Avian surface reconstruction in free flight with application to flight stability analysis of a barn owl and peregrine falcon

Shoulder viscoelasticity in a raptor-inspired model alleviates instability and enhances passive gust rejection

Recent experiments with gliding raptors reveal a perplexing dichotomy: remarkably resilient gust rejection, but, at the same time, an exceptionally high degree of longitudinal instability. To resolve this incompatibility, a multiple degree of freedom model is developed with minimal requisite complexity to examine the hypothesis that the bird shoulder joint may embed essential stabilizing and preflexive mechanisms for rejecting rapid perturbations while simplifying and reducing control effort. Thus, the formulation herein is centrally premised upon distinct wing pitch and body pitch angles coupled via a Kelvin-Voigt viscoelastic shoulder joint. The model accurately exhibits empirical gust response of an unstable gliding raptor, generates biologically plausible equilibrium configurations, and the viscoelastic shoulder coupling is shown to drastically alleviate the high degree of instability predicted by conventional linear flight dynamics models. In fact, stability analysis of the model predicts a critical system timescale (the time to double amplitude of a pitch divergence mode) that is commensurate within vivomeasured latency of barn owls (Tyto alba). Active gust mitigation is studied by presupposing the owl behaves as an optimal controller. The system is under-actuated and the feedback control law is resolved in the controllable subspace using a Kalman decomposition. Importantly, control-theoretic analysis precisely identifies what discrete gust frequencies may be rapidly and passively rejected versus disturbances requiring feedback control intervention.

Joint extension speed dictates bio-inspired morphing trajectories for optimal longitudinal flight dynamics

Avian wing morphing allows dynamic, active control of complex flight manoeuvres. Previous linear time-invariant (LTI) models have quantified the effect of varying fixed wing configurations but the time-dependent effects of morphing between different configurations is not well understood. To fill this gap, I implemented a linear parameter-varying (LPV) model for morphing wing gull flight. This approach models the wing joint angles as scheduled parameters and accounts for nonlinear kinematic and gravitational effects while interpolating between LTI models at discrete trim points. With the resulting model, I investigated the longitudinal response associated with various joint extension trajectories. By optimizing the extension trajectory for four independent objectives (speed and pitch angle overshoot, speed rise time and pitch angle settling time), I found that the extension trajectory inherent to the gull wing does not guarantee an optimal response but may provide a sufficient response with a simpler mechanical implementation. Furthermore, the results indicated that gulls likely require extension speed feedback. This morphing LPV model provides insights into underlying control mechanisms, which may allow for avian-like flight in future highly manoeuvrable uncrewed aerial vehicles.

A Comparison of Aerodynamic Parameters in Two Subspecies of the American Barn Owl (Tyto furcata)

Simple Summary

Morphology and function depend on the ecological niche in which an animal lives. Barn owls, occurring on all continents, occupy a nocturnal niche. These birds prey mainly on small rodents but include other small vertebrates and invertebrates in the diet. The size of the barn-owl species and subspecies varies considerably. The American continent harbors the species Tyto furcata. The body mass of the subspecies in North America (T.f.pratincola) is about a factor of two higher than that of the subspecies living on the Galapagos archipelago (T.f.puncatissima). We asked how this difference translates into aerodynamic parameters. The key question was whether there is so-called similarity scaling or not. In other words, whether important aerodynamic parameters scale according to body mass. This is called isometric scaling. Deviation from isometric scaling is called allometric scaling. If we use the subspecies from the continent as a reference, we find that the Galapagos barn owl has relatively larger wings than expected from isometric scaling. This translates into a lower wing loading in punctatissima than in pratincola. A lower wing loading means higher maneuverability. We speculate that the higher maneuverability allows the Galapagos owl to catch smaller prey, especially insects.

