Feather-inspired flow control device across flight regimes

Bio-inspired flow control strategies can provide a new paradigm of efficiency and adaptability to overcome the operational limitations of traditional flow control. This is particularly useful to small-scale uncrewed aerial vehicles since their mission requirements are rapidly expanding, but they are still limited in terms of agility and adaptability when compared to their biological counterparts, birds. One of the flow control strategies that birds implement is the deployment of covert feathers. In this study, we investigate the performance characteristics and flow physics of torsionally hinged covert-inspired flaps mounted on the suction side of a NACA2414 airfoil across different Reynolds numbers, specifically 200,000 and 1,000. These two Reynolds numbers are representative of different avian flight regimes where covert feathers have been observed to deploy during flight, namely cruising and landing/perching. We performed experiments and simulations where we varied the flap location, the hinge stiffness, and the moment of inertia of the flap to investigate the aerodynamic performance and describe the effects of the structural parameters of the flap on the aerodynamic lift improvements. Results of the study show up to 12% lift improvement post-stall for the flapped cases when compared to the flap-less baseline. The post-stall lift improvement is sensitive to the flap's structural properties and location. For instance, the hinge stiffness controls the mean deflection angle of the flap, which governs the resulting time-averaged lift improvements. The flap moment of inertia, on the other hand, controls the flap dynamics, which in turn controls the flap's lift-enhancing mechanism and how the flap affects the instantaneous lift. By examining the time-averaged and instantaneous lift measurement, we uncover the mechanisms by which the covert-inspired flap improves lift and highlights similarities and differences across Reynolds numbers. This article highlights the feasibility of using covert-inspired flaps as flow control across different flight missions and speeds.

Covert-inspired flaps: an experimental study to understand the interactions between upperwing and underwing covert feathers

Birds are agile flyers that can maintain flight at high angles of attack (AoA). Such maneuverability is partially enabled by the articulation of wing feathers. Coverts are one of the feather systems that has been observed to deploy simultaneously on both the upper and lower wing sides during flight. This study uses a feather-inspired flap system to investigate the effect of upper and lower side coverts on the aerodynamic forces and moments, as well as examine the interactions between both types of flaps. Results from wind tunnel experiments show that the covert-inspired flaps can modulate lift, drag, and pitching moment. Moreover, simultaneously deflecting covert-inspired flaps on the upper and lower sides of the airfoil exhibit larger force and moment modulation ranges compared to a single-sided flap alone. Data-driven models indicate significant interactions between the upper and lower side flaps, especially during the pre-stall regime for the lift and drag response. The findings from this study are also biologically relevant to the observations of covert feathers deployment during bird flight. Thus, the methods and results summarized here can be used to formulate new hypotheses about the coverts role in bird flight and develop a framework to design covert-inspired flow and flight control devices for engineered vehicles.

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.

Opportunistic soaring by birds suggests new opportunities for atmospheric energy harvesting by flying robots

The use of flying robots (drones) is increasing rapidly, but their utility is limited by high power demand, low specific energy storage and poor gust tolerance. By contrast, birds demonstrate long endurance, harvesting atmospheric energy in environments ranging from cluttered cityscapes to open landscapes, coasts and oceans. Here, we identify new opportunities for flying robots, drawing upon the soaring flight of birds. We evaluate mechanical energy transfer in soaring from first principles and review soaring strategies encompassing the use of updrafts (thermal or orographic) and wind gradients (spatial or temporal). We examine the extent to which state-of-the-art flying robots currently use each strategy and identify several untapped opportunities including slope soaring over built environments, thermal soaring over oceans and opportunistic gust soaring. In principle, the energetic benefits of soaring are accessible to flying robots of all kinds, given atmospherically aware sensor systems, guidance strategies and gust tolerance. Hence, while there is clear scope for specialist robots that soar like albatrosses, or which use persistent thermals like vultures, the greatest untapped potential may lie in non-specialist vehicles that make flexible use of atmospheric energy through path planning and flight control, as demonstrated by generalist flyers such as gulls, kites and crows.

Optimization of avian perching manoeuvres

Perching at speed is among the most demanding flight behaviours that birds perform^1,2 and is beyond the capability of most autonomous vehicles. Smaller birds may touch down by hovering^3–8, but larger birds typically swoop up to perch^1,2—presumably because the adverse scaling of their power margin prohibits hovering⁹ and because swooping upwards transfers kinetic to potential energy before collision^1,2,10. Perching demands precise control of velocity and pose^11–14, particularly in larger birds for which scale effects make collisions especially hazardous^6,15. However, whereas cruising behaviours such as migration and commuting typically minimize the cost of transport or time of flight¹⁶, the optimization of such unsteady flight manoeuvres remains largely unexplored^7,17. Here we show that the swooping trajectories of perching Harris’ hawks (Parabuteo unicinctus) minimize neither time nor energy alone, but rather minimize the distance flown after stalling. By combining motion capture data from 1,576 flights with flight dynamics modelling, we find that the birds’ choice of where to transition from powered dive to unpowered climb minimizes the distance over which high lift coefficients are required. Time and energy are therefore invested to provide the control authority needed to glide safely to the perch, rather than being minimized directly as in technical implementations of autonomous perching under nonlinear feedback control¹² and deep reinforcement learning^18,19. Naive birds learn this behaviour on the fly, so our findings suggest a heuristic principle that could guide reinforcement learning of autonomous perching.

