Control of moth flight posture is mediated by wing mechanosensory feedback

Flow sensing on dragonfly wings

One feature of animal wings is their embedded mechanosensory system that can support flight control. Insect wings are particularly interesting as they are highly deformable yet the actuation is limited to the wing base. It is established that strain sensors on insect wings can directly mediate reflexive control; however, little is known about airflow sensing by insect wings. What information can flow sensors capture and how can flow sensing benefit flight control? Here, we use the dragonfly (Sympetrum striolatum) as a model to explore the function of wing sensory bristles in the context of flight control. Combining our detailed anatomical reconstructions of both the sensor microstructures and wing architecture, we used computational fluid dynamics simulations to ask the following questions. (1) Are there strategic locations on wings that sample flow for estimating aerodynamically relevant parameters such as the local effective angle of attack? (2) Is the sensory bristle distribution on dragonfly wings optimal for flow sensing? (3) What is the aerodynamic effect of microstructures found near the sensory bristles on dragonfly wings? We discuss the benefits of flow sensing for flexible wings and how the evolved sensor placement affects information encoding.

Long read genome assembly of Automeris io (Lepidoptera: Saturniidae) an emerging model for the evolution of deimatic displays

Automeris moths are a morphologically diverse group with 135 described species that have a geographic range that spans from the New World temperate zone to the Neotropics. Many Automeris have elaborate hindwing eyespots that are thought to deter or disrupt the attack of potential predators, allowing the moth time to escape. The Io moth (Automeris io), known for its striking eyespots, is a well-studied species within the genus and is an emerging model system to study the evolution of deimatism. Existing research on the eyespot pattern development will be augmented by genomic resources that allow experimental manipulation of this emerging model. Here, we present a high-quality, PacBio HiFi genome assembly for Io moth to aid existing research on the molecular development of eyespots and future research on other deimatic traits. This 490 Mb assembly is highly contiguous (N50 = 15.78 mbs) and complete (benchmarking universal single-copy orthologs = 98.4%). Additionally, we were able to recover orthologs of genes previously identified as being involved in wing pattern formation and movement.

Touchless underwater wall-distance sensing via active proprioception of a robotic flapper

In this work, we explored a bioinspired method for underwater object sensing based on active proprioception. We investigated whether the fluid flows generated by a robotic flapper, while interacting with an underwater wall, can encode the distance information between the wall and the flapper, and how to decode this information using the proprioception within the flapper. Such touchless wall-distance sensing is enabled by the active motion of a flapping plate, which injects self-generated flow to the fluid environment, thus representing a form of active sensing. Specifically, we trained a long short-term memory (LSTM) neural network to predict the wall distance based on the force and torque measured at the base of the flapping plate. In addition, we varied the Rossby number (Ro, or the aspect ratio of the plate) and the dimensionless flapping amplitude (A∗) to investigate how the rotational effects and unsteadiness of self-generated flow respectively affect the accuracy of the wall-distance prediction. Our results show that the median prediction error is within 5% of the plate length for all the wall-distances investigated (up to 40 cm or approximately 2-3 plate lengths depending on theRo); therefore, confirming that the self-generated flow can enable underwater perception. In addition, we show that stronger rotational effects at lowerRolead to higher prediction accuracy, while flow unsteadiness (A∗) only has moderate effects. Lastly, analysis based on SHapley Additive exPlanations (SHAP) indicate that temporal features that are most prominent at stroke reversals likely promotes the wall-distance prediction.

Intraspecific variation in the placement of campaniform sensilla on the wings of the hawkmoth Manduca sexta

Flight control requires active sensory feedback, and insects have many sensors that help them estimate their current locomotor state, including campaniform sensilla, which are mechanoreceptors that sense strain resulting from deformation of the cuticle. Campaniform sensilla on the wing detect bending and torsional forces encountered during flight, providing input to the flight feedback control system. During flight, wings experience complex spatio-temporal strain patterns. Because campaniform sensilla detect only local strain, their placement on the wing is presumably critical for determining the overall representation of wing deformation; however, how these sensilla are distributed across wings is largely unknown. Here, we test the hypothesis that campaniform sensilla are found in stereotyped locations across individuals of Manduca sexta, a hawkmoth. We found that although campaniform sensilla are consistently found on the same veins or in the same regions of the wings, their total number and distribution can vary extensively. This suggests that there is some robustness to variation in sensory feedback in the insect flight control system. The regions where campaniform sensilla are consistently found provide clues to their functional roles, although some patterns might be reflective of developmental processes. Collectively, our results on intraspecific variation in campaniform sensilla placement on insect wings will help reshape our thinking on the utility of mechanosensory feedback for insect flight control and guide further experimental and comparative studies.

Nonuniform structural properties of wings confer sensing advantages

Sensory feedback is essential to both animals and robotic systems for achieving coordinated, precise movements. Mechanosensory feedback, which provides information about body deformation, depends not only on the properties of sensors but also on the structure in which they are embedded. In insects, wing structure plays a particularly important role in flapping flight: in addition to generating aerodynamic forces, wings provide mechanosensory feedback necessary for guiding flight while undergoing dramatic deformations during each wingbeat. However, the role that wing structure plays in determining mechanosensory information is relatively unexplored. Insect wings exhibit characteristic stiffness gradients and are subject to both aerodynamic and structural damping. Here we examine how both of these properties impact sensory performance, using finite element analysis combined with sensor placement optimization approaches. We show that wings with nonuniform stiffness exhibit several advantages over uniform stiffness wings, resulting in higher accuracy of rotation detection and lower sensitivity to the placement of sensors on the wing. Moreover, we show that higher damping generally improves the accuracy with which body rotations can be detected. These results contribute to our understanding of the evolution of the nonuniform stiffness patterns in insect wings, as well as suggest design principles for robotic systems.

