Three-dimensional kinematics of hummingbird flight

Protocol to record and analyze primate leaping in three dimensions in the wild

Several studies comparing primate locomotion under lab versus field conditions have shown the importance of implementing both types of studies, as each has their advantages and disadvantages. However, three-dimensional (3D) motion capture of primates has been challenging under natural conditions. In this study, we provide a detailed protocol on how to collect 3D biomechanical data on primate leaping in their natural habitat that can be widely implemented. To record primate locomotion in the dense forest we use modified GoPro Hero Black cameras with zoom lenses that can easily be carried around and set up on tripods. We outline details on how to obtain camera calibrations at greater heights and how to process the collected data using the MATLAB camera calibration app and the motion tracking software DLTdv8a. We further developed a new MATLAB application "WildLeap3D" to generate biomechanical performance metrics from the derived x, y, z coordinates of the leaps. We provide details on how to collect data on support diameter, compliance, and orientation, and combine these with the jumps to study locomotor performance in an ecological context. We successfully reconstructed leaps of wild primates in the 3D space under natural conditions and provided data on four representative leaps. We provide exemplar data on primate velocity and acceleration during a leap and show how our protocol can be used to analyze segmental kinematics. This study will help to make motion capture of freely moving animals more accessible and help further our knowledge about animal locomotion and movement.

The spatiotemporal richness of hummingbird wing deformations

Animals exhibit an abundant diversity of forms, and this diversity is even more evident when considering animals that can change shape on demand. The evolution of flexibility contributes to aspects of performance from propulsive efficiency to environmental navigation. It is, however, challenging to quantify and compare body parts that, by their nature, dynamically vary in shape over many time scales. Commonly, body configurations are tracked by labelled markers and quantified parametrically through conventional measures of size and shape (descriptor approach) or non-parametrically through data-driven analyses that broadly capture spatiotemporal deformation patterns (shape variable approach). We developed a weightless marker tracking technique and combined these analytic approaches to study wing morphological flexibility in hoverfeeding Anna's hummingbirds (Calypte anna). Four shape variables explained >95% of typical stroke cycle wing shape variation and were broadly correlated with specific conventional descriptors such as wing twist and area. Moreover, shape variables decomposed wing deformations into pairs of in-plane and out-of-plane components at integer multiples of the stroke frequency. This property allowed us to identify spatiotemporal deformation profiles characteristic of hoverfeeding with experimentally imposed kinematic constraints, including through shape variables explaining <10% of typical shape variation. Hoverfeeding in front of a visual barrier restricted stroke amplitude and elicited increased stroke frequencies together with in-plane and out-of-plane deformations throughout the stroke cycle. Lifting submaximal loads increased stroke amplitudes at similar stroke frequencies together with prominent in-plane deformations during the upstroke and pronation. Our study highlights how spatially and temporally distinct changes in wing shape can contribute to agile fluidic locomotion.

A numerical study on the aerodynamic effects of dynamic twisting on forward flight flapping wings

To better understand the secret of natural flying vertebrates such as how humming-birds twist their wings to achieve superb flight ability, we presented a numerical investigation of dynamic twisting based on a hummingbird-like flapping wing model. Computational fluid dynamic simulations were performed to examine the effects of dynamic twisting on the unsteady flow field, the generation of instantaneous aerodynamic forces, and the time-averaged aerodynamic performance. This research reveals the details of leading-edge vortices (LEVs) and the underlying mechanisms behind the positive effects of wing torsion. The results demonstrated that wing torsion can effectively maintain the favorable distribution of effective angle of attack along the wing spanwise, resulting in a higher time-averaged thrust and vertical force. Further, the proper parameters of dynamic twisting can also improve the propulsive efficiency in forward flight. Dynamic twisting also showed a superior ability in controlling the airflow separation over the wing surface and maintaining the stability of the LEV. The amplitudes of effective angle of attack associated with the highest peak thrust and the maximum thrust-to-power at different advanced ratios were also explored, and it was found that the amplitudes decrease with increasing advanced ratio. To improve the efficiency during larger advanced ratio, specific modifications to the pitching of the wing were proposed in this work. The research in this paper has promising implications for the bio-inspired flapping wing.

Timing and precision of rattlesnake spinal motoneurons are determined by the KV72/3 potassium channel

The evolution of novel motor behaviors requires modifications in the central pattern generators (CPGs) controlling muscle activity. How such changes gradually lead to novel behaviors remains enigmatic due to the long time course of evolution. Rattlesnakes provide a unique opportunity to investigate how a locomotor CPG was evolutionarily modified to generate a novel behavior-in this case, acoustic signaling. We show that motoneurons (MNs) in the body and tail spinal cord of rattlesnakes possess fundamentally different physiological characteristics, which allow MNs in the tail to integrate and transmit CPG output for controlling superfast muscles with high temporal precision. Using patch-clamp electrophysiology, we demonstrate that these differences in locomotor and rattle MNs are mainly determined by KV72/3 potassium channels. However, although KV72/3 exerted a significantly different influence on locomotor and rattle MN physiology, single-cell RNA-seq unexpectedly did not reveal any differences in KV72/3 channels' expression. VIDEO ABSTRACT.

Moderate mass loss enhances flight performance via alteration of flight kinematics and postures in a passerine bird

Many birds experience fluctuations in body mass throughout the annual life cycle. The flight efficiency hypothesis posits that adaptive mass loss can enhance avian flight ability. However, whether birds can increase additional wing loading following mass loss and how birds adjust flight kinematics and postures remain largely unexplored. We investigated physiological changes in body condition in breeding female Eurasian tree sparrows (Passer montanus) through a dietary restriction experiment and determined the changes in flight kinematics and postures. Body mass decreased significantly, but the external maximum load and mass-corrected total load increased significantly after 3 days of dietary restriction. After 6 days of dietary restriction (DR6), hematocrit, pectoralis and hepatic fat content, take-off speed, theoretical maximum range speed and maximum power speed declined significantly. Notably, the load capacity and power margin remained unchanged relative to the control group. The wing stroke amplitude and relative downstroke duration were not affected by the interaction between diet restriction and extra load. Wing stroke amplitude significantly increased after DR6 treatment, while the relative downstroke duration significantly decreased. The stroke plane angle significantly increased after DR6 treatment only in the load-free condition. In addition, the sparrows adjusted their body angle and stroke plane angle in response to the extra load, but stroke amplitude and wingbeat frequency remained unchanged. Therefore, birds can maintain and even enhance their flight performance by adjusting flight kinematics and postures after a short-term mass loss.

