Flock2: A model for orientation-based social flocking

The aerial flocking of birds, or murmurations, has fascinated observers while presenting many challenges to behavioral study and simulation. We examine how the periphery of murmurations remain well bounded and cohesive. We also investigate agitation waves, which occur when a flock is disturbed, developing a plausible model for how they might emerge spontaneously. To understand these behaviors a new model is presented for orientation-based social flocking. Previous methods model inter-bird dynamics by considering the neighborhood around each bird, and introducing forces for avoidance, alignment, and cohesion as three dimensional vectors that alter acceleration. Our method introduces orientation-based social flocking that treats social influences from neighbors more realistically as a desire to turn, indirectly controlling the heading in an aerodynamic model. While our model can be applied to any flocking social bird we simulate flocks of starlings, Sturnus vulgaris, and demonstrate the possibility of orientation waves in the absence of predators. Our model exhibits spherical and ovoidal flock shapes matching observation. Comparisons of our model to Reynolds' on energy consumption and frequency analysis demonstrates more realistic motions, significantly less energy use in turning, and a plausible mechanism for emergent orientation waves.

Joint extension speed dictates bio-inspired morphing trajectories for optimal longitudinal flight dynamics

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.

Morphological evolution of bird wings follows a mechanical sensitivity gradient determined by the aerodynamics of flapping flight

The physical principles that govern the function of biological structures also mediate their evolution, but the evolutionary drivers of morphological traits within complex structures can be difficult to predict. Here, we use morphological traits measured from 1096 3-dimensional bird wing scans from 178 species to test the interaction of two frameworks for relating morphology to evolution. We examine whether the evolutionary rate (σ2) and mode is dominated by the modular organization of the wing into handwing and armwing regions, and/or the relationship between trait morphology and functional output (i.e. mechanical sensitivity, driven here by flapping flight aerodynamics). Our results support discretization of the armwing and handwing as morphological modules, but morphological disparity and σ2 varied continuously with the mechanical sensitivity gradient and were not modular. Thus, mechanical sensitivity should be considered an independent and fundamental driver of evolutionary dynamics in biomechanical traits, distinct from morphological modularity.

Hair, there and everywhere: A comparison of bat wing sensory hair distribution

Bat wing membranes are composed of specialized skin that is covered with small sensory hairs which are likely mechanosensory and have been suggested to help bats sense airflow during flight. These sensory hairs have to date been studied in only a few of the more than 1,400 bat species around the world. Little is known about the diversity of the sensory hair network across the bat phylogeny. In this study, we use high-resolution photomicrographs of preserved bat wings from 17 species in 12 families to characterize the distribution of sensory hairs along the wing and among species. We identify general patterns of sensory hair distribution across species, including the apparent relationships of sensory hairs to intramembranous wing muscles, the network of connective tissues in the wing membrane, and the bones of the forelimb. We also describe distinctive clustering of these sensory structures in some species. We also quantified sensory hair density in several regions of interest in the propatagium, plagiopatagium, and dactylopagatia, finding that sensory hair density was higher proximally than distally. This examination of the anatomical organization of the sensory hair network in a comparative context provides a framework for existing research on sensory hair function and highlights avenues for further research.

From the eye to the wing: neural circuits for transforming optic flow into motor output in avian flight

Avian flight is guided by optic flow-the movement across the retina of images of surfaces and edges in the environment due to self-motion. In all vertebrates, there is a short pathway for optic flow information to reach pre-motor areas: retinal-recipient regions in the midbrain encode optic flow, which is then sent to the cerebellum. One well-known role for optic flow pathways to the cerebellum is the control of stabilizing eye movements (the optokinetic response). However, the role of this pathway in controlling locomotion is less well understood. Electrophysiological and tract tracing studies are revealing the functional connectivity of a more elaborate circuit through the avian cerebellum, which integrates optic flow with other sensory signals. Here we review the research supporting this framework and identify the cerebellar output centres, the lateral (CbL) and medial (CbM) cerebellar nuclei, as two key nodes with potentially distinct roles in flight control. The CbM receives bilateral optic flow information and projects to sites in the brainstem that suggest a primary role for flight control over time, such as during forward flight. The CbL receives monocular optic flow and other types of visual information. This site provides feedback to sensory areas throughout the brain and has a strong projection the nucleus ruber, which is known to have a dominant role in forelimb muscle control. This arrangement suggests primary roles for the CbL in the control of wing morphing and for rapid maneuvers.