Derivative-Free Observability Analysis for Sensor Placement Optimization of Bioinspired Flexible Flapping Wing System

Observability analysis of a bioinspired flexible flapping wing system provides a measure of how well the states of flexible flapping wing micro-aerial vehicles can be estimated from real-time measurements during high-speed flight. However, the traditional observability analysis approaches have trouble in terms of lack of quantitative analysis index, high computational complexity, low accuracy, and unavailability in stochastic systems with memory, including bioinspired flexible flapping wing systems. Therefore, a novel derivative-free observability analysis method is proposed here based on the generalized polynomial chaos expansion. By formulating a surrogate model to represent the relationship between the cumulative measurement and the random initial state, the observability coefficient matrix is calculated and the observability rank condition is stated. Consequently, several observability indices are proposed to quantity the observability of the system. Altogether, the proposed method avoids the disadvantages of the traditional approaches, especially in assessing the observability degree of each state and the effect of stochastic noise on observability. The validation of the proposed method is first provided by demonstrating the equivalence between the traditional and proposed methods and subsequently by comparing the observability of the Lorenz system calculated via three different approaches. Finally, the proposed method is applied on a bioinspired flexible wing system to optimize the placement of sensors, which is consistent with the natural configuration of campaniform sensilla on the wing of the hawkmoth.

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

Reconstructing full-field flapping wing dynamics from sparse measurements

Flapping insect wings deform during flight. This deformation benefits the insect's aerodynamic force production as well as energetic efficiency. However, it is challenging to measure wing displacement field in flying insects. Many points must be tracked over the wing's surface to resolve its instantaneous shape. To reduce the number of points one is required to track, we propose a physics-based reconstruction method called system equivalent reduction expansion processes to estimate wing deformation and strain from sparse measurements. Measurement locations are determined using a weighted normalized modal displacement method. We experimentally validate the reconstruction technique by flapping a paper wing from 5-9 Hz with 45° and measuring strain at three locations. Two measurements are used for the reconstruction and the third for validation. Strain reconstructions had a maximal error of 30% in amplitude. We extend this methodology to a more realistic insect wing through numerical simulation. We show that wing displacement can be estimated from sparse displacement or strain measurements, and that additional sensors spatially average measurement noise to improve reconstruction accuracy. This research helps overcome some of the challenges of measuring full-field dynamics in flying insects and provides a framework for strain-based sensing in insect-inspired flapping robots.

Vibrational control: A hidden stabilization mechanism in insect flight

It is generally accepted among biology and engineering communities that insects are unstable at hover. However, existing approaches that rely on direct averaging do not fully capture the dynamical features and stability characteristics of insect flight. Here, we reveal a passive stabilization mechanism that insects exploit through their natural wing oscillations: vibrational stabilization. This stabilization technique cannot be captured using the averaging approach commonly used in literature. In contrast, it is elucidated using a special type of calculus: the chronological calculus. Our result is supported through experiments on a real hawkmoth subjected to pitch disturbance from hovering. This finding could be particularly useful to biologists because the vibrational stabilization mechanism may also be exploited by many other creatures. Moreover, our results may inspire more optimal designs for bioinspired flying robots by relaxing the feedback control requirements of flight.

The Balance Hypothesis for the Avian Lumbosacral Organ and an Exploration of Its Morphological Variation

Birds (Aves) exhibit exceptional and diverse locomotor behaviors, including the exquisite ability to balance on two feet. How birds so precisely control their movements may be partly explained by a set of intriguing modifications in their lower spine. These modifications are collectively known as the lumbosacral organ (LSO) and are found in the fused lumbosacral vertebrae called the synsacrum. They include a set of transverse canal-like recesses in the synsacrum that align with lateral lobes of the spinal cord, as well as a dorsal groove in the spinal cord that houses an egg-shaped glycogen body. Based on compelling but primarily observational data, the most recent functional hypotheses for the LSO consider it to be a secondary balance organ, in which the transverse canals are analogous to the semicircular canals of the inner ear. If correct, this hypothesis would reshape our understanding of avian locomotion, yet the LSO has been largely overlooked in the recent literature. Here, we review the current evidence for this hypothesis and then explore a possible relationship between the LSO and balance-intensive locomotor ecologies. Our comparative morphological dataset consists of micro-computed tomography (μ-CT) scans of synsacra from ecologically diverse species. We find that birds that perch tend to have more prominent transverse canals, suggesting that the LSO is useful for balance-intensive behaviors. We then identify the crucial outstanding questions about LSO structure and function. The LSO may be a key innovation that allows independent but coordinated motion of the head and the body, and a full understanding of its function and evolution will require multiple interdisciplinary research efforts.

