Vortex wake and flight kinematics of a swift in cruising flight in a wind tunnel

Concentrations and distribution of 210Pb in bird feathers and its potential for tracing age and flight times

Bird feathers have been widely used as environmental indicators, providing key information on environmental pollution. However, there is little available information on the adsorption of natural radioactivity in bird feathers and consequently, its impact on the field of movement ecology is not yet known. This study investigates the concentration and distribution of 210Pb in wing- and tail-feathers of different bird species with contrasting migratory strategies, and discusses its potential use as a tracer of age and flight times. Adsorption of 210Pb in bird feathers is directly related to the interaction of feathers with air, therefore it is hypothesised that the presence of this radionuclide is proportional to the length of flight times, and is asymmetrically distributed in flight feathers. Consequently, a significant difference is expected between 210Pb concentrations in feathers of long-distance migrants when compared to sedentary species. For this purpose, a total of 45 samples from eight individuals of three bird species with distinct migratory strategies were analysed: a highly aerial and long-distance migratory species (Common swift Apus apus), and two largely sedentary species widely distributed across Europe (Great tit Parus major and Tawny owl Strix aluco). Novel findings show that the content of 210Pb in bird feathers of adult migratory birds is much higher than in sedentary birds or juvenile individuals, demonstrating this naturally occurring radionuclide can provide information about the contact time between feathers and air. Additionally, 210Pb adsorption was not evenly distributed in bird feathers. The findings provide a new method to trace age and flight time of birds using 210Pb in feathers, complementing conventional techniques in bird migration studies.

Numerical assessment of wake-based estimation of instantaneous lift in flapping flight of large birds

Experimental characterization of bird flight without instrumenting the animal requires measuring the flow behind the bird in a wind tunnel. Models are used to link the measured velocities to the corresponding aerodynamic forces. Widely-used models can, however, prove inconsistent when evaluating the instantaneous lift. Yet, accurately estimating variations of lift is critical in order to reverse-engineer flapping flight. In this work, we revisit mathematical models of lift based on the conservation of momentum in a control volume around a bird. Using a numerical framework to represent a flapping bird wing and compute the flow around it, we mimic the conditions of a wind tunnel and produce realistic wakes, which we compare to experimental data. Providing ground truth measurements of the flow everywhere around the simulated bird, we assess the validity of several lift estimation techniques. We observe that the circulation-based component of the instantaneous lift can be retrieved from measurements of velocity in a single plane behind a bird, with a latency that is found to depend directly on the free-stream velocity. We further show that the lift contribution of the added-mass effect cannot be retrieved from such measurements and quantify the level of approximation due to ignoring this contribution in instantaneous lift estimation.

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.

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.

Wake characteristics of a freely rotating bioinspired swept rotor blade

Rotor blades can be found in many engineering applications, mainly associated with converting energy from fluids to work (or electricity). Rotor blade geometry is a key factor in the mechanical efficiency of the energy conversion process. For example, wind turbines' performance directly depends on the blade geometry and the wake flow formed behind them. We suggest to use a bioinspired blade based on the common swift wing. Common swift (Apus apus) is known to be a long-distance flyer, able to stay aloft for long periods of time by maintaining high lift and low drag. We study the near-wake flow characteristics of a freely rotating rotor with swept blades and its aerodynamic loads. These are compared with a straight-bladed rotor. The experiments were conducted in a water flume using particle image velocimetry (PIV) technique. Both blades were studied for four different flow speeds with freestream Reynolds numbers ranging from 23 000 to 41 000. Our results show that the near wake developed behind the swept-back blade was significantly different from the straight blade configuration. The near wake developed behind the swept-back blade exhibited relatively lower momentum loss and suppressed turbulent activity (mixing and production) compared with the straight blade. Comparing the aerodynamic characteristics, though the swept-back blade generated relatively less lift than the straight blade, the drag was relatively low. Thus, the swept-back blade produced two to three times higher lift-to-drag ratio than the straight blade. Based on these observations, we suggest that, with improved design optimizations, using the swept-back configuration in rotor blades (specifically used in wind turbines) can improve mechanical efficiency and reduce the energy loss during the conversion process.

Effects of flight altitude on the lift generation of monarch butterflies: from sea level to overwintering mountain

Aerodynamic efficiency behind the annual migration of monarch butterflies, the longest among insects, is an unsolved mystery. Monarchs migrate 4000 km at high-altitudes to their overwintering mountains in Central Mexico. The air is thinner at higher altitudes, yielding reduced aerodynamic drag and enhanced range. However, the lift is also expected to reduce in lower density conditions. To investigate the ability of monarchs to produce sufficient lift to fly in thinner air, we measured the climbing motion of freely flying monarchs in high-altitude conditions. An optical method was used to track the flapping wing and body motions inside a large pressure chamber. The air density inside the chamber was reduced to recreate the higher altitude densities. The lift coefficient generated by monarchs increased from 1.7 at the sea-level to 9.4 at 3000 m. The correlation between this increase and the flapping amplitude and frequency was insignificant. However, it strongly correlated to the effective angle of attack, which measures the wing to body velocity ratio. These results support the hypothesis that monarchs produce sufficiently high lift coefficients at high altitudes despite a lower dynamic pressure.