Comparative morphological study of skeletal muscle weight among the red jungle fowl (Gallus gallus) and various fowl breeds (Gallus domesticus)

We examined the weight distribution of skeletal muscles of the red jungle fowl, then compared these values with those of domesticated populations to determine how muscle distribution has changed by selecting breeding. Sonia, Fayoumi, and Rhode Island Red were selected for comparison from livestock breeds, while Japanese Shamo and Thai fighting cocks were selected from cockfighting groups. Principal component analysis was applied using body size-free data. The mass distribution of muscles clearly differed between the wild, livestock, and cockfighting groups, demonstrating that muscle distribution has changed after selecting breeding, coupled with functional demands of each group. The red jungle fowl, which has the ability to fly, could be clearly distinguished from the flightless domesticated populations due to differences in flight pectoral muscle size. The cervical muscles in the wild population were smaller than in the domesticated groups; these do not contribute to flight. The gluteal muscles were larger in the fighting cock group, functionally coupled to their traditionally preferred upright posture. Wild bird populations typically exhibit reduced weight of their hind limbs, associated with flight, but as the red jungle fowl displays largely terrestrial behavior, these muscles are similar in arrangement and relative size to those of the livestock groups. We showed that the mass distribution pattern of skeletal muscles expresses selecting breeding strategy and clearly reflects the specific traits for each group.

Effector-dependent stochastic reference frame transformations alter decision-making

Psychophysical, motor control, and modeling studies have revealed that sensorimotor reference frame transformations (RFTs) add variability to transformed signals. For perceptual decision-making, this phenomenon could decrease the fidelity of a decision signal's representation or alternatively improve its processing through stochastic facilitation. We investigated these two hypotheses under various sensorimotor RFT constraints. Participants performed a time-limited, forced-choice motion discrimination task under eight combinations of head roll and/or stimulus rotation while responding either with a saccade or button press. This paradigm, together with the use of a decision model, allowed us to parameterize and correlate perceptual decision behavior with eye-, head-, and shoulder-centered sensory and motor reference frames. Misalignments between sensory and motor reference frames produced systematic changes in reaction time and response accuracy. For some conditions, these changes were consistent with a degradation of motion evidence commensurate with a decrease in stimulus strength in our model framework. Differences in participant performance were explained by a continuum of eye–head–shoulder representations of accumulated motion evidence, with an eye-centered bias during saccades and a shoulder-centered bias during button presses. In addition, we observed evidence for stochastic facilitation during head-rolled conditions (i.e., head roll resulted in faster, more accurate decisions in oblique motion for a given stimulus–response misalignment). We show that perceptual decision-making and stochastic RFTs are inseparable within the present context. We show that by simply rolling one's head, perceptual decision-making is altered in a way that is predicted by stochastic RFTs.

Coping with captivity: takeoff speed and load-lifting capacity are unaffected by substantial changes in body condition for a passerine bird

Captivity presumably challenges physiological equilibrium of birds and thus influences flight ability. However, the extent to which captive birds exhibit altered features underpinning maximum flight performance remains largely unknown. Here, we studied changes in physiological condition and load-lifting performance in the Eurasian tree sparrow (Passer montanus) over 15, 30, and 45 days of captivity. Sparrows showed body mass constancy over time but also an increased hematocrit at 15 days of captivity; both relative pectoralis mass and its fat content increased at 30 days. However, maximum takeoff speed and maximum lifted load remained largely unchanged until 45 days of captivity. Wingbeat frequency was independent of captivity duration and loading condition, whereas body angle and stroke plane angle varied only with maximum loading and not with duration of captivity. Overall, these results suggest that captive birds can maintain maximum flight performance when experiencing dramatic changes in both internal milieu and external environment.

An Integrative Perspective on the Mechanistic Basis of Context Dependent Species Interactions

It has long been known that the outcome of species interactions depends on the environmental context in which they occur. Climate change research has sparked a renewed interest in context dependent species interactions because rapidly changing abiotic environments will cause species interactions to occur in novel contexts and researchers must incorporate this in their predictions of species' responses to climate change. Here we argue that predicting how the environment will alter the outcome of species interactions requires an integrative biology approach that focuses on the traits, mechanisms, and processes that bridge disciplines such as physiology, biomechanics, ecology, and evolutionary biology. Specifically, we advocate for quantifying how species differ in their tolerance and performance to both environmental challenges independent of species interactions, and in interactions with other species as a function of the environment. Such an approach increases our understanding of the mechanisms underlying outcomes of species interactions across different environmental contexts. This understanding will in turn help determine how the outcome of species interactions affects the relative abundance and distribution of the interacting species in nature. A general theme that emerges from this perspective is that species are unable to maintain high levels of performance across different environmental contexts because of trade-offs between physiological tolerance to environmental challenges and performance in species interactions. Thus, an integrative biology paradigm that focuses on the trade-offs across environments, the physiological mechanisms involved, and how the ecological context impacts the outcome of species interactions provides a stronger framework to understand why species interactions are context dependent.

