中田 敏是

Odours used by insects for foraging and mating are carried by the air. Insects induce airflows around them by flapping their wings, and the distribution of these airflows may strongly influence odour source localisation. The flightless silkworm moth, Bombyx mori, has been a prominent insect model for olfactory research. However, although there have been numerous studies on antenna morphology and its fluid dynamics, neurophysiology, and localisation algorithms, the airflow manipulation of the B. mori by fanning has not been thoroughly investigated. In this study, we performed computational fluid dynamics (CFD) analyses of flapping B. mori to analyse this mechanism in depth. A three-dimensional simulation using reconstructed wing kinematics was used to investigate the effects of B. mori fanning on locomotion and pheromone capture. The fanning of the B. mori was found to generate an aerodynamic force on the scale of its weight through an aerodynamic mechanism similar to that of flying insects. Our simulations further indicate that the B. mori guides particles from its anterior direction within the ~ 60° horizontally by wing fanning. Hence, if it detects pheromones during fanning, the pheromone can be concluded to originate from the direction the head is pointing. The anisotropy in the sampling volume enables the B. mori to orient to the pheromone plume direction. These results provide new insights into insect behaviour and offer design guidelines for robots for odour source localisation.

With the rapid industrialization utilizing multi-rotor drones in recent years, an increase in urban flights is expected in the near future. This may potentially result in noise pollution due to the operation of drones. This study investigates the near- and far-field acoustic characteristics of low-noise propellers inspired by Gurney flaps. In addition, we examine the impact of these low-noise propellers on the sound source localization performance of drones equipped with a microphone array, which are expected to be used for rescuing people in disasters. Results from in-flight noise measurements indicate significant noise reduction mainly in frequency bands above 1 kHz in both the near- and far-field. An improvement in the success rate of sound source localization with low-noise propellers was also observed. However, the influence of the position of the microphone array with respect to the propellers is more pronounced than that of propeller shape manipulation, suggesting the importance of considering the positional relationships. Computational fluid dynamics analysis of the flow field around the propellers suggests potential mechanisms for noise reduction in the developed low-noise propellers. The results obtained in this study hold potential for contributing to the development of integrated drones aimed at reducing noise and improving sound source localization performance.

Insects are able to fly stably in the complex environment of the various gusts that occur in nature. In addition, many insects suffer wing damage in their lives, but many species of insects are capable of flying without their hindwings. Here, we evaluated the effect of hindwings on aerodynamics using a Navier–Stokes-based numerical model, and then the passive dynamic stability was evaluated by coupling the equation of motion in three degrees of freedom with the aerodynamic forces estimated by the CFD solver under large and small perturbation conditions. In terms of aerodynamic effects, the presence of the hindwings slightly reduces the efficiency for lift generation but enhances the partial LEV circulation and increases the downwash around the wing root. In terms of thrust, increasing the wing area around the hindwing region increases the thrust, and the relationship is almost proportional at the cycle-averaged value. The passive dynamic stability was not clearly affected by the presence of the hindwings, but the stability was slightly improved depending on the perturbation direction. These results may be useful for the integrated design of wing geometry and flight control systems in the development of flapping-winged micro air vehicles.

Abstract Studies on the evolution of avian flight have failed to clarify why wing shape is weakly correlated with flight styles and phylogenetically constrained. Birds seem to have achieved their diverse flight styles owing to changes in the shapes of localized parts of the wing, despite a highly conserved wing outline. The alula, which stems from the first digit of the wing, is a part of the wing that might have enabled various flight styles to develop. To test this hypothesis, we measured alula length and width using museum specimens of 187 species from 21 orders of birds and used a phylogenetic comparative method to investigate the relationship between alula morphology and flight style, body mass, habitat and migratory distance. We found that: (1) phylogenetic signals were weak for the alula width and aspect ratio but moderate for length; (2) alula morphology exhibited an allometric relationship with body mass; and (3) fewer flapping birds had large alulae. Alula morphology might have evolved in response to changes in body mass and flight styles. Variations in the shape of localized wing parts, such as the alula, which modifies airflow around a wing, might be key to the evolution of the diverse flight styles of birds.

Drones, which have become increasingly popular in recent years, produce a lot of noise due to the movement of their propellers. When flying near humans, especially as in urban situations, noise suppression is critical. It has been demonstrated that noise can be minimized by increasing propeller lift per unit rotation speed and decreasing propeller rotation speed by expanding propeller area or designing the airfoil shape. This study developed a new structure, serrated Gurney flap, by merging the Gurney flap, which is the trailing-edge structure of an airfoil, and the serration, which is the low-noise structure found in an owl feather, and studied its performance through experiments and numerical simulations. The results indicated that the structure can boost the propeller’s lift coefficient while reducing the vortex separation induced by the Gurney flap and suppress propeller noise by slowing the propeller. Further modification of its structure may result in improved efficiency as well as decreased noise level.

In city-wide weather prediction, wind gust information can be obtained using unmanned aerial vehicles (UAVs). Although wind sensors are available, an algorithm-based active estimation can be helpful not only as a weightless substitute but also as feedback for robust control. This paper aims to estimate the wind gusts affecting the quadrotors (a type of UAV) as the input disturbances by using a frequency-based nonlinear disturbance observer (NDOB). To obtain highly accurate estimations, frequency is considered as the main design parameter, thereby focusing the estimation on the frequency range of the wind gusts. The NDOB is developed using the Takagi-Sugeno (T-S) fuzzy framework. In this approach, the twelfth-order nonlinear model is approximated into a sixth-order T-S fuzzy model to reduce computational cost. A two-step verification method is presented, which includes MATLAB/Simulink simulations and the experiments performed using a 2.5 kg quadrotor.

