How Lovebirds Maneuver Rapidly Using Super-Fast Head Saccades and Image Feature Stabilization

Modeling and Analysis of Bio-Inspired, Reconfigurable, Piezo-Driven Vibration Isolator for Spacecraft

The positioning accuracy of spacecraft in orbit is easily affected by low-frequency micro-vibrations of the environment and internal disturbances caused by the payload. Inspired by the neck structure of birds, this study devised a piezo-driven active vibration isolation unit with high stiffness. First, a dynamic model and two-sensor feedback control method for the isolation unit were developed, and the isolation mechanism and anti-disturbance characteristics were analyzed. Further, the stability of the closed-loop was verified. Simulation models of serial and parallel systems based on the proposed vibration isolation unit were implemented to demonstrate its feasibility. The results indicate that the proposed isolation units can provide excellent low-frequency vibration isolation performance and inertial stability and that they can effectively resist the internal disturbance of the payload. Moreover, its performance can be further improved via serial or parallel reconfiguration that facilitates its adaptation to the varied isolation requirements of spacecraft.

A surrogate forelimb: Evolution, function and development of the avian cervical spine

The neck is a critical portion of the avian spine, one that works in tandem with the beak to act as a surrogate forelimb and allows birds to manipulate their surroundings despite the lack of a grasping capable hand. Birds display an incredible amount of diversity in neck morphology across multiple anatomical scales-from varying cervical counts down to intricate adaptations of individual vertebrae. Despite this morphofunctional disparity, little is known about the drivers of this enormous variation, nor how neck evolution has shaped avian macroevolution. To promote interest in this system, I review the development, function and evolution of the avian cervical spine. The musculoskeletal anatomy, basic kinematics and development of the avian neck are all documented, but focus primarily upon commercially available taxa. In addition, recent work has quantified the drivers of extant morphological variation across the avian neck, as well as patterns of integration between the neck and other skeletal elements. However, the evolutionary history of the avian cervical spine, and its contribution to the diversification and success of modern birds is currently unknown. Future work should aim to broaden our understanding of the cervical anatomy, development and kinematics to include a more diverse selection of extant birds, while also considering the macroevolutionary drivers and consequences of this important section of the avian spine.

Obstacle avoidance in aerial pursuit

Pursuing prey through clutter is a complex and risky activity requiring integration of guidance subsystems for obstacle avoidance and target pursuit. The unobstructed pursuit trajectories of Harris' hawks Parabuteo unicinctus are well modeled by a mixed guidance law feeding back target deviation angle and line-of-sight rate. Here we ask how their pursuit behavior is modified in response to obstacles, using high-speed motion capture to reconstruct flight trajectories recorded during obstructed pursuit of maneuvering targets. We find that Harris' hawks use the same mixed guidance law during obstructed pursuit but appear to superpose a discrete bias command that resets their flight direction to aim at a clearance of approximately one wing length from an upcoming obstacle as they reach some threshold distance from it. Combining a feedback command in response to target motion with a feedforward command in response to upcoming obstacles provides an effective means of prioritizing obstacle avoidance while remaining locked-on to a target. We therefore anticipate that a similar mechanism may be used in terrestrial and aquatic pursuit. The same biased guidance law could also be used for obstacle avoidance in drones designed to intercept other drones in clutter, or to navigate between fixed waypoints in urban environments.

Through Hawks’ Eyes: Synthetically Reconstructing the Visual Field of a Bird in Flight

Birds of prey rely on vision to execute flight manoeuvres that are key to their survival, such as intercepting fast-moving targets or navigating through clutter. A better understanding of the role played by vision during these manoeuvres is not only relevant within the field of animal behaviour, but could also have applications for autonomous drones. In this paper, we present a novel method that uses computer vision tools to analyse the role of active vision in bird flight, and demonstrate its use to answer behavioural questions. Combining motion capture data from Harris’ hawks with a hybrid 3D model of the environment, we render RGB images, semantic maps, depth information and optic flow outputs that characterise the visual experience of the bird in flight. In contrast with previous approaches, our method allows us to consider different camera models and alternative gaze strategies for the purposes of hypothesis testing, allows us to consider visual input over the complete visual field of the bird, and is not limited by the technical specifications and performance of a head-mounted camera light enough to attach to a bird’s head in flight. We present pilot data from three sample flights: a pursuit flight, in which a hawk intercepts a moving target, and two obstacle avoidance flights. With this approach, we provide a reproducible method that facilitates the collection of large volumes of data across many individuals, opening up new avenues for data-driven models of animal behaviour.