What you sample is what you get: ecomorphological variation in Trithemis (Odonata, Libellulidae) dragonfly wings reconsidered

BACKGROUND

The phylogenetic ecology of the Afro-Asian dragonfly genus Trithemis has been investigated previously by Damm et al. (in Mol Phylogenet Evol 54:870-882, 2010) and wing ecomorphology by Outomuro et al. (in J Evol Biol 26:1866-1874, 2013). However, the latter investigation employed a somewhat coarse sampling of forewing and hindwing outlines and reported results that were at odds in some ways with expectations given the mapping of landscape and water-body preference over the Trithemis cladogram produced by Damm et al. (in Mol Phylogenet Evol 54:870-882, 2010). To further explore the link between species-specific wing shape variation and habitat we studied a new sample of 27 Trithemis species employing a more robust statistical test for phylogenetic covariation, more comprehensive representations of Trithemis wing morphology and a wider range of morphometric data-analysis procedures.

RESULTS

Contrary to the Outomuro et al. (in J Evol Biol 26:1866-1874, 2013) report, our results indicate that no statistically significant pattern of phylogenetic covariation exists in our Trithemis forewing and hindwing data and that both male and female wing datasets exhibit substantial shape differences between species that inhabit open and forested landscapes and species that hunt over temporary/standing or running water bodies. Among the morphometric analyses performed, landmark data and geometric morphometric data-analysis methods yielded the worst performance in identifying ecomorphometric shape distinctions between Trithemis habitat guilds. Direct analysis of wing images using an embedded convolution (deep learning) neural network delivered the best performance. Bootstrap and jackknife tests of group separations and discriminant-function stability confirm that our results are not artifacts of overtrained discriminant systems or the "curse of dimensionality" despite the modest size of our sample.

CONCLUSION

Our results suggest that Trithemis wing morphology reflects the environment's "push" to a much greater extent than phylogeny's "pull". In addition, they indicate that close attention should be paid to the manner in which morphologies are sampled for morphometric analysis and, if no prior information is available to guide sampling strategy, the sample that most comprehensively represents the morphologies of interest should be obtained. In many cases this will be digital images (2D) or scans (3D) of the entire morphology or morphological feature rather than sparse sets of landmark/semilandmark point locations.

Comparative Genomics and Evolution of Avian Specialized Traits

Genomic data are important for understanding the origin and evolution of traits. Under the context of rapidly developing of sequencing technologies and more widely available genome sequences, researchers are able to study evolutionary mechanisms of traits via comparative genomic methods. Compared with other vertebrates, bird genomes are relatively small and exhibit conserved synteny with few repetitive elements, which makes them suitable for evolutionary studies. Increasing genomic progress has been reported on the evolution of powered flight, body size variation, beak morphology, plumage colouration, high-elevation colonization, migration, and vocalization. By summarizing previous studies, we demonstrate the genetic bases of trait evolution, highlighting the roles of small-scale sequence variation, genomic structural variation, and changes in gene interaction networks. We suggest that future studies should focus on improving the quality of reference genomes, exploring the evolution of regulatory elements and networks, and combining genomic data with morphological, ecological, behavioural, and developmental biology data.

Kinematics and hydrodynamics analyses of swimming penguins: wing bending improves propulsion performance

Penguins are adapted to underwater life and have excellent swimming abilities. Although previous motion analyses revealed their basic swimming characteristics, the details of the 3D wing kinematics, wing deformation and thrust generation mechanism of penguins are still largely unknown. In this study, we recorded the forward and horizontal swimming of gentoo penguins (Pygoscelis papua) at an aquarium with multiple underwater action cameras and then performed a 3D motion analysis. We also conducted a series of water tunnel experiments with a 3D printed rigid wing to obtain lift and drag coefficients in the gliding configuration. Using these coefficients, the thrust force during flapping was calculated in a quasi-steady manner, where the following two wing models were considered: (1) an 'original' wing model reconstructed from 3D motion analysis including bending deformation and (2) a 'flat' wing model obtained by flattening the original wing model. The resultant body trajectory showed that the penguin accelerated forward during both upstroke and downstroke. The motion analysis of the two wing models revealed that considerable bending occurred in the original wing, which reduced its angle of attack during the upstroke in particular. Consequently, the calculated stroke-averaged thrust was larger for the original wing than for the flat wing during the upstroke. In addition, the propulsive efficiency for the original wing was estimated to be 1.8 times higher than that for the flat wing. Our results unveil a detailed mechanism of lift-based propulsion in penguins and underscore the importance of wing bending.

Aerodynamic analysis of hummingbird-like hovering flight

Flapping wing micro aerial vehicles are studied as the substitute for fixed and rotary wing micro aerial vehicles because of the advantages such as agility, maneuverability, and employability in confined environments. Hummingbird's sustainable hovering capability inspires many researchers to develop micro aerial vehicles with similar dynamics. In this research, a wing of a ruby-throated hummingbird is modeled as an insect wing using membrane and stiffeners. The effect of flexibility on the aerodynamic performance of a wing in hovering flight has been studied numerically by using a fluid-structure interaction scheme at a Reynolds number of 3000. Different wings have been developed by using different positions and thicknesses of the stiffeners. The chordwise and spanwise flexural stiffnesses of all the wings modeled in this work are comparable to insects of similar span and chord length. When the position of the stiffener is varied, the best-performing wing has an average lift coefficient of 0.51. Subsequently, the average lift coefficient is increased to 0.56 when the appropriate thickness of the stiffeners is chosen. The best flexible wing outperforms its rigid counterpart and produces lift and power economy comparable to a real hummingbird's wing. That is, the average lift coefficient and power economy of 0.56 and 0.88 for the best flexible wing as compared to 0.61 and 1.07 for the hummingbird's wing. It can be concluded that a simple manufacturable flexible wing design based on appropriate positioning and thickness of stiffeners can serve as a potential candidate for bio-inspired flapping-wing micro aerial vehicles.