To perch safely, large birds minimize the distance flown after stalling when swooping up from a dive to a perch, but not the time or energy required.

Birds both avoid and control collisions by harnessing visually guided force vectoring

Birds frequently manoeuvre around plant clutter in complex-structured habitats. To understand how they rapidly negotiate obstacles while flying between branches, we measured how foraging Pacific parrotlets avoid horizontal strings obstructing their preferred flight path. Informed by visual cues, the birds redirect forces with their legs and wings to manoeuvre around the obstacle and make a controlled collision with the goal perch. The birds accomplish aerodynamic force vectoring by adjusting their body pitch, stroke plane angle and lift-to-drag ratios beat-by-beat, resulting in a range of about 100° relative to the horizontal plane. The key role of drag in force vectoring revises earlier ideas on how the avian stroke plane and body angle correspond to aerodynamic force direction-providing new mechanistic insight into avian manoeuvring-and how the evolution of flight may have relied on harnessing drag.

Systematic characterization of wing mechanosensors that monitor airflow and wing deformations

Animal wings deform during flight in ways that can enhance lift, facilitate flight control, and mitigate damage. Monitoring the structural and aerodynamic state of the wing is challenging because deformations are passive, and the flow fields are unsteady; it requires distributed mechanosensors that respond to local airflow and strain on the wing. Without a complete map of the sensor arrays, it is impossible to model control strategies underpinned by them. Here, we present the first systematic characterization of mechanosensors on the dragonfly’s wings: morphology, distribution, and wiring. By combining a cross-species survey of sensor distribution with quantitative neuroanatomy and a high-fidelity finite element analysis, we show that the mechanosensors are well placed to perceive features of the wing dynamics relevant to flight. This work describes the wing sensory apparatus in its entirety and advances our understanding of the sensorimotor loop that facilitates exquisite flight control in animals with highly deformable wings.

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Dragonfly wings are innervated by an extensive collection of sensory neurons

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

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

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Anatomically accurate models reveal wing strain fields that inform sensor distribution

Control of leading-edge separation on bioinspired airfoil with fluttering coverts

In this work, the aerodynamic role of the artificial covert feathers (i.e., coverts) on an airfoil is experimentally studied in a wind tunnel to investigate the flow control effect on the leading-edge separation. We apply flexible featherlike devices on a high-angle-of-attack airfoil. We use a hot-wire anemometer to measure the velocity profiles and turbulent fluctuations in the downstream wake flow. As a baseline of flow separation, a two-dimensional NACA 0018 airfoil model is set at the angle of attack of 15 ° at the chord-based Reynolds number of 1.0×10^{5}, causing strong leading-edge and trailing-edge shear layers and a low-speed wake flow area in between as large as 0.35 chord length. When deployed on the upper wing surface, the flexible coverts adaptively flutter under the influence of the local unsteady airflow. Hot-wire measurement results show that the leading-edge coverts effectively suppress the flow separation and reduce the size of the wake flow area. The change of power spectral density shows that the predominant peaks as the fundamental and harmonic frequencies are both attenuated due to the suppression of unsteady motions of the shear layers. On the other hand, the fluttering coverts at the trailing edge modify the trailing-edge shear layer by redistributing the turbulent kinetic energy to the high-frequency components. By simultaneous double-point measurement, we find that the leading-edge and trailing-edge shear layers are drawn closer to each other, and the two shear layers show an increased peak in the coherence spectrum. Further multiscale wavelet analysis shows that the perturbations at the 60% chord length increase the large-scale amplitude modulation of small-scale turbulence and therefore they stabilize the leading-edge and trailing-edge shear layers. Meanwhile, the flow intermittency outside of the wake flow area is attenuated as well. The effective flow control effects in the present work are in good agreement with the previous direct observations of bird flight in literature that the coverts on the upper wing surface play an important role in flow separation control during high-angle-of-attack flight. These findings advance the understanding of aerodynamic contribution of the covers on bird wings and reveal the engineering potential of bioinspired coverts for flow separation control of aircrafts and unmanned air vehicles.

Numerical Study of Multiple Bio-Inspired Torsionally Hinged Flaps for Passive Flow Control

Covert feathers are a set of self-actuating, passively deployable feathers located on the upper surfaces of wings that augment lift at post-stall angles of attack. Due to these benefits, the study of covert-inspired passive flow control devices is becoming an increasingly active area of research. In this work, we numerically investigate the aerodynamic benefits of torsionally mounting five covert-inspired flaps on the upper surface of a NACA0012 airfoil. Two-dimensional high-fidelity simulations of the flow past the airfoil–flap system at low Re=1000 and a high angle of attack of 20∘ were performed. A parametric study was conducted by varying the flap moment of inertia and torsional hinge stiffness to characterize the aerodynamic performance of this system. Lift improvements as high as 25% were attained. Two regimes of flap dynamics were identified that provided considerable aerodynamic benefits. A detailed investigation of the flow physics of both these regimes was conducted to understand the physical mechanisms by which the passively deployed flaps augmented the lift of the airfoil. In both regimes, the flap was found to act as a barrier in preventing the upstream propagation of reverse flow due to flow separation and trailing edge vortex. The torsional spring and flap inertia yielded additional flap dynamics that further modulated the surrounding flow and associated performance metrics. We discuss some of these fluid–structure interaction effects in this article.