Abstract

Aerodynamic parameters, such as wing loading, are important indicators of flight maneuverability. We studied two subspecies of the American Barn owl (Tyto furcata), the North American subspecies, T.f.pratincola, and the Galapagos subspecies, T.f.punctatissima, with respect to aerodynamic parameters and compared our findings with those in other owl and bird species. The body mass of T.f.pratincola is about two times higher than that of T.f.punctatissima. Wing loading between the two subspecies scales allometrically. Wing loading in T.f.pratincola is about 50% higher than in T.f.punctatissima. The scaling of wing length is not statistically different from the prediction for isometric scaling. By contrast, the wing chord in T.f.punctatissima is larger than predicted by isometric scaling, as is the wing area. The scaling of wing loading observed here for T.f.punctatissima differs considerably from the scaling in other owl and bird species as available in the literature. We speculate that the allometric scaling helps T.f.punctatissima to catch smaller prey such, as insects that are found in many pellets of T.f.punctatissima, despite the fact that in both subspecies, small rodents make up most of the diet.

Birds can transition between stable and unstable states via wing morphing

Birds morph their wing shape to accomplish extraordinary manoeuvres^1–4, which are governed by avian-specific equations of motion. Solving these equations requires information about a bird’s aerodynamic and inertial characteristics⁵. Avian flight research to date has focused on resolving aerodynamic features, whereas inertial properties including centre of gravity and moment of inertia are seldom addressed. Here we use an analytical method to determine the inertial characteristics of 22 species across the full range of elbow and wrist flexion and extension. We find that wing morphing allows birds to substantially change their roll and yaw inertia but has a minimal effect on the position of the centre of gravity. With the addition of inertial characteristics, we derived a novel metric of pitch agility and estimated the static pitch stability, revealing that the agility and static margin ranges are reduced as body mass increases. These results provide quantitative evidence that evolution selects for both stable and unstable flight, in contrast to the prevailing narrative that birds are evolving away from stability⁶. This comprehensive analysis of avian inertial characteristics provides the key features required to establish a theoretical model of avian manoeuvrability.

Analysis of inertial characteristics across 22 bird species shows that evolution has selected for avian manoeuvrability using both stable and unstable flight dynamics.

Virtual manipulation of tail postures of a gliding barn owl (Tyto alba) demonstrates drag minimization when gliding

Aerodynamic functions of the avian tail have been studied previously using observations of bird flight, physical models in wind tunnels, theoretical modelling and flow visualization. However, none of these approaches has provided rigorous, quantitative evidence concerning tail functions because (i) appropriate manipulation and controls cannot be achieved using live animals and (ii) the aerodynamic interplay between the wings and body challenges reductive theoretical or physical modelling approaches. Here, we have developed a comprehensive analytical drag model, calibrated by high-fidelity computational fluid dynamics (CFD), and used it to investigate the aerodynamic action of the tail by virtually manipulating its posture. The bird geometry used for CFD was reconstructed previously using stereo-photogrammetry of a freely gliding barn owl (Tyto alba) and we validated the CFD simulations against wake measurements. Using this CFD-calibrated drag model, we predicted the drag production for 16 gliding flights with a range of tail postures. These observed postures are set in the context of a wider parameter sweep of theoretical postures, where the tail spread and elevation angles were manipulated independently. The observed postures of our gliding bird corresponded to near minimal total drag.

Quantifying avian inertial properties using calibrated computed tomography

Estimating centre of mass and mass moments of inertia is an important aspect of many studies in biomechanics. Characterising these parameters accurately in three dimensions is challenging with traditional methods requiring dissection or suspension of cadavers. Here, we present a method to quantify the three-dimensional centre of mass and inertia tensor of birds of prey using calibrated computed tomography (CT) scans. The technique was validated using several independent methods, providing body segment mass estimates within approximately 1% of physical dissection measurements and moment of inertia measurements with a 0.993 R2 correlation with conventional trifilar pendulum measurements. Calibrated CT offers a relatively straightforward, non-destructive approach that yields highly detailed mass distribution data that can be used for three-dimensional dynamics modelling in biomechanics. Although demonstrated here with birds, this approach should work equally well with any animal or appendage capable of being CT scanned.