Direct Numerical Simulations of a Great Horn Owl in Flapping Flight

The fluid dynamics of owls in flapping flight is studied by coordinated experiments and computations. The great horned owl was selected, which is nocturnal, stealthy, and relatively large sized raptor. On the experimental side, perch-to-perch flight was considered in an open wind tunnel. The owl kinematics was captured with multiple cameras from different view angles. The kinematic extraction was central in driving the computations, which were designed to resolve all significant spatio-temporal scales in the flow with an unprecedented level of resolution. The wing geometry was extracted from the planform image of the owl wing and a three-dimensional model, the reference configuration, was reconstructed. This configuration was then deformed in time to best match the kinematics recorded during flights utilizing an image-registration technique based on the large deformation diffeomorphic metric mapping framework. All simulations were conducted using an eddy-resolving, high-fidelity, solver, where the large displacements/deformations of the flapping owl model were introduced with an immersed boundary formulation. We report detailed information on the spatio-temporal flow dynamics in the near wake including variables that are challenging to measure with sufficient accuracy, such as aerodynamic forces. At the same time, our results indicate that high-fidelity computations over smooth wings may have limitations in capturing the full range of flow phenomena in owl flight. The growth and subsequent separation of the laminar boundary layers developing over the wings in this Reynolds number regime is sensitive to the surface micro-features that are unique to each species.

Evolution of chain migration in an aerial insectivorous bird, the common swift Apus apus

Spectacular long-distance migration has evolved repeatedly in animals enabling exploration of resources separated in time and space. In birds, these patterns are largely driven by seasonality, cost of migration, and asymmetries in competition leading most often to leapfrog migration, where northern breeding populations winter furthest to the south. Here, we show that the highly aerial common swift Apus apus, spending the nonbreeding period on the wing, instead exhibits a rarely found chain migration pattern, where the most southern breeding populations in Europe migrate to wintering areas furthest to the south in Africa, whereas the northern populations winter to the north. The swifts concentrated in three major areas in sub-Saharan Africa during the nonbreeding period, with substantial overlap of nearby breeding populations. We found that the southern breeding swifts were larger, raised more young, and arrived to the wintering areas with higher seasonal variation in greenness (Normalized Difference Vegetation Index) earlier than the northern breeding swifts. This unusual chain migration pattern in common swifts is largely driven by differential annual timing and we suggest it evolves by prior occupancy and dominance by size in the breeding quarters and by prior occupancy combined with diffuse competition in the winter.

Application of Digital Particle Image Velocimetry to Insect Motion: Measurement of Incoming, Outgoing, and Lateral Honeybee Traffic

The well-being of a honeybee (Apis mellifera) colony depends on forager traffic. Consistent discrepancies in forager traffic indicate that the hive may not be healthy and require human intervention. Honeybee traffic in the vicinity of a hive can be divided into three types: incoming, outgoing, and lateral. These types constitute directional traffic, and are juxtaposed with omnidirectional traffic where bee motions are considered regardless of direction. Accurate measurement of directional honeybee traffic is fundamental to electronic beehive monitoring systems that continuously monitor honeybee colonies to detect deviations from the norm. An algorithm based on digital particle image velocimetry is proposed to measure directional traffic. The algorithm uses digital particle image velocimetry to compute motion vectors, analytically classifies them as incoming, outgoing, or lateral, and returns the classified vector counts as measurements of directional traffic levels. Dynamic time warping is used to compare the algorithm’s omnidirectional traffic curves to the curves produced by a previously proposed bee motion counting algorithm based on motion detection and deep learning and to the curves obtained from a human observer’s counts on four honeybee traffic videos (2976 video frames). The currently proposed algorithm not only approximates the human ground truth on par with the previously proposed algorithm in terms of omnidirectional bee motion counts but also provides estimates of directional bee traffic and does not require extensive training. An analysis of correlation vectors of consecutive image pairs with single bee motions indicates that correlation maps follow Gaussian distribution and the three-point Gaussian sub-pixel accuracy method appears feasible. Experimental evidence indicates it is reasonable to treat whole bees as tracers, because whole bee bodies and not parts thereof cause maximum motion. To ensure the replicability of the reported findings, these videos and frame-by-frame bee motion counts have been made public. The proposed algorithm is also used to investigate the incoming and outgoing traffic curves in a healthy hive on the same day and on different days on a dataset of 292 videos (216,956 video frames).

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.

Flow Features of the Near Wake of the Australian Boobook Owl (Ninox boobook) During Flapping Flight Suggest an Aerodynamic Mechanism of Sound Suppression for Stealthy Flight

The mechanisms associated with the ability of owls to fly silently have been the subject of scientific interest for many decades and may be relevant to bio-inspired design to reduce noise of flapping and non-flapping flying devices. Here, we characterize the near wake dynamics and the associated flow structures produced during flight of the Australian boobook owl (Ninox boobook). Three individual owls were flown at 8 ms-1 in a climatic avian wind tunnel. The velocity field in the wake was sampled at 500 Hz using long-duration high-speed particle image velocimetry (PIV) while the wing kinematics were imaged simultaneously using high speed video. The time series of velocity maps that were acquired over several consecutive wingbeat cycles enabled us to characterize the wake patterns and to associate them with the phases of the wingbeat cycle. We found that the owl wake was dramatically different from other birds measured under the same flow conditions (i.e., western sandpiper, Calidris mauri and European starling, Sturnus vulgaris). The near wake of the owl did not exhibit any apparent shedding of organized vortices. Instead, a more chaotic wake pattern was observed, in which the characteristic scales of vorticity (associated with turbulence) are substantially smaller in comparison to other birds. Estimating the pressure field developed in the wake shows that owls reduce the pressure Hessian (i.e., the pressure distribution) to approximately zero. We hypothesize that owls manipulate the near wake to suppress the aeroacoustic signal by controlling the size of vortices generated in the wake, which are associated with noise reduction through suppression of the pressure field. Understanding how specialized feather structures, wing morphology, or flight kinematics of owls contribute to this effect remains a challenge for additional study.