Coriolis and centrifugal forces drive haltere deformations and influence spike timing

The halteres of flies are mechanosensory organs that serve a crucial role in the control of agile flight, providing sensory input for rapid course corrections to perturbations. Derived from hind wings, halteres are actively flapped and are thus subject to a variety of inertial forces as the fly undergoes complex flight trajectories. Previous analyses of halteres modelled them as a point mass, showing that Coriolis forces lead to subtle deflections orthogonal to the plane of flapping. By design, these models could not consider the effects of force gradients associated with a mass distribution, nor could they reveal three-dimensional spatio-temporal patterns of strain that result from those forces. In addition, diversity in the geometry of halteres, such as shape and asymmetries, could not be simply modelled with a point mass on a massless rod. To study the effects of mass distributions and asymmetries, we examine the haltere subject to both flapping and body rotations using three-dimensional finite-element simulations. We focus on a set of simplified geometries, in which we vary the stalk and bulb shape. We find that haltere mass distribution gives rise to two unreported deformation modes: (i) halteres twist with a magnitude that strongly depends on stalk and bulb geometry and (ii) halteres with an asymmetric mass distribution experience out-of-plane bending due to centrifugal forces, independent of body rotation. Since local strains at the base of the haltere drive deformations of mechanosensory neurons, we combined measured neural encoding mechanisms with our structural analyses to predict the spatial and temporal patterns of neural activity. This activity depends on both the flapping and rotation dynamics, and we show how the timing of neural activity is a viable mechanism for rotation-rate encoding. Our results provide new insights in haltere dynamics and show the viability for timing-based encoding of fly body rotations by halteres.

Physical and behavioral adaptations to prevent overheating of the living wings of butterflies

The wings of Lepidoptera contain a matrix of living cells whose function requires appropriate temperatures. However, given their small thermal capacity, wings can overheat rapidly in the sun. Here we analyze butterfly wings across a wide range of simulated environmental conditions, and find that regions containing living cells are maintained at cooler temperatures. Diverse scale nanostructures and non-uniform cuticle thicknesses create a heterogeneous distribution of radiative cooling that selectively reduces the temperature of structures such as wing veins and androconial organs. These tissues are supplied by circulatory, neural and tracheal systems throughout the adult lifetime, indicating that the insect wing is a dynamic, living structure. Behavioral assays show that butterflies use wings to sense visible and infrared radiation, responding with specialized behaviors to prevent overheating of their wings. Our work highlights the physiological importance of wing temperature and how it is exquisitely regulated by structural and behavioral adaptations.

Extremely low neonicotinoid doses alter navigation of pest insects along pheromone plumes

The prevailing use of neonicotinoids in pest control has adverse effects on non-target organisms, like honeybees. However, relatively few studies have explored the effect of sublethal neonicotinoid levels on olfactory responses of pest insects, and thus their potential impact on semiochemical surveillance and control methods, such as monitoring or mating disruption. We recently reported that sublethal doses of the neonicotinoid thiacloprid (TIA) had dramatic effects on sex pheromone release in three tortricid moth species. We present now effects of TIA on pheromone detection and, for the first time, navigational responses of pest insects to pheromone sources. TIA delayed and reduced the percentage of males responding in the wind tunnel without analogous alteration of electrophysiological antennal responses. During navigation along an odor plume, treated males exhibited markedly slower flights and, in general, described narrower flight tracks, with an increased susceptibility to wind-induced drift. All these effects increased in a dose-dependent manner starting at LC_0.001 - which would kill just 10 out of 10⁶ individuals - and revealed an especially pronounced sensitivity in one of the species, Grapholita molesta. Our results suggest that minimal neonicotinoid quantities alter chemical communication, and thus could affect the efficacy of semiochemical pest management methods.

Inertial Sensing and Encoding of Self-Motion: Structural and Functional Similarities across Metazoan Taxa

To properly orient and navigate, moving animals must obtain information about the position and motion of their bodies. Animals detect inertial signals resulting from body accelerations and rotations using a variety of sensory systems. In this review, we briefly summarize current knowledge on inertial sensing across widely disparate animal taxa with an emphasis on neuronal coding and sensory transduction. We outline systems built around mechanosensory hair cells, including the chordate vestibular complex and the statocysts seen in many marine invertebrates. We next compare these to schemes employed by flying insects for managing inherently unstable aspects of flapping flight, built around comparable mechanosensory cells but taking unique advantage of the physics of rotating systems to facilitate motion encoding. Finally, we highlight fundamental similarities across taxa with respect to the partnering of inertial senses with visual senses and conclude with a discussion of the functional utility of maintaining a multiplicity of encoding schemes for self-motion information.

Fins as Mechanosensors for Movement and Touch-Related Behaviors

Mechanosensation is a universal feature of animals that is essential for behavior, allowing detection of animals' own body movement and position as well as physical characteristics of the environment. The extraordinary morphological and behavioral diversity that exists across fish species provide rich opportunities for comparative mechanosensory studies in fins. The fins of fishes have been found to function as proprioceptors, by providing feedback on fin ray position and movement, and as tactile sensors, by encoding pressures applied to the fin surface. Across fish species, and among fins, the afferent response is remarkably consistent, suggesting that the ability of fin rays and membrane to sense deformation is a fundamental feature of fish fins. While fin mechanosensation has been known in select, often highly specialized, species for decades, only in the last decade have we explored mechanosensation in typical propulsive fins and considered its role in behavior, particularly locomotion. In this paper, we synthesize the current understanding of the anatomy and physiology of fin mechanosensation, looking toward key directions for research. We argue that a mechanosensory perspective informs studies of fin-based propulsion and other fin-driven behaviors and should be considered in the interpretation of fin morphology and behavior. In addition, we compare the mechanosensory system innervating the fins of fishes to the systems innervating the limbs of mammals and wings of insects in order to identify shared mechanosensory strategies and how different organisms have evolved to meet similar functional challenges. Finally, we discuss how understanding the biological organization and function of fin sensors can inform the design of control systems for engineered fins and fin-driven robotics.