Role of Active Morphing in the Aerodynamic Performance of Flapping Wings in Formation Flight

Migratory birds have the ability to save energy during flight by arranging themselves in a V-formation. This arrangement enables an increase in the overall efficiency of the group because the wake vortices shed by each of the birds provide additional lift and thrust to every member. Therefore, the aerodynamic advantages of such a flight arrangement can be exploited in the design process of micro air vehicles. One significant difference when comparing the anatomy of birds to the design of most micro air vehicles is that bird wings are not completely rigid. Birds have the ability to actively morph their wings during the flapping cycle. Given these aspects of avian flight, the objective of this work is to incorporate active bending and torsion into multiple pairs of flapping wings arranged in a V-formation and to investigate their aerodynamic behavior using the unsteady vortex lattice method. To do so, the first two bending and torsional mode shapes of a cantilever beam are considered and the aerodynamic characteristics of morphed wings for a range of V-formation angles, while changing the group size in order to determine the optimal configuration that results in maximum propulsive efficiency, are examined. The aerodynamic simulator incorporating the prescribed morphing is qualitatively verified using experimental data taken from trained kestrel flights. The simulation results demonstrate that coupled bending and twisting of the first mode shape yields the highest propulsive efficiency over a range of formation angles. Furthermore, the optimal configuration in terms of propulsive efficiency is found to be a five-body V-formation incorporating coupled bending and twisting of the first mode at a formation angle of 140 degrees. These results indicate the potential improvement in the aerodynamic performance of the formation flight when introducing active morphing and bioinspiration.

From micro to macroevolution: drivers of shape variation in an island radiation of Podarcis lizards

Phenotypictraits have been shown to evolve in response to variation in the environment. However, the evolutionary processes underlying the emergence of phenotypic diversity can typically only be understood at the population level. Consequently, how subtle phenotypic differences at the intraspecific level can give rise to larger-scale changes in performance and ecology remains poorly understood. We here tested for the covariation between ecology, bite force, jaw muscle architecture, and the three-dimensional shape of the cranium and mandible in 16 insular populations of the lizards Podarcis melisellensis and P. sicula. We then compared the patterns observed at the among-population level with those observed at the interspecific level. We found that three-dimensional head shape as well as jaw musculature evolve similarly under similar ecological circumstances. Depending on the type of food consumed or on the level of sexual competition, different muscle groups were more developed and appeared to underlie changes in cranium and mandible shape. Our findings show that the local selective regimes are primary drivers of phenotypic variation resulting in predictable patterns of form and function. Moreover, intraspecific patterns of variation were generally consistent with those at the interspecific level, suggesting that microevolutionary variation may translate into macroevolutionary patterns of ecomorphological diversity.

Near Stall Unsteady Flow Responses to Morphing Flap Deflections

The unsteady flow characteristics and responses of an NACA 0012 airfoil fitted with a bio-inspired morphing trailing edge flap (TEF) at near-stall angles of attack (AoA) undergoing downward deflections are investigated at a Reynolds number of 0.62 × 106 near stall. An unsteady geometric parametrization and a dynamic meshing scheme are used to drive the morphing motion. The objective is to determine the susceptibility of near-stall flow to a morphing actuation and the viability of rapid downward flap deflection as a control mechanism, including its effect on transient forces and flow field unsteadiness. The dynamic flow responses to downward deflections are studied for a range of morphing frequencies (at a fixed large amplitude), using a high-fidelity, hybrid RANS-LES model. The time histories of the lift and drag coefficient responses exhibit a proportional relationship between the morphing frequency and the slope of response at which these quantities evolve. Interestingly, an overshoot in the drag coefficient is captured, even in quasi-static conditions, however this is not seen in the lift coefficient. Qualitative analysis confirms that an airfoil in near stall conditions is receptive to morphing TEF deflections, and that some similarities triggering the stall exist between downward morphing TEFs and rapid ramp-up type pitching motions.

The levels problem in psychopathology

Psychiatric disorders are studied at multiple levels, but there is no agreement on how these levels are related to each other, or how they should be understood in the first place. In this paper, I provide an account of levels and their relationships that is suited for psychopathology, drawing from recent debates in philosophy of science. Instead of metaphysical issues, the focus is on delivering an understanding of levels that is relevant and useful for scientific practice. I also defend a pragmatic approach to the question of reduction, arguing that even in-principle reductionists should embrace pluralism in practice. Finally, I discuss the benefits and challenges in integrating explanations and models of different levels.

