Vultures respond to challenges of near-ground thermal soaring by varying bank angle

Revealing principles of autonomous thermal soaring in windy conditions using vulture-inspired deep reinforcement-learning

Thermal soaring, a technique used by birds and gliders to utilize updrafts of hot air, is an appealing model-problem for studying motion control and how it is learned by animals and engineered autonomous systems. Thermal soaring has rich dynamics and nontrivial constraints, yet it uses few control parameters and is becoming experimentally accessible. Following recent developments in applying reinforcement learning methods for training deep neural-network (deep-RL) models to soar autonomously both in simulation and real gliders, here we develop a simulation-based deep-RL system to study the learning process of thermal soaring. We find that this process has learning bottlenecks, we define a new efficiency metric and use it to characterize learning robustness, we compare the learned policy to data from soaring vultures, and find that the neurons of the trained network divide into function clusters that evolve during learning. These results pose thermal soaring as a rich yet tractable model-problem for the learning of motion control.

The use of social information in vulture flight decisions

Animals rely on a balance of personal and social information to decide when and where to move next in order to access a desired resource. The benefits from cueing on conspecifics to reduce uncertainty about resource availability can be rapidly overcome by the risks of within-group competition, often exacerbated toward low-ranked individuals. Being obligate soarers, relying on thermal updraughts to search for carcasses around which competition can be fierce, vultures represent ideal models to investigate the balance between personal and social information during foraging movements. Linking dominance hierarchy, social affinities and meteorological conditions to movement decisions of eight captive vultures, Gyps spp., released for free flights in natural soaring conditions, we found that they relied on social information (i.e. other vultures using/having used the thermals) to find the next thermal updraught, especially in unfavourable flight conditions. Low-ranked individuals were more likely to disregard social cues when deciding where to go next, possibly to minimize the competitive risk of social aggregation. These results exemplify the architecture of decision-making during flight in social birds. It suggests that the environmental context, the context of risk and the social system as a whole calibrate the balance between personal and social information use.

Early and accumulated experience shape migration and flight in Egyptian vultures

Two types of experience affect animals' behavioral proficiencies and, accordingly, their fitness: early-life experience, an animal's environment during its early development, and acquired experience, the repeated practice of a specific task.1,2,3,4,5,6,7,8 Yet, how these two experience types and their interactions affect different proficiencies is still an open question. Here, we study the interactions between these two types of experience during migration, a critical and challenging period.9,10 We do so by comparing migratory proficiencies between birds with different early-life experiences and explain these differences by testing fine-scale flight mechanisms. We used data collected by GPS transmitters during 127 autumn migrations of 65 individuals to study the flight proficiencies of two groups of Egyptian vultures (Neophron percnopterus), a long-distance, soaring raptor.11,12 The two groups differed greatly in their early-life experience, one group being captive bred and the other wild hatched.13 Both groups improved their migratory performance with acquired experience, exhibiting shorter migration times, longer daily progress, and improved flight skills, specifically more efficient soaring-gliding behavior. The observed improvements were mostly apparent for captive-bred vultures, which were the least efficient during their first migration but were able to catch up in their migratory performance already in the second migration. Thus, we show how the strong negative effects of early-life experience were offset by acquired experience. Our findings uncover how the interaction between early-life and acquired experiences may shape animals' proficiencies and shed new light on the ontogeny of animal migration, suggesting possible effects of sensitive periods of learning on the acquisition of migratory skills.

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

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

Swimming in density-stratified fluid: study on a flapping foil

It is of interest to investigate how a swimming animal performs in a density-stratified fluid. This paper studies a simplified swimmer, a pitching NACA0015 airfoil, considering its locomotion in both homogeneous, or unstratified, and stratified fluid flows. A direct comparison is made between these two conditions through two-dimensional numerical simulations. Our numerical results show that the stratification modifies the dynamics of the pitching foil in both its wake structures and the drag force, or thrust, as well as its propulsive performance. We suggest that the effects of stratification on flapping performance or propulsive efficiency can be categorized according to the Froude number, or the level of stratification. First, in the range of high Froude numbers, notable modification of the flow structure can be observed, which however does not greatly affect the propulsive performance. Second, at a very low Froude number, i.e., Fr = 1, the propulsive efficiency drops markedly compared to its homogeneous counterpart, attributed to the pronounced internal waves induced by the strong stratification. Moreover, at a moderate Froude number Fr = 2, we find an increase in the propulsive efficiency, which can be explained by the unique variation in the wake structure. AtA_D= 2.50, the propulsive efficiency peaks at Fr = 2, with its efficiency 18.3% higher than its homogeneous counterpart, exhibiting a favourable influence of the stratification on a swimmer.