Gap selection and steering during obstacle avoidance in pigeons

The ability of birds to fly through cluttered environments has inspired biologists interested in understanding its underlying mechanisms, and engineers interested in applying its underpinning principles. To analyse this problem empirically, we break it down into two distinct, but related, questions: How do birds select which gaps to aim for? And how do they steer through them? We answered these questions using a combined experimental and modelling approach, in which we released pigeons (Columbia livia domestica) inside a large hall with an open exit separated from the release point by a curtain creating two vertical gaps - one of which was obstructed by an obstacle. We tracked the birds using a high-speed motion capture system, and found that their gap choice seemed to be biased by their intrinsic handedness, rather than determined by extrinsic cues such as the size of the gap or its alignment with the destination. We modelled the pigeons' steering behaviour algorithmically by simulating their flight trajectories under a set of six candidate guidance laws, including those used previously to model target-oriented flight behaviours in birds. We found that their flights were best modelled by delayed proportional navigation commanding turning in proportion to the angular rate of the line-of-sight from the pigeon to the midpoint of the gap. Our results are consistent with this being a two-phase behaviour, in which the pigeon heads forward from the release point before steering towards the midpoint of whichever gap it chooses to aim for under closed-loop guidance. Our findings have implications for the sensorimotor mechanisms that underlie clutter negotiation in birds, uniting this with other kinds of target-oriented behaviours including aerial pursuit.

Optic flow based spatial vision in insects

The optic flow, i.e., the displacement of retinal images of objects in the environment induced by self-motion, is an important source of spatial information, especially for fast-flying insects. Spatial information over a wide range of distances, from the animal's immediate surroundings over several hundred metres to kilometres, is necessary for mediating behaviours, such as landing manoeuvres, collision avoidance in spatially complex environments, learning environmental object constellations and path integration in spatial navigation. To facilitate the processing of spatial information, the complexity of the optic flow is often reduced by active vision strategies. These result in translations and rotations being largely separated by a saccadic flight and gaze mode. Only the translational components of the optic flow contain spatial information. In the first step of optic flow processing, an array of local motion detectors provides a retinotopic spatial proximity map of the environment. This local motion information is then processed in parallel neural pathways in a task-specific manner and used to control the different components of spatial behaviour. A particular challenge here is that the distance information extracted from the optic flow does not represent the distances unambiguously, but these are scaled by the animal's speed of locomotion. Possible ways of coping with this ambiguity are discussed.

Optimization of avian perching manoeuvres

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

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

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

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

Inflight head stabilization associated with wingbeat cycle and sonar emissions in the lingual echolocating Egyptian fruit bat, Rousettus aegyptiacus

Sensory processing of environmental stimuli is challenged by head movements that perturb sensorimotor coordinate frames directing behaviors. In the case of visually guided behaviors, visual gaze stabilization results from the integrated activity of the vestibuloocular reflex and motor efference copy originating within circuits driving locomotor behavior. In the present investigation, it was hypothesized that head stabilization is broadly implemented in echolocating bats during sustained flight, and is temporally associated with emitted sonar signals which would optimize acoustic gaze. Predictions from these hypotheses were evaluated by measuring head and body kinematics with motion sensors attached to the head and body of free-flying Egyptian fruit bats. These devices were integrated with ultrasonic microphones to record sonar emissions and elucidate the temporal association with periods of head stabilization. Head accelerations in the Earth-vertical axis were asymmetric with respect to wing downstroke and upstroke relative to body accelerations. This indicated that inflight head and body accelerations were uncoupled, outcomes consistent with the mechanisms that limit vertical head acceleration during wing downstroke. Furthermore, sonar emissions during stable flight occurred most often during wing downstroke and head stabilization, supporting the conclusion that head stabilization behavior optimized sonar gaze and environmental interrogation via echolocation.