Flight muscle power increases with strain amplitude and decreases with cycle frequency in zebra finches (Taeniopygia guttata)

Birds that use high flapping frequencies can modulate aerodynamic force by varying wing velocity, which is primarily a function of stroke amplitude and wingbeat frequency. Previous measurements from zebra finches (Taeniopygia guttata) flying across a range of speeds in a wind tunnel demonstrate that although the birds modulated both wingbeat kinematic parameters, they exhibited greater changes in stroke amplitude. These two kinematic parameters contribute equally to aerodynamic force, so the preference for modulating amplitude over frequency may instead derive from limitations of muscle physiology at high frequency. We tested this hypothesis by developing a novel in situ work loop approach to measure muscle force and power output from the whole pectoralis major of zebra finches. This method allowed for multiple measurements over several hours without significant degradation in muscle power. We explored the parameter space of stimulus, strain amplitude and cycle frequencies measured previously from zebra finches, which revealed overall high net power output of the muscle, despite substantial levels of counter-productive power during muscle lengthening. We directly compared how changes to muscle shortening velocity via strain amplitude and cycle frequency affected muscle power. Increases in strain amplitude led to increased power output during shortening with little to no change in power output during lengthening. In contrast, increases in cycle frequency did not lead to increased power during shortening but instead increased counter-productive power during lengthening. These results demonstrate why at high wingbeat frequency, increasing wing stroke amplitude could be a more effective mechanism to cope with increased aerodynamic demands.

Functional Morphology of Gliding Flight I: Modeling Reveals Distinct Performance Landscapes Based on Soaring Strategies

The physics of flight influences the morphology of bird wings through natural selection on flight performance. The connection between wing morphology and performance is unclear due to the complex relationships between various parameters of flight. In order to better understand this connection, we present a holistic analysis of gliding flight that preserves complex relationships between parameters. We use a computational model of gliding flight, along with analysis by uncertainty quantification, to (1) create performance landscapes of gliding based on output metrics (maximum lift-to-drag ratio, minimum gliding angle, minimum sinking speed, and lift coefficient at minimum sinking speed) and (2) predict what parameters of flight (chordwise camber, wing aspect ratio [AR], and Reynolds number) would differ between gliding and nongliding species of birds. We also examine performance based on the soaring strategy for possible differences in morphology within gliding birds. Gliding birds likely have greater ARs than non-gliding birds, due to the high sensitivity of AR on most metrics of gliding performance. Furthermore, gliding birds can use two distinct soaring strategies based on performance landscapes. First, maximizing distance traveled (maximizing lift-to-drag ratio and minimizing gliding angle) should result in wings with high ARs and middling-to-low wing chordwise camber. Second, maximizing lift extracted from updrafts should result in wings with middling ARs and high wing chordwise camber. Following studies can test these hypotheses using morphological measurements.

Morphological characterization of flight feather shafts in four bird species with different flight styles

Variation in rachis (central shaft) morphology in individual remiges (flight feathers) within and among species reflects adaptations to requirements imposed by aerodynamic forces, but the fine-scale variation of feather morphology across remiges is not well known. Here we describe how the shape of the rachis, expressed by the height/width ratio, changes along the longitudinal and lateral axis of the wing in four bird species with different flight styles: flapping-soaring (white storks), flapping-gliding (common buzzards), passerine-type (house sparrows) and continuous flapping (pygmy cormorants). Overall, in each wing feather, irrespective of species identity, rachis shape changed from circular to rectangular, from the base towards the feather tip. The ratio between the height and width of the calamus was similar across remiges in all species, whereas the ratio at the base, middle and tip of the rachis changed among flight feathers and species. In distal primaries of white storks and common buzzards, the ratio decreased along the feather shaft, indicating a depressed (wider than high) rachis cross section towards the feather tip, whereas the inner primaries and secondaries became compressed (higher than wide). In house sparrows, the rachis was compressed in each of the measurement points, except at the distal segment of the two outermost primary feathers. Finally, in pygmy cormorants, the width exceeds the height at each measurement point, except at the calamus. Our results may reflect the resistance of the rachis to in-plane and out-of-plane aerodynamic forces that vary across remiges and across study species. A link between rachis shape and resistance to bending from aerodynamic forces is further indicated by the change of the second moment of areas along the wing axes.

Volant Fossil Vertebrates: Potential for Bioinspired Flight Technology

Animal flight is ecologically important and has a long evolutionary history. It has evolved independently in many distantly related clades of animals. Powered flight has evolved only three times in vertebrates, making it evolutionarily rare. Major recent fossil discoveries have provided key data on fossil flying vertebrates and critical insights regarding the evolution and different arrangements of animal flight surfaces. Combined with new methodologies, these discoveries have paved the way for potentially expanding biomimetic and biologically inspired designs to incorporate lessons from fossil taxa. Here, we review the latest knowledge and literature regarding flight performance in fossil vertebrates. We then synthesise key elements to provide an overview of those cases where fossil flyers might provide new insights for applied sciences.