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

Flying insects impress by their versatility and have been a recurrent source of inspiration for engineering devices. A large body of literature has focused on various aspects of insect flight, with an essential part dedicated to the dynamics of flapping wings and their intrinsically unsteady aerodynamic mechanisms. Insect wings flex during flight and a better understanding of structural mechanics and aeroelasticity is emerging. Most recently, insights from solid and fluid mechanics have been integrated with physiological measurements from visual and mechanosensors in the context of flight control in steady airs and through turbulent conditions. We review the key recent advances concerning flight in unsteady environments and how the multi-body mechanics of the insect structure-wings and body-are at the core of the flight control question. The issues herein should be considered when applying bio-informed design principles to robotic flapping wings.

Hawkmoth flight in the unsteady wakes of flowers

Flying animals maneuver and hover through environments where wind gusts and flower wakes produce unsteady flow. Although both flight maneuvers and aerodynamic mechanisms have been studied independently, little is known about how these interact in an environment where flow is already unsteady. Moths forage from flowers by hovering in the flower's wake. We investigated hawkmoths tracking a 3D-printed robotic flower in a wind tunnel. We visualized the flow in the wake and around the wings and compared tracking performance with previous experiments in a still-air flight chamber. As in still air, moths flying in the flower wake exhibit near-perfect tracking at the low frequencies at which natural flowers move. However, tracking in the flower wake results in a larger overshoot between 2 and 5 Hz. System identification of flower tracking reveals that moths also display reduced-order dynamics in wind compared with still air. Smoke visualization of the flower wake shows that the dominant vortex shedding corresponds to the same frequency band as the increased overshoot. Despite these large effects on tracking dynamics in wind, the leading edge vortex (LEV) remains bound to the wing throughout the wingstroke and does not burst. The LEV also maintains the same qualitative structure seen in steady air. Persistence of a stable LEV during decreased flower tracking demonstrates the interplay between hovering and maneuvering.

A simple developmental model recapitulates complex insect wing venation patterns

Insect wings are typically supported by thickened struts called veins. These veins form diverse geometric patterns across insects. For many insect species, even the left and right wings from the same individual have veins with unique topological arrangements, and little is known about how these patterns form. We present a large-scale quantitative study of the fingerprint-like "secondary veins." We compile a dataset of wings from 232 species and 17 families from the order Odonata (dragonflies and damselflies), a group with particularly elaborate vein patterns. We characterize the geometric arrangements of veins and develop a simple model of secondary vein patterning. We show that our model is capable of recapitulating the vein geometries of species from other, distantly related winged insect clades.

Neural-inspired sensors enable sparse, efficient classification of spatiotemporal data

Winged insects perform remarkable aerial feats in uncertain, complex fluid environments. This ability is enabled by sensation of mechanical forces to inform rapid corrections in body orientation. Curiously, mechanoreceptor neurons do not faithfully report forces; instead, they are activated by specific time histories of forcing. We find that, far from being a bug, neural encoding by biological sensors is a feature that acts as built-in temporal filtering superbly matched to detect body rotation. Indeed, this encoding further enables surprisingly efficient detection using only a small handful of neurons at key locations. Nature suggests smart data as an alternative strategy to big data, and neural-inspired sensors establish a paradigm in hyperefficient sensing of complex systems.

Sparse sensor placement is a central challenge in the efficient characterization of complex systems when the cost of acquiring and processing data is high. Leading sparse sensing methods typically exploit either spatial or temporal correlations, but rarely both. This work introduces a sparse sensor optimization that is designed to leverage the rich spatiotemporal coherence exhibited by many systems. Our approach is inspired by the remarkable performance of flying insects, which use a few embedded strain-sensitive neurons to achieve rapid and robust flight control despite large gust disturbances. Specifically, we identify neural-inspired sensors at a few key locations on a flapping wing that are able to detect body rotation. This task is particularly challenging as the rotational twisting mode is three orders of magnitude smaller than the flapping modes. We show that nonlinear filtering in time, built to mimic strain-sensitive neurons, is essential to detect rotation, whereas instantaneous measurements fail. Optimized sparse sensor placement results in efficient classification with approximately 10 sensors, achieving the same accuracy and noise robustness as full measurements consisting of hundreds of sensors. Sparse sensing with neural-inspired encoding establishes an alternative paradigm in hyperefficient, embodied sensing of spatiotemporal data and sheds light on principles of biological sensing for agile flight control.

Topological and modality-specific representation of somatosensory information in the fly brain

Insects and mammals share similarities of neural organization underlying the perception of odors, taste, vision, sound, and gravity. We observed that insect somatosensation also corresponds to that of mammals. In Drosophila, the projections of all the somatosensory neuron types to the insect's equivalent of the spinal cord segregated into modality-specific layers comparable to those in mammals. Some sensory neurons innervate the ventral brain directly to form modality-specific and topological somatosensory maps. Ascending interneurons with dendrites in matching layers of the nerve cord send axons that converge to respective brain regions. Pathways arising from leg somatosensory neurons encode distinct qualities of leg movement information and play different roles in ground detection. Establishment of the ground pattern and genetic tools for neuronal manipulation should provide the basis for elucidating the mechanisms underlying somatosensation.