Active wing-pitching mechanism in hummingbird escape maneuvers

Previous studies suggested that wing pitching, i.e. the wing rotation around its long axis, of insects and hummingbirds is primarily driven by an inertial effect associated with stroke deceleration and acceleration of the wings and is thus passive. Here we considered the rapid escape maneuver of hummingbirds who were initially hovering but then startled by the frontal approach of a looming object. During the maneuver, the hummingbirds substantially changed their wingbeat frequency, wing trajectory, and other kinematic parameters. Using wing kinematics reconstructed from high-speed videos and computational fluid dynamics modeling, we found that although the same inertial effect drove the wing flipping at stroke reversal as in hovering, significant power input was required to pitch up the wings during downstroke to enhance aerodynamic force production; furthermore, the net power input could be positive for wing pitching in a complete wingbeat cycle. Therefore, our study suggests that an active mechanism was present during the maneuver to drive wing pitching. In addition to the powered pitching, wing deviation during upstroke required twice as much power as hovering to move the wings caudally when the birds redirected the aerodynamic force vector for escaping. These findings were consistent with our hypothesis that enhanced muscle recruitment is essential for hummingbirds' escape maneuvers.

First lift-off and flight performance of a tailless flapping-wing aerial robot in high-altitude environments

Flapping flight of animals has captured the interest of researchers due to their impressive flight capabilities across diverse environments including mountains, oceans, forests, and urban areas. Despite the significant progress made in understanding flapping flight, high-altitude flight as showcased by many migrating animals remains underexplored. At high-altitudes, air density is low, and it is challenging to produce lift. Here we demonstrate a first lift-off of a flapping wing robot in a low-density environment through wing size and motion scaling. Force measurements showed that the lift remained high at 0.14 N despite a 66% reduction of air density from the sea-level condition. The flapping amplitude increased from 148 to 233 degrees, while the pitch amplitude remained nearly constant at 38.2 degrees. The combined effect is that the flapping-wing robot benefited from the angle of attack that is characteristic of flying animals. Our results suggest that it is not a simple increase in the flapping frequency, but a coordinated increase in the wing size and reduction in flapping frequency enables the flight in lower density condition. The key mechanism is to preserve the passive rotations due to wing deformation, confirmed by a bioinspired scaling relationship. Our results highlight the feasibility of flight under a low-density, high-altitude environment due to leveraging unsteady aerodynamic mechanisms unique to flapping wings. We anticipate our experimental demonstration to be a starting point for more sophisticated flapping wing models and robots for autonomous multi-altitude sensing. Furthermore, it is a preliminary step towards flapping wing flight in the ultra-low density Martian atmosphere.

Musculoskeletal wing-actuation model of hummingbirds predicts diverse effects of primary flight muscles in hovering flight

Hummingbirds have evolved to hover and manoeuvre with exceptional flight control. This is enabled by their musculoskeletal system that successfully exploits the agile motion of flapping wings. Here, we synthesize existing empirical and modelling data to generate novel hypotheses for principles of hummingbird wing actuation. These may help guide future experimental work and provide insights into the evolution and robotic emulation of hummingbird flight. We develop a functional model of the hummingbird musculoskeletal system, which predicts instantaneous, three-dimensional torque produced by primary (pectoralis and supracoracoideus) and combined secondary muscles. The model also predicts primary muscle contractile behaviour, including stress, strain, elasticity and work. Results suggest that the primary muscles (i.e. the flight 'engine') function as diverse effectors, as they do not simply power the stroke, but also actively deviate and pitch the wing with comparable actuation torque. The results also suggest that the secondary muscles produce controlled-tightening effects by acting against primary muscles in deviation and pitching. The diverse effects of the pectoralis are associated with the evolution of a comparatively enormous bicipital crest on the humerus.

Bio-inspired flapping wing robots with foldable or deformable wings: a review

Traditional flapping-wing robots (FWRs) obtain lift and thrust by relying on the passive deformation of their wings which cannot actively fold or deform. In contrast, flying creatures such as birds, bats, and insects can maneuver agilely through active folding or deforming their wings. Researchers have developed many bio-inspired foldable or deformable wings (FDWs) imitating the wings of flying creatures. The foldable wings refer to the wings like the creatures' wings that can fold in an orderly manner close to their bodies. Such wings have scattered feathers or distinct creases that can be stacked and folded to reduce the body envelope, which in nature is beneficial for these animals to prevent wing damage and ensure agility in crossing bushes. The deformable wings refer to the active deformation of the wings using active driving mechanisms and the passive deformation under the aerodynamic force, which functionally imitates the excellent hydrodynamic performance of the deformable body and wings of the creatures. However, the shape and external profile changes of deformable wings tend to be much smaller than that of folding wings. FDWs enable the FWRs to improve flight degree of flexibility, maneuverability, and efficiency and reduce flight energy consumption. However, FDWs still need to be studied, and a comprehensive review of the state-of-the-art progress of FDWs in FWR design is lacking. This paper analyzes the wing folding and deformation mechanisms of the creatures and reviews the latest progress of FWRs with FDWs. Furthermore, we summarize the current limitations and propose future directions in FDW design, which could help researchers to develop better FWRs for safe maneuvering in obstacle-dense environments.

Modeling the musculoskeletal system of an insect thorax for flapping flight

Indirect actuation of the wings via thoracic deformation is a unique mechanism widely observed in flying insect species. The physical properties of the thorax have been intensively studied in terms of their ability to efficiently generate wingbeats. The basic mechanism of indirect wing actuation is generally explained as a lever model on a cross-sectional plane, where the dorsoventral movement of the mesonotum (dorsal exoskeleton of the mesothorax) generated by contractions of indirect muscles actuates the wing. However, the model considers the mesonotum as an ideal flat plane, whereas the mesonotum is hemispherical and becomes locally deformed during flight. Furthermore, the conventional model is two-dimensional; therefore, three-dimensional wing kinematics by indirect muscles have not been studied to date. In this study, we develop structural models of the mesonotum and mesothorax of the hawkmothAgrius convolvuli, reconstructed from serial cross-sectional images. External forces are applied to the models to mimic muscle contraction, and mesonotum deformation and wing trajectories are analyzed using finite element analysis. We find that applying longitudinal strain to the mesonotum to mimic strain by depressor muscle contraction reproduces local deformation comparable to that of the thorax during flight. Furthermore, the phase difference of the forces applied to the depressor and elevator muscles changes the wing trajectory from a figure eight to a circle, which is qualitatively consistent with the tethered flight experiment. These results indicate that the local deformation of the mesonotum due to its morphology and the thoracic deformation via indirect power muscles can modulate three-dimensional wing trajectories.