Turbulence explains the accelerations of an eagle in natural flight

Turbulent winds and gusts fluctuate on a wide range of timescales from milliseconds to minutes and longer, a range that overlaps the timescales of avian flight behavior, yet the importance of turbulence to avian behavior is unclear. By combining wind speed data with the measured accelerations of a golden eagle (Aquila chrysaetos) flying in the wild, we find evidence in favor of a linear relationship between the eagle's accelerations and atmospheric turbulence for timescales between about 1/2 and 10 s. These timescales are comparable to those of typical eagle behaviors, corresponding to between about 1 and 25 wingbeats, and to those of turbulent gusts both larger than the eagle's wingspan and smaller than large-scale atmospheric phenomena such as convection cells. The eagle's accelerations exhibit power spectra and intermittent activity characteristic of turbulence and increase in proportion to the turbulence intensity. Intermittency results in accelerations that are occasionally several times stronger than gravity, which the eagle works against to stay aloft. These imprints of turbulence on the bird's movements need to be further explored to understand the energetics of birds and other volant life-forms, to improve our own methods of flying through ceaselessly turbulent environments, and to engage airborne wildlife as distributed probes of the changing conditions in the atmosphere.

Evolutionary versatility of the avian neck

Bird necks display unparalleled levels of morphological diversity compared to other vertebrates, yet it is unclear what factors have structured this variation. Using three-dimensional geometric morphometrics and multivariate statistics, we show that the avian cervical column is a hierarchical morpho-functional appendage, with varying magnitudes of ecologically driven osteological variation at different scales of organization. Contrary to expectations given the widely varying ecological functions of necks in different species, we find that regional modularity of the avian neck is highly conserved, with an overall structural blueprint that is significantly altered only by the most mechanically demanding ecological functions. Nevertheless, the morphologies of vertebrae within subregions of the neck show more prominent signals of adaptation to ecological pressures. We also find that both neck length allometry and the nature of neck elongation in birds are different from other vertebrates. In contrast with mammals, neck length scales isometrically with head mass and, contrary to previous work, we show that neck elongation in birds is achieved predominantly by increasing vertebral lengths rather than counts. Birds therefore possess a cervical spine that may be unique in its versatility among extant vertebrates, one that, since the origin of flight, has adapted to function as a surrogate forelimb in varied ecological niches.

A songbird inhibits blinking behaviour in flight

Visual attention plays a fundamental role in avian flight but attention is likely limited whenever birds blink. Because blinks are necessary to maintaining proper vision, this study tested the hypothesis that birds strategically inhibit their blinks in flight. The blinks of captive great-tailed grackles (Quiscalus mexicanus) were recorded before, during and after they flew a short distance in an open environment. The grackles spent the least amount of time blinking in flight (take-off, during flight and landing) and the most amount of time blinking at impact. Their blinking behaviour was similar before and after flight. These results suggest that grackles strategically inhibit their blinking behaviour in flight, potentially because blinks impose costs to avian flight.

Spatial and Temporal Resolution of the Visual System of the Anna's Hummingbird (Calypte anna) Relative to Other Birds

Hummingbirds are an emerging model for studies of the visual guidance of flight. However, basic properties of their visual systems, such as spatial and temporal visual resolution, have not been characterized. We measured both the spatial and temporal visual resolution of Anna's hummingbirds using behavioral experiments and anatomical estimates. Spatial visual resolution was determined behaviorally using the optocollic reflex and anatomically using peak retinal ganglion cell densities from retinal whole mounts and eye size. Anna's hummingbirds have a spatial visual resolution of 5-6 cycles per degree when measured behaviorally, which matches anatomical estimates (fovea: 6.26 ± 0.12 cycles per degree; area temporalis: 5.59 ± 0.15 cycles per degree; and whole eye average: 4.64 ± 0.08 ). To determine temporal visual resolution, we used an operant conditioning paradigm wherein hummingbirds were trained to use a flickering light to find a food reward. The limits of temporal visual resolution were estimated as 70-80 Hz. To compare Anna's hummingbirds with other bird species, we used a phylogenetically controlled analysis of previously published data on avian visual resolutions and body size. Our measurements for Anna's hummingbird vision fall close to and below predictions based on body size for spatial visual resolution and temporal visual resolution, respectively. These results indicate that the enhanced flight performance and foraging behaviors of hummingbirds do not require enhanced spatial or temporal visual resolution. This finding is important for interpreting flight control studies and contributes to a growing understanding of avian vision.