Anatomy of the forelimb musculature and ligaments of Psittacus erithacus (Aves: Psittaciformes)

Parrots (order Psittaciformes) are a rather homogeneous group of birds that can be easily distinguished by the notably modified morphology of the skull and hindlimb. Detailed description of the forelimb morphology in these birds has never been provided, though parrots are often used as model objects in flight studies. Parrots are also considered the closest living relatives of the perching birds (Passeriformes), and thus knowledge of the wing morphology in Psittaciformes is important for understanding the evolution of the locomotor apparatus on the way to the most speciose group of birds. Here we provide a comprehensive illustrated description of the wing morphology (musculature and ligaments) of the African grey parrot (Psittacus erithacus) and compare it with several closely related taxa of the high clade Eufalconimorphae and more distantly related outgroups (based on personal dissections and literature data). We note a general similarity of the wing musculature between P. erithacus and Falconidae. A number of features common with the outgroup Columbidae supports a generally plesiomorphic structure of the forelimb in parrots as compared with the Passeriformes. Nevertheless, the wing of the Psittaciformes displays a series of structural (likely autapomorphic) modifications, which can be explained in terms of adaptations for flight with vertical body. An analysis of the anatomical data for parrots (ratio of wing elevators and highly unusual development of the M. supracoracoideus), which is based on the current experiment-based knowledge of the flapping flight in birds, allows us to hypothesize that parrots are able to produce useful aerodynamic force during the upstroke, which is also known for pigeons and hummingbirds. This supposed ability of vertical flight and the zygodactyl foot together link the origin of parrots with the dense (likely tropical) forests.

Negotiating an ecological barrier: crossing the Sahara in relation to winds by common swifts

The Sahara Desert is one of the largest land-based barriers on the Earth, crossed twice each year by billions of birds on migration. Here we investigate how common swifts migrating between breeding sites in Sweden and wintering areas in sub-Saharan Africa perform the desert crossing with respect to route choice, winds, timing and speed of migration by analysing 72 geolocator tracks recording migration. The swifts cross western Sahara on a broad front in autumn, while in spring they seem to use three alternative routes across the Sahara, a western, a central and an eastern route across the Arabian Peninsula, with most birds using the western route. The swifts show slower migration and travel speeds, and make longer detours with more stops in autumn compared with spring. In spring, the stopover period in West Africa coincided with mostly favourable winds, but birds remained in the area, suggesting fuelling. The western route provided more tailwind assistance compared with the central route for our tracked swifts in spring, but not in autumn. The ultimate explanation for the evolution of a preferred western route is presumably a combination of matching rich foraging conditions (swarming insects) and favourable winds enabling fast spring migration.This article is part of the themed issue 'Moving in a moving medium: new perspectives on flight'.

Wake structure and kinematics in two insectivorous bats

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

Flow pattern similarities in the near wake of three bird species suggest a common role for unsteady aerodynamic effects in lift generation

Analysis of the aerodynamics of flapping wings has yielded a general understanding of how birds generate lift and thrust during flight. However, the role of unsteady aerodynamics in avian flight due to the flapping motion still holds open questions in respect to performance and efficiency. We studied the flight of three distinctive bird species: western sandpiper (Calidris mauri), European starling (Sturnus vulgaris) and American robin (Turdus migratorius) using long-duration, time-resolved particle image velocimetry, to better characterize and advance our understanding of how birds use unsteady flow features to enhance their aerodynamic performances during flapping flight. We show that during transitions between downstroke and upstroke phases of the wing cycle, the near wake-flow structures vary and generate unique sets of vortices. These structures appear as quadruple layers of concentrated vorticity aligned at an angle with respect to the horizon (named 'double branch'). They occur where the circulation gradient changes sign, which implies that the forces exerted by the flapping wings of birds are modified during the transition phases. The flow patterns are similar in (non-dimensional) size and magnitude for the different birds suggesting that there are common mechanisms operating during flapping flight across species. These flow patterns occur at the same phase where drag reduction of about 5% per cycle and lift enhancement were observed in our prior studies. We propose that these flow structures should be considered in wake flow models that seek to account for the contribution of unsteady flow to lift and drag.