3D reconstruction of bird flight trajectories using a single video camera

Video cameras are finding increasing use in the study and analysis of bird flight over short ranges. However, reconstruction of flight trajectories in three dimensions typically requires the use of multiple cameras and elaborate calibration procedures. We present an alternative approach that uses a single video camera and a simple calibration procedure for the reconstruction of such trajectories. The technique combines prior knowledge of the wingspan of the bird with a camera calibration procedure that needs to be used only once in the lifetime of the system. The system delivers the exact 3D coordinates of the position of the bird at the time of every full wing extension and uses interpolated height estimates to compute the 3D positions of the bird in the video frames between successive wing extensions. The system is inexpensive, compact and portable, and can be easily deployed in the laboratory as well as the field.

Wing Kinematics and Unsteady Aerodynamics of a Hummingbird Pure Yawing Maneuver

As one of few animals with the capability to execute agile yawing maneuvers, it is quite desirable to take inspiration from hummingbird flight aerodynamics. To understand the wing and body kinematics and associated aerodynamics of a hummingbird performing a free yawing maneuver, a crucial step in mimicking the biological motion in robotic systems, we paired accurate digital reconstruction techniques with high-fidelity computational fluid dynamics (CFD) simulations. Results of the body and wing kinematics reveal that to achieve the pure yaw maneuver, the hummingbird utilizes very little body pitching, rolling, vertical, or horizontal motion. Wing angle of incidence, stroke, and twist angles are found to be higher for the inner wing (IW) than the outer wing (OW). Unsteady aerodynamic calculations reveal that drag-based asymmetric force generation during the downstroke (DS) and upstroke (US) serves to control the speed of the turn, a characteristic that allows for great maneuvering precision. A dual-loop vortex formation during each half-stroke is found to contribute to asymmetric drag production. Wake analysis revealed that asymmetric wing kinematics led to leading-edge vortex strength differences of around 59% between the IW and OW. Finally, analysis of the role of wing flexibility revealed that flexibility is essential for generating the large torque necessary for completing the turn as well as producing sufficient lift for weight support.

Fluid dynamics, scaling laws and plesiosaur locomotion

The evolutionary success of plesiosaurs has led to much attention regarding the dynamics of their locomotion. They exhibit identical tandem flippers, which is unique among all living and extinct species. However, these tandem flippers have been a source of debate regarding plesiosaurs' locomotion and behavior. Here we propose a new approach to studying plesiosaur locomotion based on universal scaling laws in fluid dynamics, which were used to estimate reduced frequency to characterize unsteadiness of an airfoil. It was found that, while the reduced frequency of plesiosaurs with high-aspect ratio flippers is similar to that of sea turtles, the most commonly used living analog, lower aspect ratio plesiosaurs were more similar in reduced frequency to penguins. This implies that plesiosaurs may have had large variations in agility among themselves, depending in particular on the specimen's flipper aspect ratio. While our results are consistent with the previous literature indicating a relationship between plesiosaur neck length and agility, our work supports broad and diverse analogies to living animals. Moreover, based on our results, cruising reduced frequency has some predictive value into manoeuvring behavior, rather than simply cruising behavior.

The role of wingbeat frequency and amplitude in flight power

Body-mounted accelerometers provide a new prospect for estimating power use in flying birds, as the signal varies with the two major kinematic determinants of aerodynamic power: wingbeat frequency and amplitude. Yet wingbeat frequency is sometimes used as a proxy for power output in isolation. There is, therefore, a need to understand which kinematic parameter birds vary and whether this is predicted by flight mode (e.g. accelerating, ascending/descending flight), speed or morphology. We investigate this using high-frequency acceleration data from (i) 14 species flying in the wild, (ii) two species flying in controlled conditions in a wind tunnel and (iii) a review of experimental and field studies. While wingbeat frequency and amplitude were positively correlated, R² values were generally low, supporting the idea that parameters can vary independently. Indeed, birds were more likely to modulate wingbeat amplitude for more energy-demanding flight modes, including climbing and take-off. Nonetheless, the striking variability, even within species and flight types, highlights the complexity of describing the kinematic relationships, which appear sensitive to both the biological and physical context. Notwithstanding this, acceleration metrics that incorporate both kinematic parameters should be more robust proxies for power than wingbeat frequency alone.

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.

Wing osteology, myology, and function of Rhea americana (Aves, Rheidae)

The Greater Rhea (Rhea americana, Rheidae) is a flightless paleognath with a wide geographical distribution in South America. The morphology of its shoulder girdle and wings are different from those of flying birds and some characteristics are similar to basal birds and paravian theropods. We present a detailed osteological, myological, and functional study of the shoulder and the wing of the Greater Rhea. Particular features of the anatomy of the pectoral girdle and wing of Rhea include the lack of triosseal canal, reduced origin area of the mm. pectoralis p. thoracica and supracoracoideus and the lack of a propatagium. The wing muscle mass is markedly reduced, reaching only 0.89% of total body mass (BM). Forelimb muscles mass values are low compared to those of flying birds and are congruent with the non-use of wings for active locomotion movements. R. americana does not flap the wings dorso-ventral as typical for flying birds, but predominantly in cranio-caudal direction, following a craniolateral to caudomedial abduction-adduction arc. When the wings are fully abducted, they are inverted L-shaped, with the inner surface caudally faced, and when the wings are folded against the body, they do not perform the complete automatic wing folding nor the circumduction of the manus, a movement performed by extant volant birds. This study complements our knowledge of the axial musculature of the flightless paleognaths and highlights the use of the Greater Rhea as a model, which may help understand the evolution of Palaeognathae, as well as the origin of flapping flight among paravian theropods.

Aerodynamic investigation on shifted-back vertical stroke plane of flapping wing in forward flight

In order to properly understand aerodynamic characteristics in a flapping wing in forward flight, additional aerodynamic parameters apart from those in hover-an inclined stroke plane, a shifted-back stroke plane, and an advance ratio-must be comprehended in advance. This paper deals with the aerodynamic characteristics of a flapping wing in a shifted-back vertical stroke plane in freestream. A scaled-up robotic arm in a water towing tank was used to collect time-varying forces of a model flapping wing, and a semi-empirical quasi-steady aerodynamic model, which can decompose the forces into steady, quasi-steady, and unsteady components, was used to estimate the forces of the model flapping wing. It was found that the shifted-back stroke plane left a part of freestream as a non-perpendicular component, giving rise to a time-course change in the aerodynamic forces during the stroke. This also brought out two quasi-steady components (rotational and added-mass forces) apart from the steady one, even the wing moved with a constant stroke velocity. The aerodynamic model underestimated the actual forces of the model flapping wing even it can cover the increasingly distributed angle of attack of the vertical stroke plane with a blade element theory. The locations of the centers of pressure suggested a greater pressure gradient and an elongated leading-edge vortex along a wingspan than that of the estimation, which may explain the higher actual force in forward flight.