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.

Selection on phalanx development in the evolution of the bird wing

The frameshift hypothesis is a widely-accepted model of bird wing evolution. This hypothesis postulates a shift in positional values, or molecular-developmental identity, that caused a change in digit phenotype. The hypothesis synthesised developmental and palaeontological data on wing digit homology. The 'most anterior digit' (MAD) hypothesis presents an alternative view based on changes in transcriptional regulation in the limb. The molecular evidence for both hypotheses is that the most anterior digit expresses Hoxd13 but not Hoxd11 and Hoxd12. This digit I 'signature' is thought to characterise all amniotes. Here, we studied Hoxd expression patterns in a phylogenetic sample of 18 amniotes. Instead of a conserved molecular signature in digit I, we find wide variation of Hoxd11, Hoxd12 and Hoxd13 expression in digit I. Patterns of apoptosis, and Sox9 expression, a marker of the phalanx-forming region, suggest that phalanges were lost from wing digit IV because of early arrest of the phalanx-forming region followed by cell death. Finally, we show that multiple amniote lineages lost phalanges with no frameshift. Our findings suggest that the bird wing evolved by targeted loss of phalanges under selection. Consistent with our view, some recent phylogenies based on dinosaur fossils eliminate the need to postulate a frameshift in the first place. We suggest that the phenotype of the Archaeopteryx lithographica wing is also consistent with phalanx loss. More broadly, our results support a gradualist model of evolution based on tinkering with developmental gene expression.

Covert-inspired flaps for lift enhancement and stall mitigation

Even though unmanned aerial vehicles (UAVs) are taking on more expansive roles in military and commercial applications, their adaptability and agility are still inferior to that of their biological counterparts like birds, especially at low and moderate Reynolds numbers. A system of aeroelastic devices used by birds, known as the covert feathers, has been considered as a natural flow-control device for mitigating flow separation, enhancing lift, and delaying stall. This study presents the effects of a covert-inspired flap on two airfoils with different stall characteristics at Reynolds numbers in the order of 10⁵, where small scale UAVs operate. Detailed experiments and simulations are used to investigate how the covert-inspired flap affects lift and drag on an airfoil that exhibits sharp or sudden stall (i.e. the NACA 2414 airfoil) and one that exhibits soft or gradual stall (i.e. an E387(A) airfoil). The effects of the flap chord-wise locations and deflection angles on lift and drag is investigated, through wind tunnel experiments, for two types of flaps namely, a freely-moving flap and a static flap. Results show that the static covert-inspired flap can delay stall by up to 5° and improve post-stall lift by up to 23%. However, the post-stall lift improvement characteristics and sensitivities are highly affected by the airfoil choice. For the soft stall airfoil (i.e. E387(A)), the stall onset delay is insensitive to changing the flap deflection angle, and the flap becomes ineffective when the flap location is changed. In contrast, for the sharp stall airfoil (i.e. NACA 2414), the post-stall lift improvements can be tuned using the flap deflection angle, and the flap remains effective over a wide range of chord-wise locations. Numerical studies reveal that the lift improvements are attributed to a step in the pressure distribution over the airfoil, which allows for lower pressures on the suction side upstream of the flap. The distinctions between the flap-induced lift enhancements on the soft and sharp stall airfoils suggest that the flap can be used as a tunable flow control device for the sharp stall airfoil, while for the soft stall airfoil, it can solely be used as a stall mitigation device that is either on or off.

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

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

Passive aeroelastic deflection of avian primary feathers

Bird feathers are complex structures that passively deflect as they interact with air to produce aerodynamic force. Newtonian theory suggests that feathers should be stiff to effectively utilize this force. Observations of flying birds indicate that feathers respond to aerodynamic loading via spanwise bending, twisting, and sweeping. These deflections are hypothesized to optimize flight performance, but this has not yet been tested. We measured deflection of isolated feathers in a wind tunnel to explore how flexibility altered aerodynamic forces in emulated gliding flight. Using primary feathers from seven raptors and a rigid airfoil, we quantified bending, sweep, and twisting, as well as α (attack angle) and slip angle. We predicted that (1) feathers would deflect under aerodynamic load, (2) bending would result in lateral redirection of force, (3) twisting would alter spanwise α 'washout' and delay the onset of stall, and (4) flexural stiffness of feathers would exhibit positive allometry. The first three predictions were supported by our results, but not the fourth. We found that bending resulted in the redirection of lateral forces more toward the base of the feather on the order of ∼10% of total lift. In comparison to the airfoil which stalled at α = 13.5°, all feathers continued to increase lift production with increasing angle of attack to the limit of our range of measurements (α = 27.5°). We observed that feather stiffness exhibited positive allometry (∝ mass^1.1±0.3), however this finding is not statistically different from other hypothesized scaling relationships such as geometric similarity (∝ mass^1.67). These results demonstrate that feather flexibility may provide passive roll stability and delay stall by twisting to reduce local α at the feather tip. Our findings are the first to measure forces due to feather deflection under aerodynamic loading and can inform future models of avian flight as well as biomimetic morphing-wing technology.