Modulation of Flight Muscle Recruitment and Wing Rotation Enables Hummingbirds to Mitigate Aerial Roll Perturbations

Both biological and artificial fliers must contend with aerial perturbations that are ubiquitous in the outdoor environment. Flapping fliers are generally least stable but also most maneuverable around the roll axis, yet our knowledge of roll control in biological fliers remains limited. Hummingbirds are suitable models for linking aerodynamic perturbations to flight control strategies, as these small, powerful fliers are capable of remaining airborne even in adverse wind conditions. We challenged hummingbirds to fly within a steady, longitudinally (streamwise) oriented vortex that imposed a continuous roll perturbation, measured wing kinematics and neuromotor activation of the flight muscles with synchronized high-speed video and electromyography and used computational fluid dynamics (CFD) to estimate the aerodynamic forces generated by observed wing motions. Hummingbirds responded to the perturbation with bilateral differences in activation of the main flight muscles while maintaining symmetry in most major aspects of wing motion, including stroke amplitude, stroke plane angle, and flapping frequency. Hummingbirds did display consistent bilateral differences in subtler wing kinematic traits, including wing rotation and elevation. CFD modeling revealed that asymmetric wing rotation was critical for attenuating the effects of the perturbation. The birds also augmented flight stabilization by adjusting body and tail posture to expose greater surface area to upwash than to the undesirable downwash. Our results provide insight into the remarkable capacity of hummingbirds to maintain flight control, as well as bio-inspiration for simple yet effective control strategies that could allow robotic fliers to contend with unfamiliar and challenging real-world aerial conditions.

Limits to load-lifting performance in a passerine bird: the effects of intraspecific variation in morphological and kinematic parameters

Although more massive flight muscles along with larger wings, higher wingbeat frequencies and greater stroke amplitudes enhance force and power production in flapping flight, the extent to which these parameters may be correlated with other morphological features relevant to flight physiology and biomechanics remains unclear. Intraspecifically, we hypothesized that greater vertical load-lifting capacity would correlate with higher wingbeat frequencies and relatively more massive flight muscles, along with relatively bigger hearts, lungs, and stomachs to enhance metabolic capacity and energy supply, but also with smaller body size given the overall negative allometric dependence of maximum flight performance in volant taxa. To explore intraspecific correlates of flight performance, we assembled a large dataset that included 13 morphological and kinematic variables for a non-migratory passerine, the Eurasian tree sparrow (Passer montanus). We found that heavier flight muscles and larger wings, heavier stomachs and shorter bills were the most important correlates of maximum load-lifting capacity. Surprisingly, wingbeat frequency, wing stroke amplitude and masses of the heart, lungs and digestive organs (except for the stomach) were non-significant predictor variables relative to lifting capacity. The best-fit structural equation model (SEM) indicated that load-lifting capacity was positively correlated with flight muscle mass, wing area and stomach mass, but was negatively correlated with bill length. Characterization of individual variability in flight performance in a free-ranging passerine indicates the subtlety of interaction effects among morphological features, some of which differ from those that have been identified interspecifically for maximum flight performance in birds.

Work loop dynamics of the pigeon (Columba livia) humerotriceps demonstrate potentially diverse roles for active wing morphing

Control of wing shape is believed to be a key feature that allows most birds to produce aerodynamically efficient flight behaviors and high maneuverability. Anatomical organization of intrinsic wing muscles suggests specific roles for the different motor elements in wing shape modulation, but testing these hypothesized functions requires challenging measurements of muscle activation and strain patterns, and force dynamics. The wing muscles that have been best characterized during flight are the elbow muscles of the pigeon (Columba livia). In vivo studies during different flight modes revealed variation in strain profile, activation timing and duration, and contractile cycle frequency of the humerotriceps, suggesting that this muscle may alter wing shape in diverse ways. To examine the multifunction potential of the humerotriceps, we developed an in situ work loop approach to measure how activation duration and contractile cycle frequency affected muscle work and power across the full range of activation onset times. The humerotriceps produced predominantly net negative power, likely due to relatively long stimulus durations, indicating that it absorbs work, but the work loop shapes also suggest varying degrees of elastic energy storage and release. The humerotriceps consistently exhibited positive and negative instantaneous power within a single contractile cycle, across all treatments. When combined with previous in vivo studies, our results indicate that both within and across contractile cycles, the humerotriceps can dynamically shift among roles of actuator, brake, and stiff or compliant spring, based on activation properties that vary with flight mode.