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.

Locomotion and Energetics of Divergent Foraging Strategies in Hummingbirds: A Review

Hummingbirds have two main foraging strategies: territoriality (defending a patch of flowers) and traplining (foraging over routine circuits of isolated patches). Species are often classified as employing one or the other. Not only have these strategies been inconsistently defined within the behavioral literature, but this simple framework also neglects the substantial evidence for flexible foraging behavior displayed by hummingbirds. Despite these limitations, research on hummingbird foraging has explored the distinct avenues of selection that proponents of either strategy presumably face: trapliners maximizing foraging efficiency, and territorialists favoring speed and maneuverability for resource defense. In earlier studies, these functions were primarily examined through wing disc loading (ratio of body weight to the circular area swept out by the wings, WDL) and predicted hovering costs, with trapliners expected to exhibit lower WDL than territorialists and thus lower hovering costs. While these pioneering models continue to play a role in current research, early studies were constrained by modest technology, and the original expectations regarding WDL have not held up when applied across complex hummingbird assemblages. Current technological advances have allowed for innovative research on the biomechanics/energetics of hummingbird flight, such as allometric scaling relationships (e.g., wing area-flight performance) and the link between high burst lifting performance and territoriality. Providing a predictive framework based on these relationships will allow us to reexamine previous hypotheses, and explore the biomechanical trade-offs to different foraging strategies, which may yield divergent routes of selection for quintessential territoriality and traplining. With a biomechanical and morphofunctional lens, here we examine the locomotor and energetic facets that dictate hummingbird foraging, and provide (a) predictions regarding the behavioral, biomechanical, and morphofunctional associations with territoriality and traplining; and (b) proposed methods of testing them. By pursuing these knowledge gaps, future research could use a variety of traits to help clarify the operational definitions of territoriality and traplining, to better apply them in the field.

The coracoscapular joint of neornithine birds—extensive homoplasy in a widely neglected articular surface of the avian pectoral girdle and its possible functional correlates

A survey is given of the morphological variation of the coracoscapular joint of neornithine birds. In Mesozoic stem group representatives, the coracoid exhibits a deeply concave cotyla scapularis, which articulates with a globose tuberculum coracoideum of the scapula. This morphology is likely to be functionally related to the development of a powerful supracoracoideus muscle and the formation of a triosseal canal as a pulley for the tendon of this muscle. In neornithine birds, the coracoid articulates with the scapula either via a concave cotyla or a flat facies articularis, with the latter largely restricting movements of the coracoid to the paramedian plane. Ancestral state reconstruction suggests that a cotyla scapularis is plesiomorphic for Neornithes and that a flat facies articularis scapularis evolved at least 13 times independently within the clade. For several lineages, the transition to a flat facies articularis scapularis can be traced in the fossil record, and the replacement of a cup-shaped cotyla by a flat articular facet seems to have been due to various functional demands. Often, a flat facies articularis scapularis is associated with reduced shafts of the furcula. A weakly developed furcula enables transverse movements of the coracoid and therefore enables a restriction of the mobility of the coracoscapular joint to the paramedian plane. In taxa with a large crop, a flat facies articularis scapularis is likely to be associated with a reorganization of the pectoral musculature, whereas in procellariiform birds, the transition from a cotyla to a facies articularis appears to have been correlated with the capacity for sustained soaring without wing flapping.

How oscillating aerodynamic forces explain the timbre of the hummingbird's hum and other animals in flapping flight

How hummingbirds hum is not fully understood, but its biophysical origin is encoded in the acoustic nearfield. Hence, we studied six freely hovering Anna’s hummingbirds, performing acoustic nearfield holography using a 2176 microphone array in vivo, while also directly measuring the 3D aerodynamic forces using a new aerodynamic force platform. We corroborate the acoustic measurements by developing an idealized acoustic model that integrates the aerodynamic forces with wing kinematics, which shows how the timbre of the hummingbird’s hum arises from the oscillating lift and drag forces on each wing. Comparing birds and insects, we find that the characteristic humming timbre and radiated power of their flapping wings originates from the higher harmonics in the aerodynamic forces that support their bodyweight. Our model analysis across insects and birds shows that allometric deviation makes larger birds quieter and elongated flies louder, while also clarifying complex bioacoustic behavior.

Anyone walking outdoors has heard the whooshing sound of birdwings flapping overhead, the buzzing sound of bees flying by, or the whining of mosquitos seeking blood. All animals with flapping wings make these sounds, but the hummingbird makes perhaps the most delightful sound of all: their namesake hum. Yet, how hummingbirds hum is poorly understood.

Bird wings generate large vortices of air to boost their lift and hover in the air that can generate tones. Further, the airflow over bird wings can be highly turbulent, meaning it can generate loud sounds, like the jets of air coming out of the engines of aircraft. Given all the sound-generating mechanisms at hand, it is difficult to determine why some wings buzz whereas others whoosh or hum.

Hightower, Wijnings et al. wanted to understand the physical mechanism that causes animal wings to whine, buzz, hum or whoosh in flight. They hypothesized that the aerodynamic forces generated by animal wings are the main source of their characteristic wing sounds. Hummingbird wings have the most features in common with different animals’ wings, while also featuring acoustically complex feathers. This makes them ideal models for deciphering how birds, bats and even insects make wing sounds.

To learn more about wing sounds, Hightower, Wijnings et al. studied how a species of hummingbird called Anna’s hummingbird hums while drinking nectar from a flower. A three-dimensional ‘acoustic hologram’ was generated using 2,176 microphones to measure the humming sound from all directions. In a follow-up experiment, the aerodynamic forces the hummingbird wings generate to hover were also measured. Their wingbeat was filmed simultaneously in slow-motion in both experiments. Hightower, Wijnings et al. then used a mathematical model that governs the wing’s aeroacoustics to confirm that the aerodynamic forces generated by the hummingbirds’ wings cause the humming sound heard when they hover in front of a flower. The model shows that the oscillating aerodynamic forces generate harmonics, which give the wings’ hum the acoustic quality of a musical instrument.

Using this model Hightower, Wijnings et al. found that the differences in the aerodynamic forces generated by bird and insect wings cause the characteristic timbres of their whines, buzzes, hums, or whooshes. They also determined how these sounds scale with body mass and flapping frequency across 170 insect species and 80 bird species. This showed that mosquitos are unusually loud for their body size due to the unusual unsteadiness of the aerodynamic forces they generate in flight.