Scaling trends of bird's alular feathers in connection to leading-edge vortex flow over hand-wing

An aerodynamic structure ubiquitous in Aves is the alula; a small collection of feathers muscularized near the wrist joint. New research into the aerodynamics of this structure suggests that its primary function is to induce leading-edge vortex (LEV) flow over bird’s outer hand-wing to enhance wing lift when manuevering at slow speeds. Here, we explore scaling trends of the alula’s spanwise position and its connection to this function. Specifically, we test the hypothesis that the relative distance of the alula from the wing tip is that which maximizes LEV-lift when the wing is spread and operated in a deep-stall flight condition. To test this, we perform experiments on model wings in a wind tunnel to approximate this distance and compare our results to positional measurements of the alula on spread-wing specimens. We found the position of the alula on non-aquatic birds selected for alula optimization to be located at or near the lift-maximizing position predicted by wind tunnel experiments. These findings shed new light on avian wing anatomy and the role of unconventional aerodynamics in shaping it.

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

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

Filtered Mechanosensing Using Snapping Composites with Embedded Mechano-Electrical Transduction

Mechanosensing is ubiquitous in natural systems. From the skin ridges of our finger tips to the microscopic ion channels in cells, mechanosensors allow organisms to probe their environment and gather information needed for processing, decision making, and actuation. Despite technological advances in synthetic mechanosensing, it remains challenging to achieve this functionality at the scale of large stiff structures where both the amount of data to sense locally and the diversity of input stresses that the sensors have to withstand require highly tunable systems. Filtered sensing using mechanical displacement is an effective strategy developed by organisms to cope with large sets of stimuli. Inspired by this biological strategy, we fabricate bistable elements that can passively filter mechanical inputs, translate them into electrical signals, and be reset to their original sensing state using an external magnetic field. These multiple functionalities are achieved using hierarchically structured composites that can be arranged in large-area arrays. The filtering capability and fast passive response of our mechanosensors are experimentally demonstrated using simple electrical circuits and magnets. Thanks to their scalability and applicability to a wide range of material systems, these low-power sensors are avenues for the fabrication of load-bearing structures that are able to sense, compute, communicate, and autonomously adapt in response to external magneto-mechanical stimuli.

Numerical Simulation of a Passive Control of the Flow Around an Aerofoil Using a Flexible, Self Adaptive Flaplet

Self-activated feathers are used by almost all birds to adapt their wing characteristics to delay stall or to moderate its adverse effects (e.g., during landing or sudden increase in angle of attack due to gusts). Some of the feathers are believed to pop up as a consequence of flow separation and to interact with the flow and produce beneficial modifications of the unsteady vorticity field. The use of self adaptive flaplets in aircrafts, inspired by birds feathers, requires the understanding of the physical mechanisms leading to the mentioned aerodynamic benefits and the determination of the characteristics of optimal flaps including their size, positioning and ideal fabrication material. In this framework, this numerical study is divided in two parts. Firstly, in a simplified scenario, we determine the main characteristics that render a flap mounted on an aerofoil at high angle of attack able to deliver increased lift and improved aerodynamic efficiency, by varying its length, position and its natural frequency. Later on, a detailed direct numerical simulation analysis is used to understand the origin of the aerodynamic benefits introduced by the flaplet movement induced by the interaction with the flow field. The parametric study that has been carried out, reveals that an optimal flap can deliver a mean lift increase of about 20% on a NACA0020 aerofoil at an incidence of 20 ^o degrees. The results obtained from the direct numerical simulation of the flow field around the aerofoil equipped with the optimal flap at a chord Reynolds number of 2 × 10⁴ shows that the flaplet movement is mainly induced by a cyclic passage of a large recirculation bubble on the aerofoil suction side. In turns, when the flap is pushed downward, the induced plane jet displaces the trailing edge vortices further downstream, away from the wing, moderating the downforce generated by those vortices and regularising the shedding cycle that appears to be much more organised when the optimal flaplet configuration is selected.