Raptor wing morphing with flight speed

In gliding flight, birds morph their wings and tails to control their flight trajectory and speed. Using high-resolution videogrammetry, we reconstructed accurate and detailed three-dimensional geometries of gliding flights for three raptors (barn owl, Tyto alba; tawny owl, Strix aluco, and goshawk, Accipiter gentilis). Wing shapes were highly repeatable and shoulder actuation was a key component of reconfiguring the overall planform and controlling angle of attack. The three birds shared common spanwise patterns of wing twist, an inverse relationship between twist and peak camber, and held their wings depressed below their shoulder in an anhedral configuration. With increased speed, all three birds tended to reduce camber throughout the wing, and their wings bent in a saddle-shape pattern. A number of morphing features suggest that the coordinated movements of the wing and tail support efficient flight, and that the tail may act to modulate wing camber through indirect aeroelastic control.

Aerodynamic efficiency of gliding birds vs comparable UAVs: a review

Here, we reviewed published aerodynamic efficiencies of gliding birds and similar sized unmanned aerial vehicles (UAVs) motivated by a fundamental question: are gliding birds more efficient than comparable UAVs? Despite a multitude of studies that have quantified the aerodynamic efficiency of gliding birds, there is no comprehensive summary of these results. This lack of consolidated information inhibits a true comparison between birds and UAVs. Such a comparison is complicated by variable uncertainty levels between the different techniques used to predict avian efficiency. To support our comparative approach, we began by surveying theoretical and experimental estimates of avian aerodynamic efficiency and investigating the uncertainty associated with each estimation method. We found that the methodology used by a study affects the estimated efficiency and can lead to incongruent conclusions on gliding bird aerodynamic efficiency. Our survey showed that studies on live birds gliding in wind tunnels provide a reliable minimum estimate of a birds' aerodynamic efficiency while simultaneously quantifying the wing configurations used in flight. Next, we surveyed the aeronautical literature to collect the published aerodynamic efficiencies of similar-sized, non-copter UAVs. The compiled information allowed a direct comparison of UAVs and gliding birds. Contrary to our expectation, we found that there is no definitive evidence that any gliding bird species is either more or less efficient than a comparable UAV. This non-result highlights a critical need for new technology and analytical advances that can reduce the uncertainty associated with estimating a gliding bird's aerodynamic efficiency. Nevertheless, our survey indicated that species flying within subcritical Reynolds number regimes may inspire UAV designs that can extend their operational range to efficiently operate in subcritical regimes. The survey results provided here point the way forward for research into avian gliding flight and enable informed UAV designs.

Flow turning effect and laminar control by the 3D curvature of leading edge serrations from owl wing

This work describes a novel mechanism of laminar flow control of straight and backward swept wings with a comb-like leading edge (LE) device. It is inspired by the LE comb on owl feathers and the special design of its barbs, resembling a cascade of complex 3D-curved thin finlets. The details of the geometry of the barbs from an owl feather were used to design a generic model of the comb for experimental and numerical flow studies with the comb attached to the LE of a flat plate. Due to the owls demonstrating a backward sweep of the wing during gliding and flapping from live recordings, our examinations have also been carried out at differing sweep angles. The results demonstrate a flow turning effect in the boundary layer inboards, which extends downstream in the chordwise direction over distances of multiples of the barb lengths. The inboard flow-turning effect described here, counter-acts the outboard directed cross-span flow typically appearing for backward swept wings. This flow turning behaviour is also shown on SD7003 airfoil using precursory LES investigations. From recent theoretical studies on a swept wing, such a way of turning the flow in the boundary layer is known to attenuate crossflow instabilities and delay transition. A comparison of the comb-induced cross-span velocity profiles with those proven to delay laminar to turbulent transition in theory shows excellent agreement, which supports the laminar flow control hypothesis. Thus, the observed effect is expected to delay transition in owl flight, contributing to a more silent flight.

Bird wings act as a suspension system that rejects gusts

Musculoskeletal systems cope with many environmental perturbations without neurological control. These passive preflex responses aid animals to move swiftly through complex terrain. Whether preflexes play a substantial role in animal flight is uncertain. We investigated how birds cope with gusty environments and found that their wings can act as a suspension system, reducing the effects of vertical gusts by elevating rapidly about the shoulder. This preflex mechanism rejected the gust impulse through inertial effects, diminishing the predicted impulse to the torso and head by 32% over the first 80 ms, before aerodynamic mechanisms took effect. For each wing, the centre of aerodynamic loading aligns with the centre of percussion, consistent with enhancing passive inertial gust rejection. The reduced motion of the torso in demanding conditions simplifies crucial tasks, such as landing, prey capture and visual tracking. Implementing a similar preflex mechanism in future small-scale aircraft will help to mitigate the effects of gusts and turbulence without added computational burden.