Lift calculations based on accepted wake models for animal flight are inconsistent and sensitive to vortex dynamics

There are three common methods for calculating the lift generated by a flying animal based on the measured airflow in the wake. However, these methods might not be accurate according to computational and robot-based studies of flapping wings. Here we test this hypothesis for the first time for a slowly flying Pacific parrotlet in still air using stereo particle image velocimetry recorded at 1000 Hz. The bird was trained to fly between two perches through a laser sheet wearing laser safety goggles. We found that the wingtip vortices generated during mid-downstroke advected down and broke up quickly, contradicting the frozen turbulence hypothesis typically assumed in animal flight experiments. The quasi-steady lift at mid-downstroke was estimated based on the velocity field by applying the widely used Kutta-Joukowski theorem, vortex ring model, and actuator disk model. The calculated lift was found to be sensitive to the applied model and its different parameters, including vortex span and distance between the bird and laser sheet-rendering these three accepted ways of calculating weight support inconsistent. The three models predict different aerodynamic force values mid-downstroke compared to independent direct measurements with an aerodynamic force platform that we had available for the same species flying over a similar distance. Whereas the lift predictions of the Kutta-Joukowski theorem and the vortex ring model stayed relatively constant despite vortex breakdown, their values were too low. In contrast, the actuator disk model predicted lift reasonably accurately before vortex breakdown, but predicted almost no lift during and after vortex breakdown. Some of these limitations might be better understood, and partially reconciled, if future animal flight studies report lift calculations based on all three quasi-steady lift models instead. This would also enable much needed meta studies of animal flight to derive bioinspired design principles for quasi-steady lift generation with flapping wings.

Three-dimensional simulation for fast forward flight of a calliope hummingbird

We present a computational study of flapping-wing aerodynamics of a calliope hummingbird (Selasphorus calliope) during fast forward flight. Three-dimensional wing kinematics were incorporated into the model by extracting time-dependent wing position from high-speed videos of the bird flying in a wind tunnel at 8.3 m s(-1). The advance ratio, i.e. the ratio between flight speed and average wingtip speed, is around one. An immersed-boundary method was used to simulate flow around the wings and bird body. The result shows that both downstroke and upstroke in a wingbeat cycle produce significant thrust for the bird to overcome drag on the body, and such thrust production comes at price of negative lift induced during upstroke. This feature might be shared with bats, while being distinct from insects and other birds, including closely related swifts.

On the Estimation of Time Dependent Lift of a European Starling (Sturnus vulgaris) during Flapping Flight

We study the role of unsteady lift in the context of flapping wing bird flight. Both aerodynamicists and biologists have attempted to address this subject, yet it seems that the contribution of unsteady lift still holds many open questions. The current study deals with the estimation of unsteady aerodynamic forces on a freely flying bird through analysis of wingbeat kinematics and near wake flow measurements using time resolved particle image velocimetry. The aerodynamic forces are obtained through two approaches, the unsteady thin airfoil theory and using the momentum equation for viscous flows. The unsteady lift is comprised of circulatory and non-circulatory components. Both approaches are presented over the duration of wingbeat cycles. Using long-time sampling data, several wingbeat cycles have been analyzed in order to cover both the downstroke and upstroke phases. It appears that the unsteady lift varies over the wingbeat cycle emphasizing its contribution to the total lift and its role in power estimations. It is suggested that the circulatory lift component cannot assumed to be negligible and should be considered when estimating lift or power of birds in flapping motion.

Power of the wingbeat: modelling the effects of flapping wings in vertebrate flight

Animal flight performance has been studied using models developed for man-made aircraft. For an aeroplane with fixed wings, the energetic cost as a function of flight speed can be expressed in terms of weight, wing span, wing area and body area, where more details are included in proportionality coefficients. Flying animals flap their wings to produce thrust. Adopting the fixed wing flight model implicitly incorporates the effects of wing flapping in the coefficients. However, in practice, these effects have been ignored. In this paper, the effects of reciprocating wing motion on the coefficients of the fixed wing aerodynamic power model for forward flight are explicitly formulated in terms of thrust requirement, wingbeat frequency and stroke-plane angle, for optimized wingbeat amplitudes. The expressions are obtained by simulating flights over a large parameter range using an optimal vortex wake method combined with a low-level blade element method. The results imply that previously assumed acceptable values for the induced power factor might be strongly underestimated. The results also show the dependence of profile power on wing kinematics. The expressions introduced in this paper can be used to significantly improve animal flight models.

Wake development behind paired wings with tip and root trailing vortices: consequences for animal flight force estimates

Recent experiments on flapping flight in animals have shown that a variety of unrelated species shed a wake behind left and right wings consisting of both tip and root vortices. Here we present an investigation using Particle Image Velocimetry (PIV) of the behaviour and interaction of trailing vortices shed by paired, fixed wings that simplify and mimic the wake of a flying animal with a non-lifting body. We measured flow velocities at five positions downstream of two adjacent NACA 0012 aerofoils and systematically varied aspect ratio, the gap between the wings (corresponding to the width of a non-lifting body), angle of attack, and the Reynolds number. The range of aspect ratios and Reynolds number where chosen to be relevant to natural fliers and swimmers, and insect flight in particular. We show that the wake behind the paired wings deformed as a consequence of the induced flow distribution such that the wingtip vortices convected downwards while the root vortices twist around each other. Vortex interaction and wake deformation became more pronounced further downstream of the wing, so the positioning of PIV measurement planes in experiments on flying animals has an important effect on subsequent force estimates due to rotating induced flow vectors. Wake deformation was most severe behind wings with lower aspect ratios and when the distance between the wings was small, suggesting that animals that match this description constitute high-risk groups in terms of measurement error. Our results, therefore, have significant implications for experimental design where wake measurements are used to estimate forces generated in animal flight. In particular, the downstream distance of the measurement plane should be minimised, notwithstanding the animal welfare constraints when measuring the wake behind flying animals.