A tale of two tails: developing an avian inspired morphing actuator for yaw control and stability

Motivated by the lack of research in tailless morphing aircraft in addition to the current inability to measure the resultant aerodynamic forces and moments of bird control maneuvers, this work aims to develop and test a multi-functional morphing control surface based on the horizontal tail of birds for a low-radar-signature unmanned aerial vehicle. Customized macro fiber composite actuators were designed to achieve yaw control across a range of sideslip angles by inducing 3D curvature as a result of bending-twisting coupling, a well-known phenomenon in classical fiber composite theory. This allows for yaw control, pitch control, and limited air break control. The structural response of the customized actuators was determined numerically using both a piezoelectric and an equivalent thermal model in order to optimize the fiber direction to allow for maximized deflection in both the vertical and lateral directions. In total, three control configurations were tested experimentally: symmetric deflection for pitch control, single-sided deflection for yaw control, and antisymmetric deflection for air brake control. A Reynolds-averaged-Navier-Stokes fluid simulation was also developed to compare with the experimental results for the unactuated baseline configuration. The actuator was shown to provide better yaw control than traditional split aileron methods, remain effective in larger sideslip angles, and provide directional yaw stability when unactuated. Furthermore, it was shown to provide adequate pitch control in sideslip in addition to limited air brake capabilities. This design is proposed to provide complete aircraft control in concert with spanwise morphing wings.

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.

Characteristics of the alula in relation to wing and body size in the Laridae and Sternidae

The alula is a small structure present on the leading edge of bird wings and is known to enhance lift by creating a small vortex at its tip. Alula size vary among birds, but how this variation is associated with the function of the alula remains unclear. In this study, we investigated the relationship between the size and shape of the alula and the features of the wing in the Laridae and Sternidae. Laridae birds have generally longer wings and greater loadings than Sternidae birds. The two families differed in the relationships between body size or wing length and the size or shape of the alula. In the Laridae, the aspect ratio of the alula was smaller in the species that have relatively longer wings, but the pattern was opposite in the Sternidae. The aspect ratio of the alula was greater in the species that are relatively heavier in the Sternidae but not in the Laridae. Combined, these results suggest that the species with high loading potential and long wings exhibit long alula. We hypothesize that heavier species may benefit from having longer alula if they perform flights with higher attack angles than lighter species, as longer alula would better suppress flow separation at higher attack angles. Our results suggest that the size and shape of the alula can be explained in one allometric landscape defined by wing length and loading in these two closely related families of birds with similar wing shapes.

The PELskin project-part V: towards the control of the flow around aerofoils at high angle of attack using a self-activated deployable flap

During the flight of birds, it is often possible to notice that some of the primaries and covert feathers on the upper side of the wing pop-up under critical flight conditions, such as the landing approach or when stalking their prey (see Fig. 1) . It is often conjectured that the feathers pop up plays an aerodynamic role by limiting the spread of flow separation . A combined experimental and numerical study was conducted to shed some light on the physical mechanism determining the feathers self actuation and their effective role in controlling the flow field in nominally stalled conditions. In particular, we have considered a NACA0020 aerofoil, equipped with a flexible flap at low chord Reynolds numbers. A parametric study has been conducted on the effects of the length, natural frequency, and position of the flap. A configuration with a single flap hinged on the suction side at 70 % of the chord size c (from the leading edge), with a length of [Formula: see text] matching the shedding frequency of vortices at stall condition has been found to be optimum in delivering maximum aerodynamic efficiency and lift gains. Flow evolution both during a ramp-up motion (incidence angle from [Formula: see text] to [Formula: see text] with a reduced frequency of [Formula: see text], [Formula: see text] being the free stream velocity magnitude), and at a static stalled condition ([Formula: see text]) were analysed with and without the flap. A significant increase of the mean lift after a ramp-up manoeuvre is observed in presence of the flap. Stall dynamics (i.e., lift overshoot and oscillations) are altered and the simulations reveal a periodic re-generation cycle composed of a leading edge vortex that lift the flap during his passage, and an ejection generated by the relaxing of the flap in its equilibrium position. The flap movement in turns avoid the interaction between leading and trailing edge vortices when lift up and push the trailing edge vortex downstream when relaxing back. This cyclic behaviour is clearly shown by the periodic variation of the lift about the average value, and also from the periodic motion of the flap. A comparison with the experiments shows a similar but somewhat higher non-dimensional frequency of the flap oscillation. By assuming that the cycle frequency scales inversely with the boundary layer thickness, one can explain the higher frequencies observed in the experiments which were run at a Reynolds number about one order of magnitude higher than in the simulations. In addition, in experiments the periodic re-generation cycle decays after 3-4 periods ultimately leading to the full stall of the aerofoil. In contrast, the 2D simulations show that the cycle can become self-sustained without any decay when the flap parameters are accurately tuned.

Novel formulations of ballistic gelatin. 1. Rheological properties

Ballistic gelatin is the simulant of the human body during field tests in forensics and other related fields, due to its physical and mechanical similarities to human trunk and organs. Since the ballistic gelatin used in present has important issues to overcome, an alternative approach is the use of gelatin-polymer composites, where a key factor is the insertion of biocompatible materials, which replicate accurately the human tissues. In order to be able to obtain an improved material in terms of mechanical performances by an easy industrial-scale technology, before the verification of the ballistic parameters by shooting in agreement with military standards, one of the best and cheapest solutions is to perform a thorough check of their rheological properties, in standard conditions.