Neural evidence supports a dual sensory-motor role for insect wings

Flying insects use feedback from various sensory modalities including vision and mechanosensation to navigate through their environment. The rapid speed of mechanosensory information acquisition and processing compensates for the slower processing times associated with vision, particularly under low light conditions. While halteres in dipteran species are well known to provide such information for flight control, less is understood about the mechanosensory roles of their evolutionary antecedent, wings. The features that wing mechanosensory neurons (campaniform sensilla) encode remains relatively unexplored. We hypothesized that the wing campaniform sensilla of the hawkmoth, Manduca sexta, rapidly and selectively extract mechanical stimulus features in a manner similar to halteres. We used electrophysiological and computational techniques to characterize the encoding properties of wing campaniform sensilla. To accomplish this, we developed a novel technique for localizing receptive fields using a focused IR laser that elicits changes in the neural activity of mechanoreceptors. We found that (i) most wing mechanosensors encoded mechanical stimulus features rapidly and precisely, (ii) they are selective for specific stimulus features, and (iii) there is diversity in the encoding properties of wing campaniform sensilla. We found that the encoding properties of wing campaniform sensilla are similar to those for haltere neurons. Therefore, it appears that the neural architecture that underlies the haltere sensory function is present in wings, which lends credence to the notion that wings themselves may serve a similar sensory function. Thus, wings may not only function as the primary actuator of the organism but also as sensors of the inertial dynamics of the animal.

Parameters of motion vision in low-light in the hawkmoth, Manduca sexta

The hawkmoth Manduca sexta, is nocturnally active, beginning its flight activity at sunset, and executing rapid controlled maneuvers to search for food and mates in dim light conditions. This moth's visual system has been shown to trade off spatial and temporal resolution for increased sensitivity in these conditions. The study presented here uses tethered flying moths to characterize the flight performance envelope of M. sexta's wide-field-motion-triggered steering response in low light conditions by measuring attempted turning in response to wide-field visual motion. Moths were challenged with a horizontally oscillating sinusoidal grating at a range of luminance, from daylight to starlight conditions. The impact of luminance on response to a range of temporal frequencies and spatial wavelengths was assessed across a range of pattern contrasts. The optomotor response decreased as a function of decreasing luminance, and the lower limit of the moth's contrast sensitivity was found to be between 1% to 5%. The preferred spatial frequency for M. sexta increased from 0.06 to 0.3 cycles/degree as the luminance decreased, but the preferred temporal frequency remained stable at 4.5 Hz across all conditions. The relationship between the optomotor response time to the temporal frequency of the pattern movement did not vary significantly with luminance levels. Taken together, these results suggest that the behavioral response to wide-field visual input in M. sexta is adapted to operate during crepuscular to nocturnal luminance levels, and the decreasing light levels experienced during that period changes visual acuity and does not affect their response time significantly.

Evolution of Biological Image Stabilization

The use of vision to coordinate behavior requires an efficient control design that stabilizes the world on the retina or directs the gaze towards salient features in the surroundings. With a level gaze, visual processing tasks are simplified and behaviorally relevant features from the visual environment can be extracted. No matter how simple or sophisticated the eye design, mechanisms have evolved across phyla to stabilize gaze. In this review, we describe functional similarities in eyes and gaze stabilization reflexes, emphasizing their fundamental role in transforming sensory information into motor commands that support postural and locomotor control. We then focus on gaze stabilization design in flying insects and detail some of the underlying principles. Systems analysis reveals that gaze stabilization often involves several sensory modalities, including vision itself, and makes use of feedback as well as feedforward signals. Independent of phylogenetic distance, the physical interaction between an animal and its natural environment - its available senses and how it moves - appears to shape the adaptation of all aspects of gaze stabilization.

Flight of the dragonflies and damselflies

This work is a synthesis of our current understanding of the mechanics, aerodynamics and visually mediated control of dragonfly and damselfly flight, with the addition of new experimental and computational data in several key areas. These are: the diversity of dragonfly wing morphologies, the aerodynamics of gliding flight, force generation in flapping flight, aerodynamic efficiency, comparative flight performance and pursuit strategies during predatory and territorial flights. New data are set in context by brief reviews covering anatomy at several scales, insect aerodynamics, neuromechanics and behaviour. We achieve a new perspective by means of a diverse range of techniques, including laser-line mapping of wing topographies, computational fluid dynamics simulations of finely detailed wing geometries, quantitative imaging using particle image velocimetry of on-wing and wake flow patterns, classical aerodynamic theory, photography in the field, infrared motion capture and multi-camera optical tracking of free flight trajectories in laboratory environments. Our comprehensive approach enables a novel synthesis of datasets and subfields that integrates many aspects of flight from the neurobiology of the compound eye, through the aeromechanical interface with the surrounding fluid, to flight performance under cruising and higher-energy behavioural modes.

This article is part of the themed issue ‘Moving in a moving medium: new perspectives on flight’.

Cross-modal influence of mechanosensory input on gaze responses to visual motion in Drosophila

Animals typically combine inertial and visual information to stabilize their gaze against confounding self-generated visual motion, and to maintain a level gaze when the body is perturbed by external forces. In vertebrates, an inner ear vestibular system provides information about body rotations and accelerations, but gaze stabilization is less understood in insects, which lack a vestibular organ. In flies, the halteres, reduced hindwings imbued with hundreds of mechanosensory cells, sense inertial forces and provide input to neck motoneurons that control gaze. These neck motoneurons also receive input from the visual system. Head movement responses to visual motion and physical rotations of the body have been measured independently, but how inertial information might influence gaze responses to visual motion has not been fully explored. We measured the head movement responses to visual motion in intact and haltere-ablated tethered flies to explore the haltere's role in modulating visually-guided head movements in the absence of rotation. We note that visually-guided head movements occur only during flight. Although halteres are not necessary for head movements, the amplitude of the response is smaller in haltereless flies at higher speeds of visual motion. This modulation occurred in the absence of rotational body movements, demonstrating that the inertial forces associated with straight tethered flight are important for gaze-control behavior. The cross-modal influence of halteres on the fly's responses to fast visual motion indicates that the haltere's role in gaze stabilization extends beyond its canonical function as a sensor of angular rotations of the thorax.