How lovebirds maneuver through lateral gusts with minimal visual information

Flying birds maneuver effectively through lateral gusts, even when gust speeds are as high as flight speeds. What information birds use to sense gusts and how they compensate is largely unknown. We found that lovebirds can maneuver through 45° lateral gusts similarly well in forest-, lake-, and cave-like visual environments. Despite being diurnal and raised in captivity, the birds fly to their goal perch with only a dim point light source as a beacon, showing that they do not need optic flow or a visual horizon to maneuver. To accomplish this feat, lovebirds primarily yaw their bodies into the gust while fixating their head on the goal using neck angles of up to 30°. Our corroborated model for proportional yaw reorientation and speed control shows how lovebirds can compensate for lateral gusts informed by muscle proprioceptive cues from neck twist. The neck muscles not only stabilize the lovebirds' visual and inertial head orientations by compensating low-frequency body maneuvers, but also attenuate faster 3D wingbeat-induced perturbations. This head stabilization enables the vestibular system to sense the direction of gravity. Apparently, the visual horizon can be replaced by a gravitational horizon to inform the observed horizontal gust compensation maneuvers in the dark. Our scaling analysis shows how this minimal sensorimotor solution scales favorably for bigger birds, offering local wind angle feedback within a wingbeat. The way lovebirds glean wind orientation may thus inform minimal control algorithms that enable aerial robots to maneuver in similar windy and dark environments.

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

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

Head-mounted sensors reveal visual attention of free-flying homing pigeons

Gaze behavior offers valuable insights into attention and cognition. However, technological limitations have prevented the examination of animals' gaze behavior in natural, information-rich contexts; for example, during navigation through complex environments. Therefore, we developed a lightweight custom-made logger equipped with an inertial measurement unit (IMU) and GPS to simultaneously track the head movements and flight trajectories of free-flying homing pigeons. Pigeons have a limited range of eye movement, and their eye moves in coordination with their head in a saccadic manner (similar to primate eye saccades). This allows head movement to act as a proxy for visual scanning behavior. Our IMU sensor recorded the 3D movement of the birds' heads in high resolution, allowing us to reliably detect distinct saccade signals. The birds moved their head far more than necessary for maneuvering flight, suggesting that they actively scanned the environment. This movement was predominantly horizontal (yaw) and sideways (roll), allowing them to scan the environment with their lateral visual field. They decreased their head movement when they flew solo over prominent landmarks (major roads and a railway line) and also when they flew in pairs (especially when flying side by side, with the partner maintained in their lateral visual field). Thus, a decrease in head movement indicates a change in birds' focus of attention. We conclude that pigeons use their head gaze in a task-related manner and that tracking flying birds' head movement is a promising method for examining their visual attention during natural tasks.

Taking an insect-inspired approach to bird navigation

Navigation is an essential skill for many animals, and understanding how animal use environmental information, particularly visual information, to navigate has a long history in both ethology and psychology. In birds, the dominant approach for investigating navigation at small-scales comes from comparative psychology, which emphasizes the cognitive representations underpinning spatial memory. The majority of this work is based in the laboratory and it is unclear whether this context itself affects the information that birds learn and use when they search for a location. Data from hummingbirds suggests that birds in the wild might use visual information in quite a different manner. To reconcile these differences, here we propose a new approach to avian navigation, inspired by the sensory-driven study of navigation in insects. Using methods devised for studying the navigation of insects, it is possible to quantify the visual information available to navigating birds, and then to determine how this information influences those birds' navigation decisions. Focusing on four areas that we consider characteristic of the insect navigation perspective, we discuss how this approach has shone light on the information insects use to navigate, and assess the prospects of taking a similar approach with birds. Although birds and insects differ in many ways, there is nothing in the insect-inspired approach of the kind we describe that means these methods need be restricted to insects. On the contrary, adopting such an approach could provide a fresh perspective on the well-studied question of how birds navigate through a variety of environments.

Pigeons (C. livia) Follow Their Head during Turning Flight: Head Stabilization Underlies the Visual Control of Flight

Similar flight control principles operate across insect and vertebrate fliers. These principles indicate that robust solutions have evolved to meet complex behavioral challenges. Following from studies of visual and cervical feedback control of flight in insects, we investigate the role of head stabilization in providing feedback cues for controlling turning flight in pigeons. Based on previous observations that the eyes of pigeons remain at relatively fixed orientations within the head during flight, we test potential sensory control inputs derived from head and body movements during 90° aerial turns. We observe that periods of angular head stabilization alternate with rapid head repositioning movements (head saccades), and confirm that control of head motion is decoupled from aerodynamic and inertial forces acting on the bird's continuously rotating body during turning flapping flight. Visual cues inferred from head saccades correlate with changes in flight trajectory; whereas the magnitude of neck bending predicts angular changes in body position. The control of head motion to stabilize a pigeon's gaze may therefore facilitate extraction of important motion cues, in addition to offering mechanisms for controlling body and wing movements. Strong similarities between the sensory flight control of birds and insects may also inspire novel designs of robust controllers for human-engineered autonomous aerial vehicles.