Efficiency of lift production in flapping and gliding flight of swifts

Many flying animals use both flapping and gliding flight as part of their routine behaviour. These two kinematic patterns impose conflicting requirements on wing design for aerodynamic efficiency and, in the absence of extreme morphing, wings cannot be optimised for both flight modes. In gliding flight, the wing experiences uniform incident flow and the optimal shape is a high aspect ratio wing with an elliptical planform. In flapping flight, on the other hand, the wing tip travels faster than the root, creating a spanwise velocity gradient. To compensate, the optimal wing shape should taper towards the tip (reducing the local chord) and/or twist from root to tip (reducing local angle of attack). We hypothesised that, if a bird is limited in its ability to morph its wings and adapt its wing shape to suit both flight modes, then a preference towards flapping flight optimization will be expected since this is the most energetically demanding flight mode. We tested this by studying a well-known flap-gliding species, the common swift, by measuring the wakes generated by two birds, one in gliding and one in flapping flight in a wind tunnel. We calculated span efficiency, the efficiency of lift production, and found that the flapping swift had consistently higher span efficiency than the gliding swift. This supports our hypothesis and suggests that even though swifts have been shown previously to increase their lift-to-drag ratio substantially when gliding, the wing morphology is tuned to be more aerodynamically efficient in generating lift during flapping. Since body drag can be assumed to be similar for both flapping and gliding, it follows that the higher total drag in flapping flight compared with gliding flight is primarily a consequence of an increase in wing profile drag due to the flapping motion, exceeding the reduction in induced drag.

Estimation of unsteady aerodynamics in the wake of a freely flying European starling (Sturnus vulgaris)

Wing flapping is one of the most widespread propulsion methods found in nature; however, the current understanding of the aerodynamics in bird wakes is incomplete. The role of the unsteady motion in the flow and its contribution to the aerodynamics is still an open question. In the current study, the wake of a freely flying European starling has been investigated using long-duration high-speed Particle Image Velocimetry (PIV) in the near wake. Kinematic analysis of the wings and body of the bird has been performed using additional high-speed cameras that recorded the bird movement simultaneously with the PIV measurements. The wake evolution of four complete wingbeats has been characterized through reconstruction of the time-resolved data, and the aerodynamics in the wake have been analyzed in terms of the streamwise forces acting on the bird. The profile drag from classical aerodynamics was found to be positive during most of the wingbeat cycle, yet kinematic images show that the bird does not decelerate. It is shown that unsteady aerodynamics are necessary to satisfy the drag/thrust balance by approximating the unsteady drag term. These findings may shed light on the flight efficiency of birds by providing a partial answer to how they minimize drag during flapping flight.

Structure of the vortex wake in hovering Anna's hummingbirds (Calypte anna)

Hummingbirds are specialized hoverers for which the vortex wake has been described as a series of single vortex rings shed primarily during the downstroke. Recent findings in bats and birds, as well as in a recent study on Anna's hummingbirds, suggest that each wing may shed a discrete vortex ring, yielding a bilaterally paired wake. Here, we describe the presence of two discrete rings in the wake of hovering Anna's hummingbirds, and also infer force production through a wingbeat with contributions to weight support. Using flow visualization, we found separate vortices at the tip and root of each wing, with 15% stronger circulation at the wingtip than at the root during the downstroke. The upstroke wake is more complex, with near-continuous shedding of vorticity, and circulation of approximately equal magnitude at tip and root. Force estimates suggest that the downstroke contributes 66% of required weight support, whereas the upstroke generates 35%. We also identified a secondary vortex structure yielding 8-26% of weight support. Lift production in Anna's hummingbirds is more evenly distributed between the stroke phases than previously estimated for Rufous hummingbirds, in accordance with the generally symmetric down- and upstrokes that characterize hovering in these birds.

Elytra boost lift, but reduce aerodynamic efficiency in flying beetles

Flying insects typically possess two pairs of wings. In beetles, the front pair has evolved into short, hardened structures, the elytra, which protect the second pair of wings and the abdomen. This allows beetles to exploit habitats that would otherwise cause damage to the wings and body. Many beetles fly with the elytra extended, suggesting that they influence aerodynamic performance, but little is known about their role in flight. Using quantitative measurements of the beetle's wake, we show that the presence of the elytra increases vertical force production by approximately 40 per cent, indicating that they contribute to weight support. The wing-elytra combination creates a complex wake compared with previously studied animal wakes. At mid-downstroke, multiple vortices are visible behind each wing. These include a wingtip and an elytron vortex with the same sense of rotation, a body vortex and an additional vortex of the opposite sense of rotation. This latter vortex reflects a negative interaction between the wing and the elytron, resulting in a single wing span efficiency of approximately 0.77 at mid downstroke. This is lower than that found in birds and bats, suggesting that the extra weight support of the elytra comes at the price of reduced efficiency.

Changes in kinematics and aerodynamics over a range of speeds in Tadarida brasiliensis, the Brazilian free-tailed bat

To date, wake measurements using particle image velocimetry (PIV) of bats in flight have studied only three bat species, all fruit and nectar feeders. In this study, we present the first wake structure analysis for an insectivorous bat. Tadarida brasiliensis, the Brazilian free-tailed bat, is an aerial hunter that annually migrates long distances and also differs strikingly from the previously investigated species morphologically. We compare the aerodynamics of T. brasiliensis with those of other, frugivorous bats and with common swifts, Apus apus, a bird with wing morphology, kinematics and flight ecology similar to that of these bats. The comparison reveals that, for the range of speeds evaluated, the cyclical pattern of aerodynamic forces associated with a wingbeat shows more similarities between T. brasiliensis and A. apus than between T. brasiliensis and other frugivorous bats.