How animals glide: from trajectory to morphology

Animals that glide produce aerodynamic forces that enable transit through the air in both arboreal and aquatic environments. The relative ease of gliding compared with flapping flight has led to a large diversity of taxa that have evolved some degree of flight capability. Glide paths are curved, reflecting the changing forces on the animal as it progresses through its aerial trajectory. These changing forces can be under control of the glider, which uses specific aspects of anatomy to modulate lift, drag, and rotational moments on the body. However, gliders share no single anatomical or behavioral feature, and some species are unspecialized for gliding, producing aerodynamic forces using posture and orientation alone. Animals use gliding in a broad range of ecological roles, suggesting that multiple performance metrics are relevant for consideration, but we are only beginning to understand how gliders produce and control their flight from takeoff to landing. In this review, we focus on the physical aspects of how glide trajectories are produced, and additionally discuss the range of morphologies and postures that are used to control aerial movements across the broad diversity of animal gliders.

The biophysics of bird flight: functional relationships integrate aerodynamics, morphology, kinematics, muscles, and sensors

Bird flight is a remarkable adaptation that has allowed the approximately 10 000 extant species to colonize all terrestrial habitats on earth including high elevations, polar regions, distant islands, arid deserts, and many others. Birds exhibit numerous physiological and biomechanical adaptations for flight. Although bird flight is often studied at the level of aerodynamics, morphology, wingbeat kinematics, muscle activity, or sensory guidance independently, in reality these systems are naturally integrated. There has been an abundance of new studies in these mechanistic aspects of avian biology but comparatively less recent work on the physiological ecology of avian flight. Here we review research at the interface of the systems used in flight control and discuss several common themes. Modulation of aerodynamic forces to respond to different challenges is driven by three primary mechanisms: wing velocity about the shoulder, shape within the wing, and angle of attack. For birds that flap, the distinction between velocity and shape modulation synthesizes diverse studies in morphology, wing motion, and motor control. Recently developed tools for studying bird flight are influencing multiple areas of investigation, and in particular the role of sensory systems in flight control. How sensory information is transformed into motor commands in the avian brain remains, however, a largely unexplored frontier.

Rapid area change in pitch-up manoeuvres of small perching birds

Rapid pitch-up has been highlighted as a mechanism to generate large lift and drag during landing manoeuvres. However, pitching rates had not been measured previously in perching birds, and so the direct applicability of computations and experiments to observed behaviour was not known. We measure pitch rates in a small, wild bird (the black-capped chickadee; Poecile atricapillus), and show that these rates are within the parameter range used in experiments. Pitching rates were characterized by the shape change number, a metric comparing the rate of frontal area increase to acceleration. Black-capped chickadees increase the shape change number during perching in direct proportion to their total kinetic and potential energy at the start of the manoeuvre. The linear relationship between dissipated energy and shape change number is in accordance with a simple analytical model developed for two-dimensional pitching and decelerating airfoils. Black-capped chickadees use a wing pitch-up manoeuvre during perching to dissipate energy quickly while maintaining lift and drag through rapid area change. It is suggested that similar pitch-and-decelerate manoeuvres could be used to aid in the controlled, precise landings of small manoeuvrable air vehicles.

The function of the alula in avian flight

The alula is a small structure located at the joint between the hand-wing and arm-wing of birds and is known to be used in slow flight with high angles of attack such as landing. It is assumed to function similarly to a leading-edge slat that increases lift and delays stall. However, in spite of its universal presence in flying birds and the wide acceptance of stall delay as its main function, how the alula delays the stall and aids the flight of birds remains unclear. Here, we investigated the function of alula on the aerodynamic performance of avian wings based on data from flight tasks and wind-tunnel experiments. With the alula, the birds performed steeper descending flights with greater changes in body orientation. Force measurements revealed that the alula increases the lift and often delays the stall. Digital particle image velocimetry showed that these effects are caused by the streamwise vortex, formed at the tip of the alula, that induces strong downwash and suppresses the flow separation over the wing surface. This is the first experimental evidence that the alula functions as a vortex generator that increases the lift force and enhances manoeuvrability in flights at high angles of attack.

Folding in and out: passive morphing in flapping wings

We present a new mechanism for passive wing morphing of flapping wings inspired by bat and bird wing morphology. The mechanism consists of an unactuated hand wing connected to the arm wing with a wrist joint. Flapping motion generates centrifugal accelerations in the hand wing, forcing it to unfold passively. Using a robotic model in hover, we made kinematic measurements of unfolding kinematics as functions of the non-dimensional wingspan fold ratio (2-2.5) and flapping frequency (5-17 Hz) using stereo high-speed cameras. We find that the wings unfold passively within one to two flaps and remain unfolded with only small amplitude oscillations. To better understand the passive dynamics, we constructed a computer model of the unfolding process based on rigid body dynamics, contact models, and aerodynamic correlations. This model predicts the measured passive unfolding within about one flap and shows that unfolding is driven by centrifugal acceleration induced by flapping. The simulations also predict that relative unfolding time only weakly depends on flapping frequency and can be reduced to less than half a wingbeat by increasing flapping amplitude. Subsequent dimensional analysis shows that the time required to unfold passively is of the same order of magnitude as the flapping period. This suggests that centrifugal acceleration can drive passive unfolding within approximately one wingbeat in small and large wings. Finally, we show experimentally that passive unfolding wings can withstand impact with a branch, by first folding and then unfolding passively. This mechanism enables flapping robots to squeeze through clutter without sophisticated control. Passive unfolding also provides a new avenue in morphing wing design that makes future flapping morphing wings possibly more energy efficient and light-weight. Simultaneously these results point to possible inertia driven, and therefore metabolically efficient, control strategies in bats and birds to morph or recover within a beat.