Load alleviation of feather-inspired compliant airfoils for instantaneous flow control

Birds morph their wing shape to adjust to changing environments through muscle-activated morphing of the skeletal structure and passive morphing of the flexible skin and feathers. The role of feather morphing has not been well studied and its impact on aerodynamics is largely unknown. Here we investigate the aero-structural response of a flexible airfoil, designed with biologically accurate structural and material data from feathers, and compared the results to an equivalent rigid airfoil. Two coupled aero-structural models are developed and validated to simulate the response of a bioinspired flexible airfoil across a range of aerodynamic flight conditions. We found that the bioinspired flexible airfoil maintained lift at Reynolds numbers below 1.5 × 10⁵, within the avian flight regime, performing similarly to its rigid counterpart. At greater Reynolds numbers, the flexible airfoil alleviated the lift force and experienced trailing edge tip displacement. Principal component analysis identified that the Reynolds number dominated this passive shape change which induced a decambering effect, although the angle of attack was found to effect the location of maximum camber. These results imply that birds or aircraft that have tailored chordwise flexible wings will respond like rigid wings while operating at low speeds, but will passively unload large lift forces while operating at high speeds.

High aerodynamic lift from the tail reduces drag in gliding raptors

Many functions have been postulated for the aerodynamic role of the avian tail during steady-state flight. By analogy with conventional aircraft, the tail might provide passive pitch stability if it produced very low or negative lift. Alternatively, aeronautical principles might suggest strategies that allow the tail to reduce inviscid, induced drag: if the wings and tail act in different horizontal planes, they might benefit from biplane-like aerodynamics; if they act in the same plane, lift from the tail might compensate for lift lost over the fuselage (body), reducing induced drag with a more even downwash profile. However, textbook aeronautical principles should be applied with caution because birds have highly capable sensing and active control, presumably reducing the demand for passive aerodynamic stability, and, because of their small size and low flight speeds, operate at Reynolds numbers two orders of magnitude below those of light aircraft. Here, by tracking up to 20,000, 0.3 mm neutrally buoyant soap bubbles behind a gliding barn owl, tawny owl and goshawk, we found that downwash velocity due to the body/tail consistently exceeds that due to the wings. The downwash measured behind the centreline is quantitatively consistent with an alternative hypothesis: that of constant lift production per planform area, a requirement for minimizing viscous, profile drag. Gliding raptors use lift distributions that compromise both inviscid induced drag minimization and static pitch stability, instead adopting a strategy that reduces the viscous drag, which is of proportionately greater importance to lower Reynolds number fliers.

Avian surface reconstruction in free flight with application to flight stability analysis of a barn owl and peregrine falcon

Birds primarily create and control the forces necessary for flight through changing the shape and orientation of their wings and tail. Their wing geometry is characterised by complex variation in parameters such as camber, twist, sweep and dihedral. To characterise this complexity, a multi-view stereo-photogrammetry setup was developed for accurately measuring surface geometry in high resolution during free flight. The natural patterning of the birds was used as the basis for phase correlation-based image matching, allowing indoor or outdoor use while being non-intrusive for the birds. The accuracy of the method was quantified and shown to be sufficient for characterising the geometric parameters of interest, but with a reduction in accuracy close to the wing edge and in some localised regions. To demonstrate the method's utility, surface reconstructions are presented for a barn owl (Tyto alba) and peregrine falcon (Falco peregrinus) during three instants of gliding flight per bird. The barn owl flew with a consistent geometry, with positive wing camber and longitudinal anhedral. Based on flight dynamics theory, this suggests it was longitudinally statically unstable during these flights. The peregrine falcon flew with a consistent glide angle, but at a range of air speeds with varying geometry. Unlike the barn owl, its glide configuration did not provide a clear indication of longitudinal static stability/instability. Aspects of the geometries adopted by both birds appeared to be related to control corrections and this method would be well suited for future investigations in this area, as well as for other quantitative studies into avian flight dynamics.