Winged forelimbs of the small theropod dinosaur Caudipteryx could have generated small aerodynamic forces during rapid terrestrial locomotion

Pennaceous feathers capable of forming aerodynamic surfaces are characteristic of Pennaraptora, the group comprising birds and their closest relatives among non-avian dinosaurs. However, members of the basal pennaraptoran lineage Oviraptorosauria were clearly flightless, and the function of pennaceous feathers on the forelimb in oviraptorosaurs is still uncertain. In the basal oviraptorosaur Caudipteryx both the skeleton and the plumage, which includes pennaceous feathers forming wing-like arrangements on the forelimbs, are well known. We used mathematical analyses, computer simulations and experiments on a robot Caudipteryx with realistic wing proportions to test whether the wings of Caudipteryx could have generated aerodynamic forces useful in rapid terrestrial locomotion. These various approaches show that, if both wings were held in a fixed and laterally extended position, they would have produced only small amounts of lift and drag. A partial simulation of flapping while running showed similarly limited aerodynamic force production. These results are consistent with the possibility that pennaceous feathers first evolved for a non-locomotor function such as display, but the effects of flapping and the possible contribution of the wings during manoeuvres such as braking and turning remain to be more fully investigated.

Bio-Inspired Neural Adaptive Control of a Small Unmanned Aerial Vehicle Based on Airflow Sensors

Inspired by the exceptional flight ability of birds and insects, a bio-inspired neural adaptive flight control structure of a small unmanned aerial vehicle was presented. Eight pressure sensors were elaborately installed in the leading-edge area of the forward wing. A back propagation neural network was trained to predict the aerodynamic moment based on pressure measurements. The network model was trained, validated, and tested. An adaptive controller was designed based on a radial basis function neural network. The new adaptive laws guaranteed the boundedness of the adaptive parameters. The closed-loop stability was analyzed via Lyapunov theory. The simulation results demonstrated the robustness of the bio-inspired flight control system when subjected to measurement noise, parametric uncertainties, and external disturbance.

Post-Hatching Growth of the Pectoralis Muscle in Pigeon and Its Functional Implications

The avian pectoralis muscle is responsible for the wing's downstroke, which provides birds with lift and thrust for flight. In the present study, architectural parameters were investigated through growth in the pigeon (Columba livia), an altricial bird species, from the ages of 4 days to 12 months, in order to assess the morphological changes and effects of increasing body mass. Muscle mass, fascicle length (FL), and physiological cross-sectional area (PCSA) increased with strong positive allometry. As an indicator of force production capacity, the PCSA increased 30-fold with the changes in body mass; it grew rapidly during the nesting period and post-fledging period into sexual maturity. The growth pattern of FL demonstrated a gradual increase before fledging and a marked increase after maturity. Taken together, the growth of the pectoralis was found to be dominated by a continuous increase in PCSA before maturity and subsequent increase in FL. These features were associated with the establishment and improvement of flight capability, and further revealed different strategies in maintaining relatively constant power prior to and after maturity. Anat Rec, 301:1564-1569, 2018. © 2018 Wiley Periodicals, Inc.

Into rude air: hummingbird flight performance in variable aerial environments

Hummingbirds are well known for their ability to sustain hovering flight, but many other remarkable features of manoeuvrability characterize the more than 330 species of trochilid. Most research on hummingbird flight has been focused on either forward flight or hovering in otherwise non-perturbed air. In nature, however, hummingbirds fly through and must compensate for substantial environmental perturbation, including heavy rain, unpredictable updraughts and turbulent eddies. Here, we review recent studies on hummingbirds flying within challenging aerial environments, and discuss both the direct and indirect effects of unsteady environmental flows such as rain and von Kármán vortex streets. Both perturbation intensity and the spatio-temporal scale of disturbance (expressed with respect to characteristic body size) will influence mechanical responses of volant taxa. Most features of hummingbird manoeuvrability remain undescribed, as do evolutionary patterns of flight-related adaptation within the lineage. Trochilid flight performance under natural conditions far exceeds that of microair vehicles at similar scales, and the group as a whole presents many research opportunities for understanding aerial manoeuvrability.This article is part of the themed issue 'Moving in a moving medium: new perspectives on flight'.

Wake structure and kinematics in two insectivorous bats

We compare kinematics and wake structure over a range of flight speeds (4.0-8.2 m s(-1)) for two bats that pursue insect prey aerially, Tadarida brasiliensis and Myotis velifer Body mass and wingspan are similar in these species, but M. velifer has broader wings and lower wing loading. By using high-speed videography and particle image velocimetry of steady flight in a wind tunnel, we show that three-dimensional kinematics and wake structure are similar in the two species at the higher speeds studied, but differ at lower speeds. At lower speeds, the two species show significant differences in mean angle of attack, body-wingtip distance and sweep angle. The distinct body vortex seen at low speed in T. brasiliensis and other bats studied to date is considerably weaker or absent in M. velifer We suggest that this could be influenced by morphology: (i) the narrower thorax in this species probably reduces the body-induced discontinuity in circulation between the two wings and (ii) the wing loading is lower, hence the lift coefficient required for weight support is lower. As a result, in M. velifer, there may be a decreased disruption in the lift generation between the body and the wing, and the strength of the characteristic root vortex is greatly diminished, both suggesting increased flight efficiency.This article is part of the themed issue 'Moving in a moving medium: new perspectives on flight'.