Remote nocturnal bird classification by spectroscopy in extended wavelength ranges

We present optical methods at a wide range of wavelengths for remote classification of birds. The proposed methods include eye-safe fluorescence and depolarization lidar techniques, passive scattering spectroscopy, and infrared (IR) spectroscopy. In this paper we refine our previously presented method of remotely classifying birds with the help of laser-induced β-keratin fluorescence. Phenomena of excitation quenching are studied in the laboratory and are theoretically discussed in detail. It is shown how the ordered microstructures in bird feathers induce structural "colors" in the IR region with wavelengths of around 3-6 μm. We show that transmittance in this region depends on the angle of incidence of the transmitted light in a species-specific way and that the transmittance exhibits a close correlation to the spatial periodicity in the arrangement of the feather barbules. We present a method by which the microstructure of feathers can be monitored in a remote fashion by utilization of thermal radiation and the wing beating of the bird.

Aerodynamics of gliding flight in common swifts

Gliding flight performance and wake topology of a common swift (Apus apus L.) were examined in a wind tunnel at speeds between 7 and 11 m s–1. The tunnel was tilted to simulate descending flight at different sink speeds. The swift varied its wingspan, wing area and tail span over the speed range. Wingspan decreased linearly with speed, whereas tail span decreased in a nonlinear manner. For each airspeed, the minimum glide angle was found. The corresponding sink speeds showed a curvilinear relationship with airspeed, with a minimum sink speed at 8.1 m s–1 and a speed of best glide at 9.4 m s–1. Lift-to-drag ratio was calculated for each airspeed and tilt angle combinations and the maximum for each speed showed a curvilinear relationship with airspeed, with a maximum of 12.5 at an airspeed of 9.5 m s–1. Wake was sampled in the transverse plane using stereo digital particle image velocimetry (DPIV). The main structures of the wake were a pair of trailing wingtip vortices and a pair of trailing tail vortices. Circulation of these was measured and a model was constructed that showed good weight support. Parasite drag was estimated from the wake defect measured in the wake behind the body. Parasite drag coefficient ranged from 0.30 to 0.22 over the range of airspeeds. Induced drag was calculated and used to estimate profile drag coefficient, which was found to be in the same range as that previously measured on a Harris' hawk.

Wake structure and wing kinematics: the flight of the lesser dog-faced fruit bat, Cynopterus brachyotis

We investigated the detailed kinematics and wake structure of lesser dog-faced fruit bats (Cynopterus brachyotis) flying in a wind tunnel. High speed recordings of the kinematics were conducted to obtain three-dimensional reconstructions of wing movements. Simultaneously, the flow structure in the spanwise plane perpendicular to the flow stream was visualized using time-resolved particle image velocimetry. The flight of four individuals was investigated to reveal patterns in kinematics and wake structure typical for lower and higher speeds. The wake structure identified as typical for both speed categories was a closed-loop ring vortex consisting of the tip vortex and the limited appearance of a counter-rotating vortex near the body, as well as a small distally located vortex system at the end of the upstroke that generated negative lift. We also investigated the degree of consistency within trials and looked at individual variation in flight parameters, and found distinct differences between individuals as well as within individuals.

Fluid–structure interaction simulation of an avian flight model

A three-dimensional numerical avian model was developed to investigate the unsteady and turbulent aerodynamic performance of flapping wings for varying wingbeat frequencies and flow velocities (up to 12 Hz and 9 m s–1), corresponding to a reduced frequency range of k=0.22 to k=1.0 and a Reynolds number range of Re=16,000 to Re=50,000. The wings of the bird-inspired model consist of an elastic membrane. Simplifying the complicated locomotion kinematics to a sinusoidal wing rotation about two axes, the main features of dynamic avian flight were approximated. Numerical simulation techniques of fluid–structure interaction (FSI) providing a fully resolved flow field were applied to calculate the aerodynamic performance of the flapping elastic wings with the Reynolds averaged Navier–Stokes (RANS) approach. The results were used to characterize and describe the macroscopic flow configurations in terms of starting, stopping, trailing and bound vortices. For high reduced frequencies up to k=0.67 it was shown that the wake does not consist of individual vortex rings known as the discrete vortex ring gait. Rather, the wake is dominated by a chain of elliptical vortex rings on each wing. The structures are interlocked at the starting and stopping vortices, which are shed in pairs at the reversal points of the wingbeat cycle. For decreasing reduced frequency, the results indicate a transition to a continuous vortex gait. The upstroke becomes more aerodynamically active, leading to a consistent circulation of the bound vortex on the wing and a continuous spanwise shedding of small scale vortices. The formation of the vortices shed spanwise in pairs at the reversal points is reduced and the wake is dominated by the tip and root vortices, which form long drawn-out vortex structures.

Time-resolved vortex wake of a common swift flying over a range of flight speeds

The wake of a freely flying common swift (Apus apus L.) is examined in a wind tunnel at three different flight speeds, 5.7, 7.7 and 9.9 m s(-1). The wake of the bird is visualized using high-speed stereo digital particle image velocimetry (DPIV). Wake images are recorded in the transverse plane, perpendicular to the airflow. The wake of a swift has been studied previously using DPIV and recording wake images in the longitudinal plane, parallel to the airflow. The high-speed DPIV system allows for time-resolved wake sampling and the result shows features that were not discovered in the previous study, but there was approximately a 40 per cent vertical force deficit. As the earlier study also revealed, a pair of wingtip vortices are trailing behind the wingtips, but in addition, a pair of tail vortices and a pair of 'wing root vortices' are found that appear to originate from the wing/body junction. The existence of wing root vortices suggests that the two wings are not acting as a single wing, but are to some extent aerodynamically detached from each other. It is proposed that this is due to the body disrupting the lift distribution over the wing by generating less lift than the wings.