These results explain why flying animals’ wings sound the way they do – for example, why larger birds are quieter and mosquitos louder. Better understanding of how the complex forces generated by animal wings create sound can advance the study of how animals change their wingbeat to communicate. Further, the model that explains how complex aerodynamic forces cause sound can help make the sounds of aerial robots, drones, and fans not only more silent, but perhaps more pleasing, like the hum of a hummingbird.

Data-driven CFD Scaling of Bioinspired Mars Flight Vehicles for Hover

One way to improve our model of Mars is through aerial sampling and surveillance, which could provide information to augment the observations made by ground-based exploration and satellite imagery. Flight in the challenging ultra-low-density Martian environment can be achieved with properly scaled bioinspired flapping wing vehicle configurations that utilize the same high lift producing mechanisms that are employed by insects on Earth. Through dynamic scaling of wings and kinematics, we investigate the ability to generate solutions for a broad range of flapping wing flight vehicles masses ranging from insects O(10-3) kg to the Mars helicopter Ingenuity O(100) kg. A scaling method based on a neural-network trained on 3D Navier-Stokes solutions is proposed to determine approximate wing size and kinematic values that generate bioinspired hover solutions. We demonstrate that a family of solutions exists for designs that range from 1 to 1000 grams, which are verified and examined using a 3D Navier-Stokes solver. Our results reveal that unsteady lift enhancement mechanisms, such as delayed stall and rotational lift, are present in the bioinspired solutions for the scaled vehicles hovering in Martian conditions. These hovering vehicles exhibit payloads of up to 1 kg and flight times on the order of 100 minutes when considering the respective limiting cases of the vehicle mass being comprised entirely of payload or entirely of a battery and neglecting any transmission inefficiencies. This method can help to develop a range of Martian flying vehicle designs with mission viable payloads, range, and endurance.

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.

Individual variation and the biomechanics of maneuvering flight in hummingbirds

An animal's maneuverability will determine the outcome of many of its most important interactions. A common approach to studying maneuverability is to force the animal to perform a specific maneuver or to try to elicit maximal performance. Recently, the availability of wider-field tracking technology has allowed for high-throughput measurements of voluntary behavior, an approach that produces large volumes of data. Here, we show how these data allow for measures of inter-individual variation that are necessary to evaluate how performance depends on other traits, both within and among species. We use simulated data to illustrate best practices when sampling a large number of voluntary maneuvers. Our results show how the sample average can be the best measure of inter-individual variation, whereas the sample maximum is neither repeatable nor a useful metric of the true variation among individuals. Our studies with flying hummingbirds reveal that their maneuvers fall into three major categories: simple translations, simple rotations and complex turns. Simple maneuvers are largely governed by distinct morphological and/or physiological traits. Complex turns involve both translations and rotations, and are more subject to inter-individual differences that are not explained by morphology. This three-part framework suggests that different wingbeat kinematics can be used to maximize specific aspects of maneuverability. Thus, a broad explanatory framework has emerged for interpreting hummingbird maneuverability. This framework is general enough to be applied to other types of locomotion, and informative enough to explain mechanisms of maneuverability that could be applied to both animals and bio-inspired robots.

SnakeStrike: A Low-Cost Open-Source High-Speed Multi-Camera Motion Capture System

Current neuroethological experiments require sophisticated technologies to precisely quantify the behavior of animals. In many studies, solutions for video recording and subsequent tracking of animal behavior form a major bottleneck. Three-dimensional (3D) tracking systems have been available for a few years but are usually very expensive and rarely include very high-speed cameras; access to these systems for research is limited. Additionally, establishing custom-built software is often time consuming – especially for researchers without high-performance programming and computer vision expertise. Here, we present an open-source software framework that allows researchers to utilize low-cost high-speed cameras in their research for a fraction of the cost of commercial systems. This software handles the recording of synchronized high-speed video from multiple cameras, the offline 3D reconstruction of that video, and a viewer for the triangulated data, all functions previously also available as separate applications. It supports researchers with a performance-optimized suite of functions that encompass the entirety of data collection and decreases processing time for high-speed 3D position tracking on a variety of animals, including snakes. Motion capture in snakes can be particularly demanding since a strike can be as short as 50 ms, literally twice as fast as the blink of an eye. This is too fast for faithful recording by most commercial tracking systems and therefore represents a challenging test to our software for quantification of animal behavior. Therefore, we conducted a case study investigating snake strike speed to showcase the use and integration of the software in an existing experimental setup.

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.

Mechanical power curve measured in the wake of pied flycatchers indicates modulation of parasite power across flight speeds

How aerodynamic power required for animal flight varies with flight speed determines optimal speeds during foraging and migratory flight. Despite its relevance, aerodynamic power provides an elusive quantity to measure directly in animal flight. Here, we determine the aerodynamic power from wake velocity fields, measured using tomographical particle image velocimetry, of pied flycatchers flying freely in a wind tunnel. We find a shallow U-shaped power curve, which is flatter than expected by theory. Based on how the birds vary body angle with speed, we speculate that the shallow curve results from increased body drag coefficient and body frontal area at lower flight speeds. Including modulation of body drag in the model results in a more reasonable fit with data than the traditional model. From the wake structure, we also find a single starting vortex generated from the two wings during the downstroke across flight speeds (1-9 m s^-1). This is accomplished by the arm wings interacting at the beginning of the downstroke, generating a unified starting vortex above the body of the bird. We interpret this as a mechanism resulting in a rather uniform downwash and low induced power, which can help explain the higher aerodynamic performance in birds compared with bats.

Computational investigation of wing-body interaction and its lift enhancement effect in hummingbird forward flight

A lift enhancement mechanism due to wing-body interaction (WBI) was previously proved to be significant in the forward flight of insect flyers with wide-shape bodies, such as cicada. In order to further explore WBI and its lift enhancement effect in a flapping flight platform with different wing and body shapes, numerical investigations of WBI were performed on the forward flight of a hummingbird in this paper. A high-fidelity computational model of a hummingbird in forward flight was modeled with its geometric complexity. The wing kinematics of flapping flight were prescribed using experimental data from previous literature. An immersed-boundary-method-based incompressible Navier‒Stokes solver was used for the 3D flow simulations of the wing-body system. Analyses on aerodynamic performances and vortex dynamics of three models, including the wing-body (WB), wing-only (WO), and body-only (BO) models, were made to examine the effect of WBI. Results have shown significant overall lift enhancement (OLE) due to WBI. The total lift force of the WB model increased by 29% compared with its WO/BO counterparts. Vortex dynamics results showed formations of unique body vortex pairs on the dorsal thorax of hummingbird where low-pressure zones were created to generate more body lift. Significant interactions between body vortex and leading-edge vortex (LEV) were observed, resulting in strengthened LEVs near the wing root and enhanced wing lift generation during downstroke. Parametric studies showed strong OLEs over wide ranges of body angle and advance ratio, respectively. The contribution of OLE from the hummingbird body increased with increasing body angle, and the wing pair's contribution increased as advance ratio increased. Results from this paper supported that lift enhancement due to WBI is potentially a general mechanism adopted by different kinds of flapping-wing flyers, and demonstrated the potential of WBI in the design of flapping-wing micro aerial vehicle (MAV) that pursue higher performance.