Falcons pursue prey using visual motion cues: new perspectives from animal-borne cameras

This study reports on experiments on falcons wearing miniature videocameras mounted on their backs or heads while pursuing flying prey. Videos of hunts by a gyrfalcon (Falco rusticolus), gyrfalcon (F. rusticolus)/Saker falcon (F. cherrug) hybrids and peregrine falcons (F. peregrinus) were analyzed to determine apparent prey positions on their visual fields during pursuits. These video data were then interpreted using computer simulations of pursuit steering laws observed in insects and mammals. A comparison of the empirical and modeling data indicates that falcons use cues due to the apparent motion of prey on the falcon's visual field to track and capture flying prey via a form of motion camouflage. The falcons also were found to maintain their prey's image at visual angles consistent with using their shallow fovea. These results should prove relevant for understanding the co-evolution of pursuit and evasion, as well as the development of computer models of predation and the integration of sensory and locomotion systems in biomimetic robots.

Robust post-stall perching with a simple fixed-wing glider using LQR-Trees

Birds routinely execute post-stall maneuvers with a speed and precision far beyond the capabilities of our best aircraft control systems. One remarkable example is a bird exploiting post-stall pressure drag in order to rapidly decelerate to land on a perch. Stall is typically associated with a loss of control authority, and it is tempting to attribute this agility of birds to the intricate morphology of the wings and tail, to their precision sensing apparatus, or their ability to perform thrust vectoring. Here we ask whether an extremely simple fixed-wing glider (no propeller) with only a single actuator in the tail is capable of landing precisely on a perch from a large range of initial conditions. To answer this question, we focus on the design of the flight control system; building upon previous work which used linear feedback control design based on quadratic regulators (LQR), we develop nonlinear feedback control based on nonlinear model-predictive control and 'LQR-Trees'. Through simulation using a flat-plate model of the glider, we find that both nonlinear methods are capable of achieving an accurate bird-like perching maneuver from a large range of initial conditions; the 'LQR-Trees' algorithm is particularly useful due to its low computational burden at runtime and its inherent performance guarantees. With this in mind, we then implement the 'LQR-Trees' algorithm on real hardware and demonstrate a 95 percent perching success rate over 147 flights for a wide range of initial speeds. These results suggest that, at least in the absence of significant disturbances like wind gusts, complex wing morphology and sensing are not strictly required to achieve accurate and robust perching even in the post-stall flow regime.

Diving-flight aerodynamics of a peregrine falcon (Falco peregrinus)

This study investigates the aerodynamics of the falcon Falco peregrinus while diving. During a dive peregrines can reach velocities of more than 320 km h⁻¹. Unfortunately, in freely roaming falcons, these high velocities prohibit a precise determination of flight parameters such as velocity and acceleration as well as body shape and wing contour. Therefore, individual F. peregrinus were trained to dive in front of a vertical dam with a height of 60 m. The presence of a well-defined background allowed us to reconstruct the flight path and the body shape of the falcon during certain flight phases. Flight trajectories were obtained with a stereo high-speed camera system. In addition, body images of the falcon were taken from two perspectives with a high-resolution digital camera. The dam allowed us to match the high-resolution images obtained from the digital camera with the corresponding images taken with the high-speed cameras. Using these data we built a life-size model of F. peregrinus and used it to measure the drag and lift forces in a wind-tunnel. We compared these forces acting on the model with the data obtained from the 3-D flight path trajectory of the diving F. peregrinus. Visualizations of the flow in the wind-tunnel uncovered details of the flow structure around the falcon’s body, which suggests local regions with separation of flow. High-resolution pictures of the diving peregrine indicate that feathers pop-up in the equivalent regions, where flow separation in the model falcon occurred.