Apex scavengers from different European populations converge at threatened savannah landscapes

Over millennia, human intervention has transformed European habitats mainly through extensive livestock grazing. “Dehesas/Montados” are an Iberian savannah-like ecosystem dominated by oak-trees, bushes and grass species that are subject to agricultural and extensive livestock uses. They are a good example of how large-scale, low intensive transformations can maintain high biodiversity levels as well as socio-economic and cultural values. However, the role that these human-modified habitats can play for individuals or species living beyond their borders is unknown. Here, using a dataset of 106 adult GPS-tagged Eurasian griffon vultures (Gyps fulvus) monitored over seven years, we show how individuals breeding in western European populations from Northern, Central, and Southern Spain, and Southern France made long-range forays (LRFs) of up to 800 km to converge in the threatened Iberian “dehesas” to forage. There, extensive livestock and wild ungulates provide large amounts of carcasses, which are available to scavengers from traditional exploitations and rewilding processes. Our results highlight that maintaining Iberian “dehesas” is critical not only for local biodiversity but also for long-term conservation and the ecosystem services provided by avian scavengers across the continent.

Application of Inertial and GNSS Integrated Navigation to Seabird Biologging

The study demonstrates the versatility of integration of inertial navigation and global navigation satellite system (GNSS) with its unique application to seabird biologging. Integrated navigation was originally developed in the field of aerospace engineering, which requires accurate and reliable position, velocity, and attitude information for the guidance and control of aircraft and spacecraft. Due to its high performance and recent progress of sensor development, integrated navigation has been widely used not only in aerospace but also in many fields represented by land and marine vehicles. One of its ultimate applications under the constraint on the size and power consumption of devices is this study. Seabird biologging involves attaching a logging device onto a seabird for scientific purposes to understand its biomechanics, behavior, and so on. Design restrictions for the device include several tens of grams mass, several tens of millimeters in length, and several tens of milliamperes of power consumption. It is more difficult to maintain the accuracy of such a device than applications to an artificial vehicle. This study has shown that integrated navigation is a feasible solution for such extreme applications with two examples: biologging for wandering albatrosses and great frigatebirds. Furthermore, it should be stressed that the navigation captured the world’s first data of their detailed trajectories and attitudes in their dynamic and thermal soarings. For completeness, the navigation algorithm, simulation results to show the effectiveness of the algorithm, and the logging devices attached to bird are also described.

Soaring strategy investigation of cinereous vulture (Aegypius monachus) by sailplane

Soaring has great importance to large and heavy terrestrial birds because they can gain altitude without using power in this way. The cinereous vultures were near threatened species in the world, so it was hard to observe them while circling in thermals or slope soaring. Although there were enough works on conservation and breeding biology of those birds, there was not any study on the soaring technique. In this work, cinereous vulture observed and tracked in thermal columns using a glider to figure out whether the turn performance of the cinereous vulture matched well with other vulture species. Finding the pros and cons of tracking and observation of the cinereous vulture's turn performance in a thermal by a glider was another objective of the study. The results indicated that the cinereous vulture can complete the thermal circling with a narrower radius which provides advantages to stay in the strongest part of the thermal.

Wave-slope soaring of the brown pelican

BACKGROUND

From the laboratory at Scripps Institution of Oceanography, it is common to see the brown pelican (Pelecanus occidentalis) traveling along the crests of ocean waves just offshore of the surf-zone. When flying in this manner, the birds can travel long distances without flapping, centimeters above the ocean's surface. Here we derive a theoretical framework for assessing the energetic savings related to this behavior, 'wave-slope soaring,' in which an organism in flight takes advantage of localized updrafts caused by traveling ocean surface gravity waves.

METHODS

The energy cost of steady, constant altitude flight in and out of ground effect are analyzed as controls. Potential flow theory is used to quantify the ocean wave-induced wind associated with near-shoaling, weakly nonlinear, shallow water ocean surface gravity waves moving through an atmosphere initially at rest. Using perturbation theory and the Green's function for Laplace's equation in 2D with Dirichlet boundary conditions, we obtain integrals for the horizontal and vertical components of the wave-induced wind in a frame of reference moving with the wave. Wave-slope soaring flight is then analyzed using an energetics-based approach for waves under a range of ocean conditions and the body plan of P. occidentalis.

