between the left and right wings causes a roll and yaw moment.

Evaluation of linear and non-linear activation dynamics models for insect muscle

In computational modelling of sensory-motor control, the dynamics of muscle contraction is an important determinant of movement timing and joint stiffness. This is particularly so in animals with many slow muscles, as is the case in insects-many of which are important models for sensory-motor control. A muscle model is generally used to transform motoneuronal input into muscle force. Although standard models exist for vertebrate muscle innervated by many motoneurons, there is no agreement on a parametric model for single motoneuron stimulation of invertebrate muscle. Although several different models have been proposed, they have never been evaluated using a common experimental data set. We evaluate five models for isometric force production of a well-studied model system: the locust hind leg tibial extensor muscle. The response of this muscle to motoneuron spikes is best modelled as a non-linear low-pass system. Linear first-order models can approximate isometric force time courses well at high spike rates, but they cannot account for appropriate force time courses at low spike rates. A linear third-order model performs better, but only non-linear models can account for frequency-dependent change of decay time and force potentiation at intermediate stimulus frequencies. Some of the differences among published models are due to differences among experimental data sets. We developed a comprehensive toolbox for modelling muscle activation dynamics, and optimised model parameters using one data set. The "Hatze-Zakotnik model" that emphasizes an accurate single-twitch time course and uses frequency-dependent modulation of the twitch for force potentiation performs best for the slow motoneuron. Frequency-dependent modulation of a single twitch works less well for the fast motoneuron. The non-linear "Wilson" model that optimises parameters to all data set parts simultaneously performs better here. Our open-access toolbox provides powerful tools for researchers to fit appropriate models to a range of insect muscles.

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.

Control of Flow around an Oscillating Plate for Lift Enhancement by Plasma Actuators

During insect flight, a feathering motion of the wing’s controls vortex shedding for lift enhancement. In this study, in order to control the flow around a wing flapping with simplified sinusoidal motion, plasma actuators were introduced to simplify the complex feathering motion. In a wind tunnel, a smoke-wire method was enacted to visualize the flow fields around an oscillating plate with an attack angle of 4° in a uniform flow for the baseline and controlled cases. The actuator placed around the leading edge was found to suppress the flow separation on the top surface. Numerical simulations were performed to investigate the control effects on the fluctuating lift, where the control effects by the intermittently driven actuator were also predicted. The actuator installed on the top surface throughout the up-stroke motion was found to suppress vortex shedding from the trailing edge, which resulted in an 11% lift enhancement compared to the baseline case. In regard to the effects of the installation position, it was found that the actuator placed on the top surface was effective, compared to the cases for installation on the bottom surface or both surfaces.

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.

Additive manufacturing: state of the art and potential for insect science

Additive Manufacturing has become an efficient tool to study insect-inspired biomimetic solutions. Indeed, it can build objects with intricate 3D-shapes and use materials with specific properties, such as soft materials. From biomaterials to biostructures or biosensors, Additive Manufacturing allows more possibilities in terms of design and functions. Reciprocally, insect-inspired technological solutions can be implemented to enhance Additive Manufacturing processes providing for example biocompatible structures that can successfully host living cells. We believe that, thanks to its continuous progress, Additive Manufacturing will play a growing role in the development of insect-inspired solutions.

Insect and insect-inspired aerodynamics: unsteadiness, structural mechanics and flight control

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.

Beyond aerodynamics: The critical roles of the circulatory and tracheal systems in maintaining insect wing functionality

Insect wings consist almost entirely of lifeless cuticle; yet their veins host a complex multimodal sensory apparatus and other tissues that require a continuous supply of water, nutrients and oxygen. This review provides a survey of the various living components in insect wings, as well as the specific contribution of the circulatory and tracheal systems to provide all essential substances. In most insects, hemolymph circulates through the veinal network in a loop flow caused by the contraction of accessory pulsatile organs in the thorax. In other insects, hemolymph oscillates into and out of the wings due to the complex interaction of several factors, such as heartbeat reversal, intermittent pumping of the accessory pulsatile organs in the thorax, and the elasticity of the wall of a special type of tracheae. A practically unexplored subject is the need for continuous hydration of the wing cuticle to retain its flexibility and toughness, including the associated problem of water loss due to evaporation. Also, widely neglected is the influence of the hemolymph mass and the circulating flow in the veins on the aerodynamic properties of insect wings during flight. Ventilation of the extraordinarily long wing tracheae is probably accomplished by intricate interactions with the circulatory system, and by the exchange of oxygen via cutaneous respiration.

Deformation behavior of dragonfly-inspired nodus structured wing in gliding flight through experimental visualization approach

Dragonfly has excellent flight performance and maneuverability due to the complex vein structure of wing. In this research, nodus as an important structural element of the dragonfly wing is investigated through an experimental visualization approach. Three vein structures were fabricated as, open-nodus structure, closed-nodus structure (with a flex-limiter) and rigid wing. The samples were conducted in a wind tunnel with a high speed camera to visualize the deformation of wing structure in order to study the function of nodus structured wing in gliding flight. According to the experimental results, nodus has a great influence on the flexibility of the wing structure. Moreover, the closed-nodus wing (with a flex-limiter) enables the vein structure to be flexible without losing the strength and rigidity of the joint. These findings enhance the knowledge of insect-inspired nodus structured wing and facilitate the application of Micro Air Vehicle (MAV) in gliding flight.