Kinematics of flight and the relationship to the vortex wake of a Pallas' long tongued bat (Glossophaga soricina)

To obtain a full understanding of the aerodynamics of animal flight, the movement of the wings, the kinematics, needs to be connected to the wake left behind the animal. Here the detailed 3D wingbeat kinematics of bats, Glossophaga soricina, flying in a wind tunnel over a range of flight speeds (1–7 m s−1) was determined from high-speed video. The results were compared with the wake geometry and quantitative wake measurements obtained simultaneously to the kinematics. The wingbeat kinematics varied gradually with flight speed and reflected the changes observed in the wake of the bats. In particular, several of the kinematic parameters reflected the differences in the function of the upstroke at low and high flight speeds. At lower flight speeds the bats use a pitch-up rotation to produce a backward flick which creates thrust and some weight support. At higher speeds this mechanism disappears and the upstroke generates weight support but no thrust. This is reflected by the changes in e.g. angle of attack, span ratio, camber and downstroke ratio. We also determined how different parameters vary throughout a wingbeat over the flight speeds studied. Both the camber and the angle of attack varied over the wingbeat differently at different speeds, suggesting active control of these parameters to adjust to the changing aerodynamic conditions. This study of the kinematics strongly indicates that the flight of bats is governed by an unsteady high-lift mechanism at low flight speeds and points to differences between birds and bats.

The importance of leading edge vortices under simplified flapping flight conditions at the size scale of birds

Over the last decade, interest in animal flight has grown, in part due to the possible use of flapping propulsion for micro air vehicles. The importance of unsteady lift-enhancing mechanisms in insect flight has been recognized, but unsteady effects were generally thought to be absent for the flapping flight of larger animals. Only recently has the existence of LEVs (leading edge vortices) in small vertebrates such as swifts, small bats and hummingbirds been confirmed. To study the relevance of unsteady effects at the scale of large birds [reduced frequency k between 0.05 and 0.3, k=(πfc)/U∞; f is wingbeat frequency, U∞ is free-stream velocity, and c is the average wing chord], and the consequences of the lack of kinematic and morphological refinements, we have designed a simplified goose-sized flapping model for wind tunnel testing. The 2-D flow patterns along the wing span were quantitatively visualized using particle image velocimetry (PIV), and a three-component balance was used to measure the forces generated by the wings. The flow visualization on the wing showed the appearance of LEVs, which is typically associated with a delayed stall effect, and the transition into flow separation. Also, the influence of the delayed stall and flow separation was clearly visible in measurements of instantaneous net force over the wingbeat cycle. Here, we show that, even at reduced frequencies as low as those of large bird flight, unsteady effects are present and non-negligible and have to be addressed by kinematic and morphological adaptations.

Adjustments of wingbeat frequency and air speed to air density in free-flying migratory birds

Birds adjust their flight behaviour to the physical properties of the air. Lift and drag, the two major properties in aerodynamics, are highly dependent on air density. With decreasing air density drag is reduced and lift per wingbeat decreases. According to flight mechanical theory, wingbeat frequency and air speed should increase with decreasing air density, i.e. increasing flight altitude. Although wind tunnel experiments have shed light on many aspects of avian flight, the effect of air density remained ambiguous, because air density could not be adjusted in wind tunnels, until now. By means of radar we recorded tracks of several thousand free-flying individual birds during nocturnal migration. From these tracks we derived wingbeat frequencies and air speeds covering air densities from 0.84 kg m(-3) to 1.13 kg m(-3), corresponding to an altitudinal range of about 3000 m. We demonstrate here with this sample of nocturnal migrants that: (1) wingbeat frequency decreases with air density (which corresponds to an increase in flap-gliding flyers by 0.4 Hz km(-1) and in bounding flyers by 1.1 Hz km(-1)), (2) reducing wingbeat frequency to equivalent sea level values did not abolish the dependency on air density, as expected by flight mechanical theory, and (3) bounding flyers show a higher response in their flight behavioural adjustments to changes in air density than flap-gliding flyers. With respect to air speed flap-gliding flyers increase their air speed by 1.0 m s(-1) km(-1) and bounding flyers by 1.4 m s(-1) km(-1).

The vortex wake of blackcaps (Sylvia atricapilla L.) measured using high-speed digital particle image velocimetry (DPIV)

Reconstructing the vortex wake of freely flying birds is challenging, but in the past few years, direct measurements of the wake circulation have become available for a number of species. Streamwise circulation has been measured at different positions along the span of the birds, but no measurements have been performed in the transverse plane. Recent findings from studies of bat wakes have pointed to the importance of transverse plane data for reconstructing the wake topology because important structures may be missed otherwise. We present results of high-speed DPIV measurements in the transverse plane behind freely flying blackcaps. We found novel wake structures previously not shown in birds, including wing root vortices of opposite as well as the same sign as the wing tip vortices. This suggests a more complex wake structure in birds than previously assumed and calls for more detailed studies of the flow over the wings and body, respectively. Based on measurements on birds with and without a tail we also tested hypotheses regarding the function of the tail during steady flight. We were unable to detect any differences in the wake pattern between birds with and without a tail. We conclude that the birds do not use their tail to exploit vortices shed at the wing root during the downstroke. Neither did we find support for the hypothesis that the tail should reduce the drag of the bird. The function of the tail during steady flight thus remains unclear and calls for further investigation in future studies.