Scaling Bioinspired Mars Flight Vehicles for Hover

With the resurgent interest in landing humans on Mars, it is critical that our understanding of the Martian environment is complete and accurate. One way to improve our model of the red planet is through aerial surveillance, which provides information that augments the observations made by ground-based exploration and satellite imagery. Although the ultra-low-density Mars environment has previously stymied designs for achieving flight on Mars, bioinspired solutions for flapping wing flight can utilize the same high lift producing mechanisms employed by insects on Earth. Motivated by the current technologies for terrestrial flapping wing aerial vehicles on Earth, we seek solutions for a 5 gram bioinspired flapping wing aerial vehicle for flight on Mars. A zeroth-order method is proposed to determine approximate wing and kinematic values that generate bioinspired hover solutions. We demonstrate that a family of solutions exists for designs that are O(10¹) g, which are verified using a 3D Navier-Stokes solver. Our results show that unsteady lift enhancement mechanisms, such as delayed stall and rotational lift, are present in the bioinspired solution for a 5 g flapping wing vehicle hovering in Mars conditions, verifying that the zeroth-order method is a useful design tool. As a result, it is possible to design a family of bioinspired flapping wing robots for Mars by augmenting the adverse effects of the ultra-low density with large wings that exploit the advantages of unsteady lift enhancement mechanisms used by insects on Earth.

Synchronization of speed, sound and iridescent color in a hummingbird aerial courtship dive

Many animal signals are complex, often combining multimodal components with dynamic motion. To understand the function and evolution of these displays, it is vital to appreciate their spatiotemporal organization. Male broad-tailed hummingbirds (Selasphorus platycercus) perform dramatic U-shaped courtship dives over females, appearing to combine rapid movement and dive-specific mechanical noises with visual signals from their iridescent gorgets. To understand how motion, sound and color interact in these spectacular displays, we obtained video and audio recordings of dives performed by wild hummingbirds. We then applied a multi-angle imaging technique to estimate how a female would perceive the male's iridescent gorget throughout the dive. We show that the key physical, acoustic and visual aspects of the dive are remarkably synchronized-all occurring within 300 milliseconds. Our results highlight the critical importance of accounting for motion and orientation when investigating animal displays: speed and trajectory affect how multisensory signals are produced and perceived.

Development and flight performance of a biologically-inspired tailless flapping-wing micro air vehicle with wing stroke plane modulation

The tailless flapping-wing micro air vehicle (FW-MAV) is one of the most challenging problems in flapping-wing design due to its lack of tail for inherent flight stability. It must be designed in such a way that it can produce proper augmented control moments modulated by a closed-loop attitude controller for active stabilization. We propose a tailless FW-MAV with a wing stroke plane modulation mechanism, namely NUS-Roboticbird, which maneuvers by only using its flapping wings for both propulsion and attitude control. The flying vehicle has four wings comprised by two pairs, and each pair of wings and its stroke plane are driven by a motor and a servo, respectively. Attitude control moments of roll, pitch and yaw are generated by vectoring a pair of thrusts, which result from changing the flapping frequency (or motor speed) and wing stroke plane of the two pairs of wings. Free-flight tests show that the vehicle can climb and descend vertically (throttle control), fly sideways left and right (roll control), fly forwards and backwards (pitch control), rotate clockwise and counter-clockwise (yaw control), hover in mid-air (active self-stabilization), and maneuver in the figure-of-8 and fast forward/backward flight. These abilities are especially important for surveillance and autonomous flight in terms of obstacle avoidance in an indoor environment. Flight test data show that an effective mechanical control mechanism and control gains for attitude-controlled flights for roll, pitch and yaw are achieved, in particular, yaw control. Currently, the vehicle weighing 31 g and having a wingspan of 22 cm can perform fast forward flight at a speed of about 5 m s^-1 (18 km h^-1) and endure 3.5 min in flight with a useful payload of a 4.5 g onboard camera for surveillance.

A computational investigation of lift generation and power expenditure of Pratt's roundleaf bat (Hipposideros pratti) in forward flight

The aerodynamic mechanisms of bat flight have been studied using a numerical approach. Kinematic data acquired using a high resolution motion capture system was employed to simulate the unsteady air flow around a bat’s wings. A flapping bat wing contains many degrees of freedom, which make 3D motion tracking challenging. In order to overcome this challenge, an optical motion capture system of 21 cameras was used to reduce wing self-occlusion. Over the course of a meter-long flight, 108 discrete marker points on the bat’s wings (Pratt’s roundleaf bat, Hipposideros pratti) were tracked. The time evolution of the surface of each wing was computationally reconstructed in 3D space. The resulting kinematic model was interfaced with an unsteady incompressible flow solver using the immersed boundary method (IBM) and large eddy simulation (LES). Verification and validation of the flow simulation were conducted to establish accuracy. The aerodynamic forces calculated from the simulation compared well to the forces theoretically needed to sustain the observed flight trajectory. The transient flow field generated by the simulation allowed for the direct calculation of lift, drag, and power output of the bat during flight. The mean lift coefficient was found to be 3.21, and the flap cycle averaged aerodynamic power output was 1.05 W. Throughout the flap cycle, the planform area of the wings varied up to 46% between the largest and smallest values. During the upstroke, wing rotation was found to mitigate negative lift thereby improving overall flight efficiency. The high resolution motion capture and flow simulation framework presented here has the potential to facilitate the understanding of complex bat flight aerodynamics for both straight and maneuvering flight modes.

The dynamics of hovering flight in hummingbirds, insects and bats with implications for aerial robotics

We analyze the effects of morphology and wing kinematics on the performance of hovering flight. We present a simplified dynamical model with body translational and rotational degrees of freedom that incorporates the flapping, long-axis wing rotation and folding of the wing. To validate our simulation, we compare our results with direct measurements from hovering insects, hummingbirds and bats. Results show that long-axis wing rotation angle (a proxy for pronation) has a significant effect on energy efficiency. For a given wing rotation amplitude, the hovering system has a power-optimal flapping frequency for each stroke-plane orientation, and that frequency closely corresponds to the wingbeat frequencies observed in a diverse range of hummingbird species. We find that larger animals (with larger total mass and wing size), such as bats, require more power to maintain a stable hovering orbit and that hovering with a constant wingspan becomes increasingly impractical with increasing body size. We show, as an exemplar, that for a system of the size of a hovering bat, e.g. Glossophaga soricina, hovering with constant wingspan is dynamically possible, but is implausible and inefficient. For these conditions, hovering with varying wingspan, retracting the wing on the upstroke, is a more realistic hovering modality.