Neural control and precision of flight muscle activation in Drosophila

Precision of motor commands is highly relevant in a large context of various locomotor behaviors, including stabilization of body posture, heading control and directed escape responses. While posture stability and heading control in walking and swimming animals benefit from high friction via ground reaction forces and elevated viscosity of water, respectively, flying animals have to cope with comparatively little aerodynamic friction on body and wings. Although low frictional damping in flight is the key to the extraordinary aerial performance and agility of flying birds, bats and insects, it challenges these animals with extraordinary demands on sensory integration and motor precision. Our review focuses on the dynamic precision with which Drosophila activates its flight muscular system during maneuvering flight, considering relevant studies on neural and muscular mechanisms of thoracic propulsion. In particular, we tackle the precision with which flies adjust power output of asynchronous power muscles and synchronous flight control muscles by monitoring muscle calcium and spike timing within the stroke cycle. A substantial proportion of the review is engaged in the significance of visual and proprioceptive feedback loops for wing motion control including sensory integration at the cellular level. We highlight that sensory feedback is the basis for precise heading control and body stability in flies.

Integration of parallel mechanosensory and visual pathways resolved through sensory conflict

The acquisition of information from parallel sensory pathways is a hallmark of coordinated movement in animals. Insect flight, for example, relies on both mechanosensory and visual pathways. Our challenge is to disentangle the relative contribution of each modality to the control of behavior. Toward this end, we show an experimental and analytical framework leveraging sensory conflict, a means for independently exciting and modeling separate sensory pathways within a multisensory behavior. As a model, we examine the hovering flower-feeding behavior in the hawkmoth Manduca sexta In the laboratory, moths feed from a robotically actuated two-part artificial flower that allows independent presentation of visual and mechanosensory cues. Freely flying moths track lateral flower motion stimuli in an assay spanning both coupled motion, in which visual and mechanosensory cues follow the same motion trajectory, and sensory conflict, in which the two sensory modalities encode different motion stimuli. Applying a frequency-domain system identification analysis, we find that the tracking behavior is, in fact, multisensory and arises from a linear summation of visual and mechanosensory pathways. The response dynamics are highly preserved across individuals, providing a model for predicting the response to novel multimodal stimuli. Surprisingly, we find that each pathway in and of itself is sufficient for driving tracking behavior. When multiple sensory pathways elicit strong behavioral responses, this parallel architecture furnishes robustness via redundancy.

Mechanosensation and Adaptive Motor Control in Insects

The ability of animals to flexibly navigate through complex environments depends on the integration of sensory information with motor commands. The sensory modality most tightly linked to motor control is mechanosensation. Adaptive motor control depends critically on an animal's ability to respond to mechanical forces generated both within and outside the body. The compact neural circuits of insects provide appealing systems to investigate how mechanical cues guide locomotion in rugged environments. Here, we review our current understanding of mechanosensation in insects and its role in adaptive motor control. We first examine the detection and encoding of mechanical forces by primary mechanoreceptor neurons. We then discuss how central circuits integrate and transform mechanosensory information to guide locomotion. Because most studies in this field have been performed in locusts, cockroaches, crickets, and stick insects, the examples we cite here are drawn mainly from these 'big insects'. However, we also pay particular attention to the tiny fruit fly, Drosophila, where new tools are creating new opportunities, particularly for understanding central circuits. Our aim is to show how studies of big insects have yielded fundamental insights relevant to mechanosensation in all animals, and also to point out how the Drosophila toolkit can contribute to future progress in understanding mechanosensory processing.

Dipteran Halteres: Perspectives on Function and Integration for a Unique Sensory Organ

The halteres of dipteran insects (true flies) are essential mechanosensory organs for flight. These are modified hindwings with several arrays of sensory cells at their base, and they are one of the characteristic features of flies. Mechanosensory information from the halteres is sent with low latency to wing-steering and head movement motoneurons, allowing direct control of body position and gaze. Analyses of the structure and dynamics of halteres indicate that they experience very small aerodynamic forces but significant inertial forces, including Coriolis forces associated with body rotations. The sensory cells at the base of the haltere detect these forces and allow the fly to correct for perturbations during flight, but new evidence suggests that this may not be their only role. This review will examine our current understanding of how these organs move, encode forces, and transmit information about these forces to the nervous system to guide behavior.

Innate olfactory preferences for flowers matching proboscis length ensure optimal energy gain in a hawkmoth

Cost efficient foraging is of especial importance for animals like hawkmoths or hummingbirds that are feeding 'on the wing', making their foraging energetically demanding. The economic decisions made by these animals have a strong influence on the plants they pollinate and floral volatiles are often guiding these decisions. Here we show that the hawkmoth Manduca sexta exhibits an innate preference for volatiles of those Nicotiana flowers, which match the length of the moth's proboscis. This preference becomes apparent already at the initial inflight encounter, with the odour plume. Free-flight respiration analyses combined with nectar calorimetry revealed a significant caloric gain per invested flight energy only for preferred-matching-flowers. Our data therefore support Darwin's initial hypothesis on the coevolution of flower length and moth proboscis. We demonstrate that this interaction is mediated by an adaptive and hardwired olfactory preference of the moth for flowers offering the highest net-energy reward.