Head Stabilization in the Pigeon: Role of Vision to Correct for Translational and Rotational Disturbances

Stabilization of the head in animals with limited capacity to move their eyes is key to maintain a stable image on the retina. In many birds, including pigeons, a prominent example for the important role of head stabilization is the characteristic head-bobbing behavior observed during walking. Multimodal sensory feedback from the eyes, the vestibular system and proprioceptors in body and neck is required to control head stabilization. Here, we trained unrestrained pigeons (Columba livia) to stand on a perch that was sinusoidally moved with a motion platform along all three translational and three rotational degrees of freedom. We varied the frequency of the perturbation and we recorded the pigeons' responses under both light and dark conditions. Head, body, and platform movements were assessed with a high-speed motion capture system and the data were used to compute gain and phase of head and body movements in response to the perturbations. Comparing responses under dark and light conditions, we estimated the contribution of visual feedback to the control of the head. Our results show that the head followed the movement of the motion platform to a large extent during translations, but it was almost perfectly stabilized against rotations. Visual feedback only improved head stabilization during translations but not during rotations. The body compensated rotations around the forward-backward and the lateral axis, but did not contribute to head stabilization during translations and rotations around the vertical axis. From the results, we conclude that head stabilization in response to translations and rotations depends on different sensory feedback and that visual feedback plays only a limited role for head stabilization during standing.

Saccadic movement strategy in a semiaquatic species - the harbour seal (Phoca vitulina)

Moving animals can estimate the distance of visual objects from image shift on their retina (optic flow) created during translational, but not rotational movements. To facilitate this distance estimation, many terrestrial and flying animals perform saccadic movements, thereby temporally separating translational and rotational movements, keeping rotation times short. In this study, we analysed whether a semiaquatic mammal, the harbour seal, also adopts a saccadic movement strategy. We recorded the seals' normal swimming pattern with video cameras and analysed head and body movements. The swimming seals indeed minimized rotation times by saccadic head and body turns, with top rotation speeds exceeding 350 deg s^-1 which leads to an increase of translational movements. Saccades occurred during both types of locomotion of the seals' intermittent swimming mode: active propulsion and gliding. In conclusion, harbour seals share the saccadic movement strategy of terrestrial animals. Whether this movement strategy is adopted to facilitate distance estimation from optic flow or serves a different function will be a topic of future research.

Saccadic Movement Strategy in Common Cuttlefish (Sepia officinalis)

Most moving animals segregate their locomotion trajectories in short burst like rotations and prolonged translations, to enhance distance information from optic flow, as only translational, but not rotational optic flow holds distance information. Underwater, optic flow is a valuable source of information as it is in the terrestrial habitat, however, so far, it has gained only little attention. To extend the knowledge on underwater optic flow perception and use, we filmed the movement pattern of six common cuttlefish (Sepia officinalis) with a high speed camera in this study. In the subsequent analysis, the center of mass of the cuttlefish body was manually traced to gain thrust, slip, and yaw of the cuttlefish movements over time. Cuttlefish indeed performed short rotations, saccades, with rotational velocities up to 343°/s. They clearly separated rotations from translations in line with the saccadic movement strategy documented for animals inhabiting the terrestrial habitat as well as for the semiaquatic harbor seals before. However, this separation only occurred during fin motion. In contrast, during jet propelled swimming, the separation between rotational and translational movements and thus probably distance estimation on the basis of the optic flow field is abolished in favor of high movement velocities. In conclusion, this study provides first evidence that an aquatic invertebrate, the cuttlefish, adopts a saccadic movement strategy depending on the behavioral context that could enhance the information gained from optic flow.