Kinematics and wing shape across flight speed in the bat, Leptonycteris yerbabuenae

The morphology and kinematics of a flying animal determines the resulting aerodynamic lift through the regulation of the speed of the air moving across the wing, the wing area and the lift coefficient. We studied the detailed three-dimensional wingbeat kinematics of the bat, Leptonycteris yerbabuenae, flying in a wind tunnel over a range of flight speeds (0–7 m/s), to determine how factors affecting the lift production vary across flight speed and within wingbeats. We found that the wing area, the angle of attack and the camber, which are determinants of the lift production, decreased with increasing speed. The camber is controlled by multiple mechanisms along the span, including the deflection of the leg relative to the body, the bending of the fifth digit, the deflection of the leading edge flap and the upward bending of the wing tip. All these measures vary throughout the wing beat suggesting active or aeroelastic control. The downstroke Strouhal number, St_d, is kept relatively constant, suggesting that favorable flow characteristics are maintained during the downstroke, across the range of speeds studied. The St_d is kept constant through changes in the stroke plane, from a strongly inclined stroke plane at low speeds to a more vertical stroke plane at high speeds. The mean angular velocity of the wing correlates with the aerodynamic performance and shows a minimum at the speed of maximum lift to drag ratio, suggesting a simple way to determine the optimal speed from kinematics alone. Taken together our results show the high degree of adjustments that the bats employ to fine tune the aerodynamics of the wings and the correlation between kinematics and aerodynamic performance.

Investigation of a bio-inspired lift-enhancing effector on a 2D airfoil

A flap mounted on the upper surface of an airfoil, called a 'lift-enhancing effector', has been shown in wind tunnel tests to have a similar function to a bird's covert feathers, which rise off the wing's surface in response to separated flows. The effector, fabricated from a thin Mylar sheet, is allowed to rotate freely about its leading edge. The tests were performed in the NCSU subsonic wind tunnel at a chord Reynolds number of 4 × 10(5). The maximum lift coefficient with the effector was the same as that for the clean airfoil, but was maintained over an angle-of-attack range from 12° to almost 20°, resulting in a very gentle stall behavior. To better understand the aerodynamics and to estimate the deployment angle of the free-moving effector, fixed-angle effectors fabricated out of stiff wood were also tested. A progressive increase in the stall angle of attack with increasing effector angle was observed, with diminishing returns beyond the effector angle of 60°. Drag tests on both the free-moving and fixed effectors showed a marked improvement in drag at high angles of attack. Oil flow visualization on the airfoil with and without the fixed-angle effectors proved that the effector causes the separation point to move aft on the airfoil, as compared to the clean airfoil. This is thought to be the main mechanism by which an effector improves both lift and drag. A comparison of the fixed-effector results with those from the free-effector tests shows that the free effector's deployment angle is between 30° and 45°. When operating at and beyond the clean airfoil's stall angle, the free effector automatically deploys to progressively higher angles with increasing angles of attack. This slows down the rapid upstream movement of the separation point and avoids the severe reduction in the lift coefficient and an increase in the drag coefficient that are seen on the clean airfoil at the onset of stall. Thus, the effector postpones the stall by 4-8° and makes the stall behavior more gentle. The benefits of using the effector could include care-free operations at high angles of attack during perching and maneuvering flight, especially in gusty conditions.

Flexural stiffness of feather shafts: geometry rules over material properties

Flight feathers of birds interact with the flow field during flight. They bend and twist under aerodynamic loads. Two parameters are mainly responsible for flexibility in feathers: the elastic modulus (Young's modulus, E) of the material (keratin) and the geometry of the rachises, more precisely the second moment of area (I). Two independent methods were employed to determine Young's modulus of feather rachis keratin. Moreover, the second moment of area and the bending stiffness of feather shafts from fifth primaries of barn owls (Tyto alba) and pigeons (Columba livia) were calculated. These species of birds are of comparable body mass but differ in wing size and flight style. Whether their feather material (keratin) underwent an adaptation in stiffness was previously unknown. This study shows that no significant variation in Young's modulus between the two species exists. However, differences in Young's modulus between proximal and distal feather regions were found in both species. Cross-sections of pigeon rachises were particularly well developed and rich in structural elements, exemplified by dorsal ridges and a well-pronounced transversal septum. In contrast, cross-sections of barn owl rachises were less profiled but had a higher second moment of area. Consequently, the calculated bending stiffness (EI) was higher in barn owls as well. The results show that flexural stiffness is predominantly influenced by the geometry of the feathers rather than by local material properties.

Aeromechanics in aeroecology: flight biology in the aerosphere

The physical environment of the aerosphere is both complex and dynamic, and poses many challenges to the locomotor systems of the three extant evolutionary lineages of flying animals. Many features of the aerosphere, operating over spatial and temporal scales of many orders of magnitude, have the potential to be important influences on animal flight, and much as marine ecologists have studied the relationship between physical oceanography and swimming locomotion, a subfield of aeroecology can focus attention on the ways the biology of flight is influenced by these characteristics. Airflows are altered and modulated by motion over and around natural and human-engineered structures, and both vortical flow structures and turbulence are introduced to the aerial environment by technologies such as aircraft and wind farms. Diverse aspects of the biology of flight may be better understood with reference to an aeroecological approach, particularly the mechanics and energetics of flight, the sensing of aerial flows, and the motor control of flight. Moreover, not only does the abiotic world influence the aerospheric conditions in which animals fly, but flying animals also, in turn, change the flow environment in their immediate vicinity, which can include the air through which other animals fly, particularly when animals fly in groups. Flight biologists can offer considerable insight into the ecology of the aerial world, and an aeroecological approach holds great promise for stimulating and enriching the study of the biology of flight.