RESULTS

For ground effect flight, we calculate a ∼15 - 25% reduction in cost of transport as compared with steady, level flight out of ground effect. When wave-slope soaring is employed at flight heights ∼2m in typical ocean conditions (2m wave height, 15s period), we calculate 60-70% reduction in cost of transport as compared with flight in ground effect. A relatively small increase in swell amplitude or decrease in flight height allows up to 100% of the cost of transport to be offset by wave-slope soaring behavior.

CONCLUSIONS

The theoretical development presented here suggests there are energy savings associated with wave-slope soaring. Individual brown pelicans may significantly decrease their cost of transport utilizing this mode of flight under typical ocean conditions. Thus wave-slope soaring may provide fitness benefit to these highly mobile organisms that depend on patchy prey distribution over large home ranges.

Functional Morphology of Gliding Flight II. Morphology Follows Predictions of Gliding Performance

The evolution of wing morphology among birds, and its functional consequences, remains an open question, despite much attention. This is in part because the connection between form and function is difficult to test directly. To address this deficit, in prior work, we used computational modeling and sensitivity analysis to interrogate the impact of altering wing aspect ratio (AR), camber, and Reynolds number on aerodynamic performance, revealing the performance landscapes that avian evolution has explored. In the present work, we used a dataset of three-dimensionally scanned bird wings coupled with the performance landscapes to test two hypotheses regarding the evolutionary diversification of wing morphology associated with gliding flight behavior: (1) gliding birds would exhibit higher wing AR and greater chordwise camber than their non-gliding counterparts; and (2) that two strategies for gliding flight exist, with divergent morphological conformations. In support of our first hypothesis, we found evidence of morphological divergence in both wing AR and camber between gliders and non-gliders, suggesting that wing morphology of birds that utilize gliding flight is under different selective pressures than the wings of non-gliding taxa. Furthermore, we found that these morphological differences also yielded differences in coefficient of lift measured both at the maximum lift to drag ratio and at minimum sinking speed, with gliding taxa exhibiting higher coefficient of lift in both cases. Minimum sinking speed was also lower in gliders than non-gliders. However, contrary to our hypothesis, we found that the maximum ratio of the coefficient of lift to the coefficient of drag differed between gliders and non-gliders. This may point to the need for gliders to maintain high lift capability for takeoff and landing independent of gliding performance or could be due to the divergence in flight styles among gliders, as not all gliders are predicted to optimize either quantity. However, direct evidence for the existence of two morphologically defined gliding flight strategies was equivocal, with only slightly stronger support for an evolutionary model positing separate morphological optima for these strategies than an alternative model positing a single peak. The absence of a clear result may be an artifact of low statistical power owing to a relatively small sample size of gliding flyers expected to follow the "aerial search" strategy.

A new direction for differentiating animal activity based on measuring angular velocity about the yaw axis

The use of animal-attached data loggers to quantify animal movement has increased in popularity and application in recent years. High-resolution tri-axial acceleration and magnetometry measurements have been fundamental in elucidating fine-scale animal movements, providing information on posture, traveling speed, energy expenditure, and associated behavioral patterns. Heading is a key variable obtained from the tandem use of magnetometers and accelerometers, although few field investigations have explored fine-scale changes in heading to elucidate differences in animal activity (beyond the notable exceptions of dead-reckoning).This paper provides an overview of the value and use of animal heading and a prime derivative, angular velocity about the yaw axis, as an important element for assessing activity extent with potential to allude to behaviors, using "free-ranging" Loggerhead turtles (Caretta caretta) as a model species.We also demonstrate the value of yaw rotation for assessing activity extent, which varies over the time scales considered and show that various scales of body rotation, particularly rate of change of yaw, can help resolve differences between fine-scale behavior-specific movements. For example, oscillating yaw movements about a central point of the body's arc implies bouts of foraging, while unusual circling behavior, indicative of conspecific interactions, could be identified from complete revolutions of the longitudinal axis.We believe this approach should help identification of behaviors and "space-state" approaches to enhance our interpretation of behavior-based movements, particularly in scenarios where acceleration metrics have limited value, such as for slow-moving animals.