Peripheral Processing Facilitates Optic Flow-Based Depth Perception

Flying insects, such as flies or bees, rely on consistent information regarding the depth structure of the environment when performing their flight maneuvers in cluttered natural environments. These behaviors include avoiding collisions, approaching targets or spatial navigation. Insects are thought to obtain depth information visually from the retinal image displacements ("optic flow") during translational ego-motion. Optic flow in the insect visual system is processed by a mechanism that can be modeled by correlation-type elementary motion detectors (EMDs). However, it is still an open question how spatial information can be extracted reliably from the responses of the highly contrast- and pattern-dependent EMD responses, especially if the vast range of light intensities encountered in natural environments is taken into account. This question will be addressed here by systematically modeling the peripheral visual system of flies, including various adaptive mechanisms. Different model variants of the peripheral visual system were stimulated with image sequences that mimic the panoramic visual input during translational ego-motion in various natural environments, and the resulting peripheral signals were fed into an array of EMDs. We characterized the influence of each peripheral computational unit on the representation of spatial information in the EMD responses. Our model simulations reveal that information about the overall light level needs to be eliminated from the EMD input as is accomplished under light-adapted conditions in the insect peripheral visual system. The response characteristics of large monopolar cells (LMCs) resemble that of a band-pass filter, which reduces the contrast dependency of EMDs strongly, effectively enhancing the representation of the nearness of objects and, especially, of their contours. We furthermore show that local brightness adaptation of photoreceptors allows for spatial vision under a wide range of dynamic light conditions.

Visual guidance of forward flight in hummingbirds reveals control based on image features instead of pattern velocity

Information about self-motion and obstacles in the environment is encoded by optic flow, the movement of images on the eye. Decades of research have revealed that flying insects control speed, altitude, and trajectory by a simple strategy of maintaining or balancing the translational velocity of images on the eyes, known as pattern velocity. It has been proposed that birds may use a similar algorithm but this hypothesis has not been tested directly. We examined the influence of pattern velocity on avian flight by manipulating the motion of patterns on the walls of a tunnel traversed by Anna's hummingbirds. Contrary to prediction, we found that lateral course control is not based on regulating nasal-to-temporal pattern velocity. Instead, birds closely monitored feature height in the vertical axis, and steered away from taller features even in the absence of nasal-to-temporal pattern velocity cues. For vertical course control, we observed that birds adjusted their flight altitude in response to upward motion of the horizontal plane, which simulates vertical descent. Collectively, our results suggest that birds avoid collisions using visual cues in the vertical axis. Specifically, we propose that birds monitor the vertical extent of features in the lateral visual field to assess distances to the side, and vertical pattern velocity to avoid collisions with the ground. These distinct strategies may derive from greater need to avoid collisions in birds, compared with small insects.

The role of passive avian head stabilization in flapping flight

Birds improve vision by stabilizing head position relative to their surroundings, while their body is forced up and down during flapping flight. Stabilization is facilitated by compensatory motion of the sophisticated avian head-neck system. While relative head motion has been studied in stationary and walking birds, little is known about how birds accomplish head stabilization during flapping flight. To unravel this, we approximate the avian neck with a linear mass-spring-damper system for vertical displacements, analogous to proven head stabilization models for walking humans. We corroborate the model's dimensionless natural frequency and damping ratios from high-speed video recordings of whooper swans (Cygnus cygnus) flying over a lake. The data show that flap-induced body oscillations can be passively attenuated through the neck. We find that the passive model robustly attenuates large body oscillations, even in response to head mass and gust perturbations. Our proof of principle shows that bird-inspired drones with flapping wings could record better images with a swan-inspired passive camera suspension.

Flight mechanics and control of escape manoeuvres in hummingbirds I. Flight kinematics

Hummingbirds are nature‘s masters of aerobatic manoeuvres. Previous research shows hummingbirds and insects converged evolutionarily upon similar aerodynamic mechanisms and kinematics in hovering. Herein, we use three-dimensional kinematic data to begin to test for similar convergence of kinematics used for escape flight and to explore the effects of body size upon manoeuvring. We studied four hummingbird species in North America including two large species (magnificent hummingbird, Eugenes fulgens, 7.8 g and blue-throated hummingbird, Lampornis clemenciae, 8.0 g) and two smaller species (broad-billed hummingbird, Cynanthus latirostris, 3.4 g and black-chinned hummingbirds Archilochus alexandri, 3.1 g). Starting from a steady hover, hummingbirds consistently manoeuvred away from perceived threats using a drastic escape response that featured body pitch and roll rotations coupled with a large linear acceleration. Hummingbirds changed their flapping frequency and wing trajectory in all three degrees-of-freedom on stroke-by-stroke basis, likely causing rapid and significant alteration of the magnitude and direction of aerodynamic forces. Thus it appears that the flight control of hummingbirds does not obey the “helicopter model” that is valid for similar escape manoeuvres in fruit flies. Except for broad-billed hummingbirds, the hummingbirds had faster reaction times than those reported for visual feedback control in insects. The two larger hummingbird species performed pitch rotations and global-yaw turns with considerably larger magnitude than the smaller species, but roll rates and cumulative roll angles were similar among the four species.