Simultaneous measurements of three-dimensional trajectories and wingbeat frequencies of birds in the field

Tracking the movements of birds in three dimensions is integral to a wide range of problems in animal ecology, behaviour and cognition. Multi-camera stereo-imaging has been used to track the three-dimensional (3D) motion of birds in dense flocks, but precise localization of birds remains a challenge due to imaging resolution in the depth direction and optical occlusion. This paper introduces a portable stereo-imaging system with improved accuracy and a simple stereo-matching algorithm that can resolve optical occlusion. This system allows us to decouple body and wing motion, and thus measure not only velocities and accelerations but also wingbeat frequencies along the 3D trajectories of birds. We demonstrate these new methods by analysing six flocking events consisting of 50 to 360 jackdaws (Corvus monedula) and rooks (Corvus frugilegus) as well as 32 jackdaws and 6 rooks flying in isolated pairs or alone. Our method allows us to (i) measure flight speed and wingbeat frequency in different flying modes; (ii) characterize the U-shaped flight performance curve of birds in the wild, showing that wingbeat frequency reaches its minimum at moderate flight speeds; (iii) examine group effects on individual flight performance, showing that birds have a higher wingbeat frequency when flying in a group than when flying alone and when flying in dense regions than when flying in sparse regions; and (iv) provide a potential avenue for automated discrimination of bird species. We argue that the experimental method developed in this paper opens new opportunities for understanding flight kinematics and collective behaviour in natural environments.

How the hummingbird wingbeat is tuned for efficient hovering

Both hummingbirds and insects flap their wings to hover. Some insects, like fruit flies, improve efficiency by lifting their body weight equally over the upstroke and downstroke, while utilizing elastic recoil during stroke reversal. It is unclear whether hummingbirds converged on a similar elastic storage solution, because of asymmetries in their lift generation and specialized flight muscle apparatus. The muscles are activated a quarter of a stroke earlier than in larger birds, and contract superfast, which cannot be explained by previous stroke-averaged analyses. We measured the aerodynamic force and kinematics of Anna's hummingbirds to resolve wing torque and power within the wingbeat. Comparing these wingbeat-resolved aerodynamic weight support measurements with those of fruit flies, hawk moths and a generalist bird, the parrotlet, we found that hummingbirds have about the same low induced power losses as the two insects, lower than that of the generalist bird in slow hovering flight. Previous analyses emphasized how bird flight muscles have to overcome wing drag midstroke. We found that high wing inertia revises this for hummingbirds - the pectoralis has to coordinate upstroke to downstroke reversal while the supracoracoideus coordinates downstroke to upstroke reversal. Our mechanistic analysis aligns with all previous muscle recordings and shows how early activation helps furnish elastic recoil through stroke reversal to stay within the physiological limits of muscles. Our findings thus support Weis-Fogh's hypothesis that flies and hummingbirds have converged on a mechanically efficient wingbeat to meet the high energetic demands of hovering flight. These insights can help improve the efficiency of flapping robots.

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.

Kinematic control of male Allen's hummingbird wing trill over a range of flight speeds

Wing trills are pulsed sounds produced by modified wing feathers at one or more specific points in time during a wingbeat. Male Allen's hummingbirds (Selasphorus sasin) produce a sexually dimorphic 9 kHz wing trill in flight. Here, we investigated the kinematic basis for trill production. The wingtip velocity hypothesis posits that trill production is modulated by the airspeed of the wingtip at some point during the wingbeat, whereas the wing rotation hypothesis posits that trill production is instead modulated by wing rotation kinematics. To test these hypotheses, we flew six male Allen's hummingbirds in an open-jet wind tunnel at flight speeds of 0, 3, 6, 9, 12 and 14 m s^-1, and recorded their flight with two 'acoustic cameras' placed below and behind, or below and lateral to the flying bird. The acoustic cameras are phased arrays of 40 microphones that used beamforming to spatially locate sound sources within a camera image. Trill sound pressure level (SPL) exhibited a U-shaped relationship with flight speed in all three camera positions. SPL was greatest perpendicular to the stroke plane. Acoustic camera videos suggest that the trill is produced during supination. The trill was up to 20 dB louder during maneuvers than it was during steady-state flight in the wind tunnel, across all airspeeds tested. These data provide partial support for the wing rotation hypothesis. Altered wing rotation kinematics could allow male Allen's hummingbirds to modulate trill production in social contexts such as courtship displays.

How pigeons couple three-dimensional elbow and wrist motion to morph their wings

Birds change the shape and area of their wings to an exceptional degree, surpassing insects, bats and aircraft in their ability to morph their wings for a variety of tasks. This morphing is governed by a musculoskeletal system, which couples elbow and wrist motion. Since the discovery of this effect in 1839, the planar 'drawing parallels' mechanism has been used to explain the coupling. Remarkably, this mechanism has never been corroborated from quantitative motion data. Therefore, we measured how the wing skeleton of a pigeon (Columba livia) moves during morphing. Despite earlier planar assumptions, we found that the skeletal motion paths are highly three-dimensional and do not lie in the anatomical plane, ruling out the 'drawing parallels' mechanism. Furthermore, micro-computed tomography scans in seven consecutive poses show how the two wrist bones contribute to morphing, particularly the sliding ulnare. From these data, we infer the joint types for all six bones that form the wing morphing mechanism and corroborate the most parsimonious mechanism based on least-squares error minimization. Remarkably, the algorithm shows that all optimal four-bar mechanisms either lock, are unable to track the highly three-dimensional bone motion paths, or require the radius and ulna to cross for accuracy, which is anatomically unrealistic. In contrast, the algorithm finds that a six-bar mechanism recreates the measured motion accurately with a parallel radius and ulna and a sliding ulnare. This revises our mechanistic understanding of how birds morph their wings, and offers quantitative inspiration for engineering morphing wings.