On the diverse roles of fluid dynamic drag in animal swimming and flying

Questions of energy dissipation or friction appear immediately when addressing the problem of a body moving in a fluid. For the most simple problems, involving a constant steady propulsive force on the body, a straightforward relation can be established balancing this driving force with a skin friction or form drag, depending on the Reynolds number and body geometry. This elementary relation closes the full dynamical problem and sets, for instance, average cruising velocity or energy cost. In the case of finite-sized and time-deformable bodies though, such as flapping flyers or undulatory swimmers, the comprehension of driving/dissipation interactions is not straightforward. The intrinsic unsteadiness of the flapping and deforming animal bodies complicates the usual application of classical fluid dynamic forces balance. One of the complications is because the shape of the body is indeed changing in time, accelerating and decelerating perpetually, but also because the role of drag (more specifically the role of the local drag) has two different facets, contributing at the same time to global dissipation and to driving forces. This causes situations where a strong drag is not necessarily equivalent to inefficient systems. A lot of living systems are precisely using strong sources of drag to optimize their performance. In addition to revisiting classical results under the light of recent research on these questions, we discuss in this review the crucial role of drag from another point of view that concerns the fluid-structure interaction problem of animal locomotion. We consider, in particular, the dynamic subtleties brought by the quadratic drag that resists transverse motions of a flexible body or appendage performing complex kinematics, such as the phase dynamics of a flexible flapping wing, the propagative nature of the bending wave in undulatory swimmers, or the surprising relevance of drag-based resistive thrust in inertial swimmers.

Forewings match the formation of leading-edge vortices and dominate aerodynamic force production in revolving insect wings

In many flying insects, forewings and hindwings are coupled mechanically to achieve flapping flight synchronously while being driven by action of the forewings. How the forewings and hindwings as well as their morphologies contribute to aerodynamic force production and flight control remains unclear. Here we address the point that the forewings can produce most of the aerodynamic forces even with the hindwings removed through a computational fluid dynamic study of three revolving insect wing models, which are identical to the wing morphologies and Reynolds numbers of hawkmoth (Manduca sexta), bumblebee (Bombus ignitus) and fruitfly (Drosophila melanogaster). We find that the forewing morphologies match the formation of leading-edge vortices (LEV) and are responsible for generating sufficient lift forces at the mean angles of attack and the Reynolds numbers where the three representative insects fly. The LEV formation and pressure loading keep almost unchanged with the hindwing removed, and even lead to some improvement in power factor and aerodynamic efficiency. Moreover, our results indicate that the size and strength of the LEVs can be well quantified with introduction of a conical LEV angle, which varies remarkably with angles of attack and Reynolds numbers but within the forewing region while showing less sensitivity to the wing morphologies. This implies that the forewing morphology very likely plays a dominant role in achieving low-Reynolds number aerodynamic performance in natural flyers as well as in revolving and/or flapping micro air vehicles.

Moving in a moving medium: new perspectives on flight

One of the defining features of the aerial environment is its variability; air is almost never still. This has profound consequences for flying animals, affecting their flight stability, speed selection, energy expenditure and choice of flight path. All these factors have important implications for the ecology of flying animals, and the ecosystems they interact with, as well as providing bio-inspiration for the development of unmanned aerial vehicles. In this introduction, we touch on the factors that drive the variability in airflows, the scales of variability and the degree to which given airflows may be predictable. We then summarize how papers in this volume advance our understanding of the sensory, biomechanical, physiological and behavioural responses of animals to air flows. Overall, this provides insight into how flying animals can be so successful in this most fickle of environments.This article is part of the themed issue 'Moving in a moving medium: new perspectives on flight'.

Quantifying the dynamic wing morphing of hovering hummingbird

Animal wings are lightweight and flexible; hence, during flapping flight their shapes change. It has been known that such dynamic wing morphing reduces aerodynamic cost in insects, but the consequences in vertebrate flyers, particularly birds, are not well understood. We have developed a method to reconstruct a three-dimensional wing model of a bird from the wing outline and the feather shafts (rachides). The morphological and kinematic parameters can be obtained using the wing model, and the numerical or mechanical simulations may also be carried out. To test the effectiveness of the method, we recorded the hovering flight of a hummingbird (Amazilia amazilia) using high-speed cameras and reconstructed the right wing. The wing shape varied substantially within a stroke cycle. Specifically, the maximum and minimum wing areas differed by 18%, presumably due to feather sliding; the wing was bent near the wrist joint, towards the upward direction and opposite to the stroke direction; positive upward camber and the 'washout' twist (monotonic decrease in the angle of incidence from the proximal to distal wing) were observed during both half-strokes; the spanwise distribution of the twist was uniform during downstroke, but an abrupt increase near the wrist joint was found during upstroke.

Owl-inspired leading-edge serrations play a crucial role in aerodynamic force production and sound suppression

Owls are widely known for silent flight, achieving remarkably low noise gliding and flapping flights owing to their unique wing morphologies, which are normally characterized by leading-edge serrations, trailing-edge fringes and velvet-like surfaces. How these morphological features affect aerodynamic force production and sound suppression or noise reduction, however, is still not well known. Here we address an integrated study of owl-inspired single feather wing models with and without leading-edge serrations by combining large-eddy simulations (LES) with particle-image velocimetry (PIV) and force measurements in a low-speed wind tunnel. With velocity and pressure spectra analysis, we demonstrate that leading-edge serrations can passively control the laminar-turbulent transition over the upper wing surface, i.e. the suction surface at all angles of attack (0°  <  AoA  <  20°), and hence play a crucial role in aerodynamic force and sound production. We find that there exists a tradeoff between force production and sound suppression: serrated leading-edges reduce aerodynamic performance at lower AoAs  <  15° compared to clean leading-edges but are capable of achieving both noise reduction and aerodynamic performance at higher AoAs  >  15° where owl wings often reach in flight. Our results indicate that the owl-inspired leading-edge serrations may be a useful device for aero-acoustic control in biomimetic rotor designs for wind turbines, aircrafts, multi-rotor drones as well as other fluid machinery.