Evolution of avian flight: muscles and constraints on performance

Competing hypotheses about evolutionary origins of flight are the 'fundamental wing-stroke' and 'directed aerial descent' hypotheses. Support for the fundamental wing-stroke hypothesis is that extant birds use flapping of their wings to climb even before they are able to fly; there are no reported examples of incrementally increasing use of wing movements in gliding transitioning to flapping. An open question is whether locomotor styles must evolve initially for efficiency or if they might instead arrive due to efficacy. The proximal muscles of the avian wing output work and power for flight, and new research is exploring functions of the distal muscles in relation to dynamic changes in wing shape. It will be useful to test the relative contributions of the muscles of the forearm compared with inertial and aerodynamic loading of the wing upon dynamic morphing. Body size has dramatic effects upon flight performance. New research has revealed that mass-specific muscle power declines with increasing body mass among species. This explains the constraints associated with being large. Hummingbirds are the only species that can sustain hovering. Their ability to generate force, work and power appears to be limited by time for activation and deactivation within their wingbeats of high frequency. Most small birds use flap-bounding flight, and this flight style may offer an energetic advantage over continuous flapping during fast flight or during flight into a headwind. The use of flap-bounding during slow flight remains enigmatic. Flap-bounding birds do not appear to be constrained to use their primary flight muscles in a fixed manner. To improve understanding of the functional significance of flap-bounding, the energetic costs and the relative use of alternative styles by a given species in nature merit study.This article is part of the themed issue 'Moving in a moving medium: new perspectives on flight'.

Inspiration for wing design: how forelimb specialization enables active flight in modern vertebrates

Harnessing flight strategies refined by millions of years of evolution can help expedite the design of more efficient, manoeuvrable and robust flying robots. This review synthesizes recent advances and highlights remaining gaps in our understanding of how bird and bat wing adaptations enable effective flight. Included in this discussion is an evaluation of how current robotic analogues measure up to their biological sources of inspiration. Studies of vertebrate wings have revealed skeletal systems well suited for enduring the loads required during flight, but the mechanisms that drive coordinated motions between bones and connected integuments remain ill-described. Similarly, vertebrate flight muscles have adapted to sustain increased wing loading, but a lack of in vivo studies limits our understanding of specific muscular functions. Forelimb adaptations diverge at the integument level, but both bird feathers and bat membranes yield aerodynamic surfaces with a level of robustness unparalleled by engineered wings. These morphological adaptations enable a diverse range of kinematics tuned for different flight speeds and manoeuvres. By integrating vertebrate flight specializations-particularly those that enable greater robustness and adaptability-into the design and control of robotic wings, engineers can begin narrowing the wide margin that currently exists between flying robots and vertebrates. In turn, these robotic wings can help biologists create experiments that would be impossible in vivo.

Comparative Functional Morphology of the Skeletal Forelimb, Pectoral Girdle, and Sternum in Japanese Native Domestic Fowls

This study aims to understand the relationships among morphological characteristics, their functional roles, and breeder preferences in Japanese native fowls. We analyzed and compared the shapes and sizes of the skeletal forelimb, pectoral girdle, and sternum among six breeds: Chabo, Oh-Shamo, Onagadori, Shokoku, Tosajidori, and Totenko. Because skeletal forelimb, pectoral girdle, and sternum are one of the bases for composing body appearance and for movement of birds such as flapping, we treated those skeletons. All measurements of size were smaller in Chabo than those in other breeds except Tosajidori. The largest measurement values of all parameters were observed in Oh-Shamo. The largest measurement values were observed in all measurements of Oh-Shamo. Short and wide forelimb bones and a short coracoid were observed in Chabo. Oh-Shamo was equipped with a wide sternum and a widely articulated coracoid. Shokoku and Totenko possessed longer bones that constitute the thoracic cavity. We suggest that the small bone size in ornamental fowls contributes toward a cute appearance and that the large bone size of fighting fowls is correlated with their masculinity and aggressiveness. The short forelimb bones, wide articulation, and corpus of forelimb bones in Chabo create a round and soft body silhouette. The observed short coracoid prevents Chabo from dragging its body on the ground while walking. The wide sternum and articulation of the coracoid observed in Oh-Shamo are considered to contribute to the ability to pounce on an opponent by flapping during a fight. The wide sternum of Oh-Shamo is considered to affect its body outline, producing a strong, masculine physical appearance. We also suggest that the characteristics observed in Shokoku and Totenko create a space for the vocal organs, such as clavicle air sacs. We suggest that the observed morphological characteristics underlie the function and breeder preferences of each breed.