Hovering hummingbird wing aerodynamics during the annual cycle. II. Implications of wing feather moult

Birds usually moult their feathers in a particular sequence which may incur aerodynamic, physiological and behavioural implications. Among birds, hummingbirds are unique species in their sustained hovering flight. Because hummingbirds frequently hover-feed, they must maintain sufficiently high flight capacities even when moulting their flight feathers. A hummingbird wing consists of 10 primary flight feathers whose absence during moult may strongly affect wing performance. Using dynamic similarity rules, we compared time-accurate aerodynamic loads and flow field measurements over several wing geometries that follow the natural feather moult sequence of Calypte anna, a common hummingbird species in western North America. Our results suggest a drop of more than 20% in lift production during the early stages of the moult sequence in which mid-wing flight feathers are moulted. We also found that the wing's ability to generate lift strongly depended on the morphological integrity of the outer primaries and leading-edge. These findings may explain the evolution of wing morphology and moult attributes. Specifically, the high overlap between adjacent wing feathers, especially at the wing tip, and the slow sequential replacement of the wing feathers result in a relatively small reduction in wing surface area during moult with limited aerodynamic implications. We present power and efficiency analyses for hover flight during moult under several plausible scenarios, suggesting that body mass reduction could be a compensatory mechanism that preserves the energetic costs of hover flight.

Self-adaptive Bioinspired Hummingbird-wing Stimulated Triboelectric Nanogenerators

Bio-inspired technologies have remarkable potential for energy harvesting from clean and sustainable energy sources. Inspired by the hummingbird-wing structure, we propose a shape-adaptive, lightweight triboelectric nanogenerator (TENG) designed to exploit the unique flutter mechanics of the hummingbird for small-scale wind energy harvesting. The flutter is confined between two surfaces for contact electrification upon oscillation. We investigate the flutter mechanics on multiple contact surfaces with several free-standing and lightweight electrification designs. The flutter driven-TENGs are deposited on simplified wing designs to match the electrical performance with variations in wind speed. The hummingbird TENG (H-TENG) device weighed 10 g, making it one of the lightest TENG harvesters in the literature. With a six TENG network, the hybrid design attained a 1.5 W m⁻² peak electrical output at 7.5 m/s wind speed with an approximately linear increase in charge rate with the increased number of TENG harvesters. We demonstrate the ability of the H-TENG networks to operate Internet of Things (IoT) devices from sustainable and renewable energy sources.

Hovering in the heat: effects of environmental temperature on heat regulation in foraging hummingbirds

At high temperature (greater than 40°C) endotherms experience reduced passive heat dissipation (radiation, conduction and convection) and increased reliance on evaporative heat loss. High temperatures challenge flying birds due to heat produced by wing muscles. Hummingbirds depend on flight for foraging, yet inhabit hot regions. We used infrared thermography to explore how lower passive heat dissipation during flight impacts body-heat management in broad-billed (Cynanthus latirostris, 3.0 g), black-chinned (Archilochus alexandri, 3.0 g), Rivoli's (Eugenes fulgens, 7.5 g) and blue-throated (Lampornis clemenciae, 8.0 g) hummingbirds in southeastern Arizona and calliope hummingbirds (Selasphorus calliope, 2.6 g) in Montana. Thermal gradients driving passive heat dissipation through eye, shoulder and feet dissipation areas are eliminated between 36 and 40°C. Thermal gradients persisted at higher temperatures in smaller species, possibly allowing them to inhabit warmer sites. All species experienced extended daytime periods lacking thermal gradients. Broad-billed hummingbirds lacking thermal gradients regulated the mean total-body surface temperature at approximately 38°C, suggesting behavioural thermoregulation. Blue-throated hummingbirds were inactive when lacking passive heat dissipation and hence might have the lowest temperature tolerance of the four species. Use of thermal refugia permitted hummingbirds to tolerate higher temperatures, but climate change could eliminate refugia, forcing distributional shifts in hummingbird populations.

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'.

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'.

Superfast high-resolution absolute 3D recovery of a stabilized flapping flight process

Scientific research of a stabilized flapping flight process (e.g. hovering) has been of great interest to a variety of fields including biology, aerodynamics, and bio-inspired robotics. Different from the current passive photogrammetry based methods, the digital fringe projection (DFP) technique has the capability of performing dense superfast (e.g. kHz) 3D topological reconstructions with the projection of defocused binary patterns, yet it is still a challenge to measure a flapping flight process with the presence of rapid flapping wings. This paper presents a novel absolute 3D reconstruction method for a stabilized flapping flight process. Essentially, the slow motion parts (e.g. body) and the fast-motion parts (e.g. wings) are segmented and separately reconstructed with phase shifting techniques and the Fourier transform, respectively. The topological relations between the wings and the body are utilized to ensure absolute 3D reconstruction. Experiments demonstrate the success of our computational framework by testing a flapping wing robot at different flapping speeds.

The biomechanical origin of extreme wing allometry in hummingbirds

Flying animals of different masses vary widely in body proportions, but the functional implications of this variation are often unclear. We address this ambiguity by developing an integrative allometric approach, which we apply here to hummingbirds to examine how the physical environment, wing morphology and stroke kinematics have contributed to the evolution of their highly specialised flight. Surprisingly, hummingbirds maintain constant wing velocity despite an order of magnitude variation in body weight; increased weight is supported solely through disproportionate increases in wing area. Conversely, wing velocity increases with body weight within species, compensating for lower relative wing area in larger individuals. By comparing inter- and intraspecific allometries, we find that the extreme wing area allometry of hummingbirds is likely an adaptation to maintain constant burst flight capacity and induced power requirements with increasing weight. Selection for relatively large wings simultaneously maximises aerial performance and minimises flight costs, which are essential elements of humming bird life history.

Hummingbirds are known to defy the predicted scaling relationships between body and wing size. Here, Skandalis et al. develop a ‘force allometry’ framework to show that, regardless of wing size, hummingbird species have the same wing velocity during 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.

Hovering hummingbird wing aerodynamics during the annual cycle. I. Complete wing

The diverse hummingbird family (Trochilidae) has unique adaptations for nectarivory, among which is the ability to sustain hover-feeding. As hummingbirds mainly feed while hovering, it is crucial to maintain this ability throughout the annual cycle-especially during flight-feather moult, in which wing area is reduced. To quantify the aerodynamic characteristics and flow mechanisms of a hummingbird wing throughout the annual cycle, time-accurate aerodynamic loads and flow field measurements were correlated over a dynamically scaled wing model of Anna's hummingbird (Calypte anna). We present measurements recorded over a model of a complete wing to evaluate the baseline aerodynamic characteristics and flow mechanisms. We found that the vorticity concentration that had developed from the wing's leading-edge differs from the attached vorticity structure that was typically found over insects' wings; firstly, it is more elongated along the wing chord, and secondly, it encounters high levels of fluctuations rather than a steady vortex. Lift characteristics resemble those of insects; however, a 20% increase in the lift-to-torque ratio was obtained for the hummingbird wing model. Time-accurate aerodynamic loads were also used to evaluate the time-evolution of the specific power required from the flight muscles, and the overall wingbeat power requirements nicely matched previous studies.