Direct lateral maneuvers in hawkmoths

We used videography to investigate direct lateral maneuvers, i.e. ‘sideslips’, of the hawkmoth Manduca sexta. M. sexta sideslip by rolling their entire body and wings to reorient their net force vector. During sideslip they increase net aerodynamic force by flapping with greater amplitude, (in both wing elevation and sweep), allowing them to continue to support body weight while rolled. To execute the roll maneuver we observed in sideslips, they use an asymmetric wing stroke; increasing the pitch of the roll-contralateral wing pair, while decreasing that of the roll-ipsilateral pair. They also increase the wing sweep amplitude of, and decrease the elevation amplitude of, the contralateral wing pair relative to the ipsilateral pair. The roll maneuver unfolds in a stairstep manner, with orientation changing more during downstroke than upstroke. This is due to smaller upstroke wing pitch angle asymmetries as well as increased upstroke flapping counter-torque from left-right differences in global reference frame wing velocity about the moth's roll axis. Rolls are also opposed by stabilizing aerodynamic moments from lateral motion, such that rightward roll velocity will be opposed by rightward motion. Computational modeling using blade-element approaches confirm the plausibility of a causal linkage between the previously mentioned wing kinematics and roll/sideslip. Model results also predict high degrees of axial and lateral damping. On the time scale of whole and half wing strokes, left-right wing pair asymmetries directly relate to the first, but not second, derivative of roll. Collectively, these results strongly support a roll-based sideslip with a high degree of roll damping in M. sexta.

Summary: We show that hawkmoths fly sideways by rolling in the direction of movement, adding a left- or right-ward component to their net lift vector. The underlying roll maneuvers are produced from a suite of asymmetric wing kinematic changes and are heavily damped.

Proprioceptive feedback determines visuomotor gain in Drosophila

Multisensory integration is a prerequisite for effective locomotor control in most animals. Especially, the impressive aerial performance of insects relies on rapid and precise integration of multiple sensory modalities that provide feedback on different time scales. In flies, continuous visual signalling from the compound eyes is fused with phasic proprioceptive feedback to ensure precise neural activation of wing steering muscles (WSM) within narrow temporal phase bands of the stroke cycle. This phase-locked activation relies on mechanoreceptors distributed over wings and gyroscopic halteres. Here we investigate visual steering performance of tethered flying fruit flies with reduced haltere and wing feedback signalling. Using a flight simulator, we evaluated visual object fixation behaviour, optomotor altitude control and saccadic escape reflexes. The behavioural assays show an antagonistic effect of wing and haltere signalling on visuomotor gain during flight. Compared with controls, suppression of haltere feedback attenuates while suppression of wing feedback enhances the animal's wing steering range. Our results suggest that the generation of motor commands owing to visual perception is dynamically controlled by proprioception. We outline a potential physiological mechanism based on the biomechanical properties of WSM and sensory integration processes at the level of motoneurons. Collectively, the findings contribute to our general understanding how moving animals integrate sensory information with dynamically changing temporal structure.

Gyroscopic sensing in the wings of the hawkmoth Manduca sexta: the role of sensor location and directional sensitivity

The wings of the hawkmoth Manduca sexta are lined with mechanoreceptors called campaniform sensilla that encode wing deformations. During flight, the wings deform in response to a variety of stimuli, including inertial-elastic loads due to the wing flapping motion, aerodynamic loads, and exogenous inertial loads transmitted by disturbances. Because the wings are actuated, flexible structures, the strain-sensitive campaniform sensilla are capable of detecting inertial rotations and accelerations, allowing the wings to serve not only as a primary actuator, but also as a gyroscopic sensor for flight control. We study the gyroscopic sensing of the hawkmoth wings from a control theoretic perspective. Through the development of a low-order model of flexible wing flapping dynamics, and the use of nonlinear observability analysis, we show that the rotational acceleration inherent in wing flapping enables the wings to serve as gyroscopic sensors. We compute a measure of sensor fitness as a function of sensor location and directional sensitivity by using the simulation-based empirical observability Gramian. Our results indicate that gyroscopic information is encoded primarily through shear strain due to wing twisting, where inertial rotations cause detectable changes in pronation and supination timing and magnitude. We solve an observability-based optimal sensor placement problem to find the optimal configuration of strain sensor locations and directional sensitivities for detecting inertial rotations. The optimal sensor configuration shows parallels to the campaniform sensilla found on hawkmoth wings, with clusters of sensors near the wing root and wing tip. The optimal spatial distribution of strain directional sensitivity provides a hypothesis for how heterogeneity of campaniform sensilla may be distributed.

A new twist on gyroscopic sensing: body rotations lead to torsion in flapping, flexing insect wings

Insects perform fast rotational manoeuvres during flight. While two insect orders use flapping halteres (specialized organs evolved from wings) to detect body dynamics, it is unknown how other insects detect rotational motions. Like halteres, insect wings experience gyroscopic forces when they are flapped and rotated and recent evidence suggests that wings might indeed mediate reflexes to body rotations. But, can gyroscopic forces be detected using only changes in the structural dynamics of a flapping, flexing insect wing? We built computational and robotic models to rotate a flapping wing about an axis orthogonal to flapping. We recorded high-speed video of the model wing, which had a flexural stiffness similar to the wing of the Manduca sexta hawkmoth, while flapping it at the wingbeat frequency of Manduca (25 Hz). We compared the three-dimensional structural dynamics of the wing with and without a 3 Hz, 10° rotation about the yaw axis. Our computational model revealed that body rotation induces a new dynamic mode: torsion. We verified our result by measuring wing tip displacement, shear strain and normal strain of the robotic wing. The strains we observed could stimulate an insect's mechanoreceptors and trigger reflexive responses to body rotations.