Flight speeds of swifts (Apus apus): seasonal differences smaller than expected

We have studied the nocturnal flight behaviour of the common swift (Apus apus L.), by the use of a tracking radar. Birds were tracked from Lund University in southern Sweden during spring migration, summer roosting flights and autumn migration. Flight speeds were compared with predictions from flight mechanical and optimal migration theories. During spring, flight speeds were predicted to be higher than during both summer and autumn due to time restriction. In such cases, birds fly at a flight speed that maximizes the overall speed of migration. For summer roosting flights, speeds were predicted to be lower than during both spring and autumn since the predicted flight speed is the minimum power speed that involves the lowest energy consumption per unit time. During autumn, we expected flight speeds to be higher than during summer but lower than during spring since the expected flight speed is the maximum range speed, which involves the lowest energy consumption per unit distance. Flight speeds during spring were indeed higher than during both summer and autumn, which indicates time-selected spring migration. Speeds during autumn migration were very similar to those recorded during summer roosting flights. The general result shows that swifts change their flight speed between different flight behaviours to a smaller extent than expected. Furthermore, the difference between flight speeds during migration and roosting among swifts was found to be less pronounced than previously recorded.

A quantitative comparison of bird and bat wakes

Qualitative comparison of bird and bat wakes has demonstrated significant differences in the structure of the far wake. Birds have been found to have a unified vortex wake of the two wings, while bats have a more complex wake with gradients in the circulation along the wingspan, and with each wing generating its own vortex structure. Here, we compare quantitative measures of the circulation in the far wake of three bird and one bat species. We find that bats have a significantly stronger normalized circulation of the start vortex than birds. We also find differences in how the circulation develops during the wingbeat as demonstrated by the ratio of the circulation of the dominant start vortex and the total circulation of the same sense. Birds show a more prominent change with changing flight speed and a relatively weaker start vortex at minimum power speed than bats. We also find that bats have a higher normalized wake loading based on the start vortex, indicating higher relative induced drag and therefore less efficient lift generation than birds. Our results thus indicate fundamental differences in the aerodynamics of bird and bat flight that will further our understanding of the evolution of vertebrate flight.

Bird or bat: comparing airframe design and flight performance

Birds and bats have evolved powered flight independently, which makes a comparison of evolutionary 'design' solutions potentially interesting. In this paper we highlight similarities and differences with respect to flight characteristics, including morphology, flight kinematics, aerodynamics, energetics and flight performance. Birds' size range is 0.002-15 kg and bats' size range is 0.002-1.5 kg. The wingbeat kinematics differ between birds and bats, which is mainly due to the different flexing of the wing during the upstroke and constraints by having a wing of feathers and a skin membrane, respectively. Aerodynamically, bats appear to generate a more complex wake than birds. Bats may be more closely adapted for slow maneuvering flight than birds, as required by their aerial hawking foraging habits. The metabolic rate and power required to fly are similar among birds and bats. Both groups share many characteristics associated with flight, such as for example low amounts of DNA in cells, the ability to accumulate fat as fuel for hibernation and migration, and parallel habitat-related wing shape adaptations.

The near and far wake of Pallas' long tongued bat (Glossophaga soricina)

The wake structures of a bat in flight have a number of characteristics not associated with any of the bird species studied to this point. Unique features include discrete vortex rings generating negative lift at the end of the upstroke at medium and high speeds, each wing generating its own vortex loop, and a systematic variation in the circulation of the start and stop vortices along the wingspan, with increasing strength towards the wing tips. Here we analyse in further detail some previously published data from quantitative measurements of the wake behind a small bat species flying at speeds ranging from 1.5 to 7 m s(-1) in a wind tunnel. The data are extended to include both near- and far-wake measurements. The near-/far-wake comparisons show that although the measured peak vorticity of the start and stop vortices decreases with increasing downstream distance from the wing, the total circulation remains approximately constant. As the wake evolves, the diffuse stop vortex shed at the inner wing forms a more concentrated vortex in the far wake. Taken together, the results show that studying the far wake, which has been the standard procedure, nevertheless risks missing details of the wake. Although study of the far wake alone can lead to the misinterpretation of the wake topology, the net, overall circulation of the main wake vortices can be preserved so that approximate momentum balance calculations are not unreasonable within the inevitably large experimental uncertainties.

Beyond robins: aerodynamic analyses of animal flight

Recent progress in studies of animal flight mechanics is reviewed. A range of birds, and now bats, has been studied in wind tunnel facilities, revealing an array of wake patterns caused by the beating wings and also by the drag on the body. Nevertheless, the quantitative analysis of these complex wake structures shows a degree of similarity among all the different wake patterns and a close agreement with standard quasi-steady aerodynamic models and predictions. At the same time, new data on the flow over a bat wing in mid-downstroke show that, at least in this case, such simplifications cannot be useful in describing in detail either the wing properties or control prospects. The reasons for these apparently divergent results are discussed and prospects for future advances are considered.