Fin ray sensation participates in the generation of normal fin movement in the hovering behavior of the bluegill sunfish (Lepomis macrochirus)

For many fish species, the pectoral fins serve as important propulsors and stabilizers and are precisely controlled. Although it has been shown that mechanosensory feedback from the fin ray afferent nerves provides information on ray bending and position, the effects of this feedback on fin movement are not known. In other taxa, including insects and mammals, sensory feedback from the limbs has been shown to be important for control of limb-based behaviors and we hypothesized that this is also the case for the fishes. In this study, we examined the impact of the loss of sensory feedback from the pectoral fins on movement kinematics during hover behavior. Research was performed with bluegill sunfish (Lepomis macrochirus), a model for understanding the biomechanics of swimming and for bio-inspired design of engineered fins. The bluegill beats its pectoral fins rhythmically, and in coordination with pelvic and median fin movement, to maintain a stationary position while hovering. Bilateral deafferentation of the fin rays results in a splay-finned posture where fins beat regularly but at a higher frequency and without adducting fully against the side of the body. For unilateral transections, more irregular changes in fin movements were recorded. These data indicate that sensory feedback from the fin rays and membrane is important for generating normal hover movements but is not necessary for generating rhythmic fin movement.

Intersegmental coupling and recovery from perturbations in freely running cockroaches

Cockroaches are remarkably stable runners, exhibiting rapid recovery from external perturbations. To uncover the mechanisms behind this important behavioral trait, we recorded leg kinematics of freely running animals in both undisturbed and perturbed trials. Functional coupling underlying inter-leg coordination was monitored before and during localized perturbations, which were applied to single legs via magnetic impulses. The resulting transient effects on all legs and the recovery times to normal pre-perturbation kinematics were studied. We estimated coupling architecture and strength by fitting experimental data to a six-leg-unit phase oscillator model. Using maximum-likelihood techniques, we found that a network with nearest-neighbor inter-leg coupling best fitted the data and that, although coupling strengths vary among preparations, the overall inputs entering each leg are approximately balanced and consistent. Simulations of models with different coupling strengths encountering perturbations suggest that the coupling schemes estimated from our experiments allow animals relatively fast and uniform recoveries from perturbations.

A simple behaviour provides accuracy and flexibility in odour plume tracking—the robotic control of sensory-motor coupling in silkmoths

Odour plume tracking is an essential behaviour for animal survival. A fundamental strategy for this is moving upstream and then across-stream. Male silkmoths, Bombyx mori, display this strategy as a pre-programmed sequential behaviour. They walk forward (surge) in response to the female sex pheromone and perform a zigzagging “mating dance”. Though pre-programmed, the surge direction is modulated by the bilateral olfactory input and optic flow. However, the nature of interaction between these two sensory modalities and contribution of the resultant motor command to localizing an odour source are still unknown. We evaluated the ability of the silkmoth to localize the odour source under conditions of disturbed sensory-motor coupling, using a silkmoth-driven mobile robot. The significance of the bilateral olfaction of the moth was confirmed by inverting the robot's olfactory input that is acquired using two flexible air-suction tubes and delivered to the antennae of the moth, or its motor output. Inversion of the motor output induced consecutive circling, which was inhibited by covering the visual field of the moth. This suggests that the corollary discharge from the motor command and the reafference of self-generated optic flow generates compensatory signals to guide the surge accurately. Additionally, after inverting the olfactory input, the robot successfully tracked the odour plume by using a combination of behaviours. These results indicate that accurate guidance of the reflexive surge by integrating bilateral olfactory and visual information with innate pre-programmed behaviours increases the flexibility to track an odour plume even under disturbed circumstances.

Sensory processing within antenna enables rapid implementation of feedback control for high-speed running maneuvers

Animals are remarkably stable during high-speed maneuvers. As the speed of locomotion increases, neural bandwidth and processing delays can limit the ability to achieve and maintain stable control. Processing the information of sensory stimuli into a control signal within the sensor itself could enable rapid implementation of whole-body feedback control during high-speed locomotion. Here, we show that processing in antennal afferents is sufficient to act as control signal for a fast sensorimotor loop. American cockroaches Periplaneta americana use their antennae to mediate escape running by tracking vertical surfaces such as walls. A control theoretic model of wall following predicts that stable control is possible if the animal can compute wall position (P) and velocity, its derivative, (D). Previous whole-nerve recordings from the antenna during simulated turning experiments demonstrated a population response consistent with P and D encoding, and suggested that the response was synchronized with the timing of a turn executed while wall following. Here, we record extracellularly from individual mechanoreceptors distributed along the antenna and show that these receptors encode D and have distinct latencies and filtering properties. When summed, receptors transform the stimulus into a control signal that could control rapid steering maneuvers. The D encoding within the antenna in addition to the temporal filtering properties and P dependence of the population of afferents support a sensory encoding hypothesis from control theory. Our findings support the hypothesis that peripheral sensory processing can enable rapid implementation of whole-body feedback control during rapid running maneuvers.