Male mosquitoes detect and localize conspecific females by their flight-tones using the Johnston's organ (JO), which detects antennal deflections under the influence of local particle motion. Acoustic behaviours of mosquitoes and their JO physiology have been investigated extensively within the frequency domain, yet the auditory sensory range and the behaviour of males at the initiation of phonotactic flights are not well known. In this study, we predict a maximum spatial sensory envelope for flying Culex quinquefasciatus by integrating the physiological tuning response of the male JO with female aeroacoustic signatures derived from numerical simulations. Our sensory envelope predictions were tested with a behavioural assay of free-flying males responding to a female-like artificial pure tone. The minimum detectable particle velocity observed during flight tests was in good agreement with our theoretical prediction formed by the peak JO sensitivity measured in previous studies. The iso-surface describing the minimal detectable particle velocity represents the quantitative auditory sensory range of males and is directional with respect to the female body orientation. Our results illuminate the intricacy of the mating behaviour and point to the importance of observing the body orientation of flying mosquitoes to understand fully the sensory ecology of conspecific communication.

Flight and swimming in nature can inspire the design of highly adaptive robots capable of working in complex environments. In this letter, we reviewed our work on robotic propulsion in the air and water, with a specific focus on the crucial functions of elastic components involved in the driving mechanism and flapping wings. Elasticity in the driving mechanism inspired by birds and insects can enhance both the aerodynamic efficiency of flapping wings and robustness against disturbances with appropriate design. A flapping wing surface with a stiffness distribution inspired by hummingbirds was fabricated by combining tapered spars and ribs with a thin film. The biomimetic flexible wing could generate more lift than the nontapered wing with a similar amount of power consumption. Underwater flapping-wing propulsion inspired by penguins was investigated by combining the 3-degree-of-freedom (DoF) flapping mechanism and hydrodynamic calculation, which indicates that wing bending increases the propulsion efficiency. This work demonstrates the importance of passive deformation of both wing surfaces and driving mechanisms for improving the fluid dynamic efficiency and robustness in flight and swimming, as well as providing biological insight from an engineering perspective.

Leading-edge (LE) noise is a common source of broadband noise for fans that can be suppressed using appended LE serrations. We conduct an integrated study of the morphological effects of interval, length, and inclination angle of owl-inspired LE serrations on the aeroacoustic characteristics of a mixed flow fan using experiments, computational fluid dynamics (CFD), and the Ffowcs Williams–Hawkings (FWH) analogy. A novel method for surface noise strength (SNS) visualization was developed based on the FWH analogy with large-eddy simulations to accurately quantify the spatial distributions of acoustic sources. A CFD-informed index is proposed to evaluate the severity of flow separation with the pressure gradient and verified to be effective in examining the chord-wise separation. Acoustic measurements show the robust trade-off solving capability of the serrations under various morphologies, and the SNS visualizations indicate that the separation-induced LE noise is suppressed considerably. One-third octave analyses suggest that extending serration length can lower separation noise more effectively than shrinking the interval over 100–3000 Hz. A smaller interval is more desirable while an optimal length exists in association with tonal noise. Moreover, small inclination angles ([Formula: see text]) enable the deceleration of oncoming flows with stagnation relieved, and consequently, further suppress the LE noise, by a flow-buffering effect. Heavy inclination angles ([Formula: see text]) induce an additional tip vortex, causing high-coherence turbulence impingement noise and resulting in a drastic increase in broadband noise at frequencies exceeding 4000 Hz. Our study, thus, clarifies the morphological effects of LE serrations on aeroacoustic signatures of rotary devices while providing useful methods for acoustic analyses.

This paper presents an airflow vector sensor for drones. Drones are expected to play a role in various industrial fields. However, the further improvement of flight stability is a significant issue. In particular, compact drones are more affected by wind during flight. Thus, it is desirable to detect air current directly by an airflow sensor and feedback to the control. In the case of a drone in flight, the sensor should detect wind velocity and direction, particularly in the horizontal direction, for a sudden crosswind. In addition, the sensor must also be small, light, and highly sensitive. Here, we propose a compact spherical airflow sensor for drones. Three highly sensitive microelectromechanical system (MEMS) differential pressure (DP) sensor chips were built in the spherical housing as the sensor elements. The 2D wind direction and velocity can be measured from these sensor elements. The fabricated airflow sensor was attached to a small toy drone. It was demonstrated that the sensor provided an output corresponding to the wind velocity and direction when horizontal wind was applied via a fan while the drone was flying. The experimental results demonstrate that the proposed sensor will be helpful for directly measuring the air current for a drone in flight.

There is an increasing need in industry for noise reduction in fans. Inspired by owls' silent flight, we propose four owl-inspired blade designs for a mixed-flow fan to examine whether leading-edge (LE) and/or trailing-edge (TE) serrations can resolve the tradeoff between sound suppression and aerodynamic performance. We investigate the blades' aeroacoustic characteristics through various experimental methods and large-eddy simulation (LES)-based numerical analyses. Experimental results suggest that 'slotted', simply-fabricated LE serrations can achieve a lowering of the noise level while sustaining the aerodynamic performance of the fan, whereas TE serrations fail. In addition, the inclination angle can improve LE serration performance in aeroacoustic and aerodynamic performance with a reduction in the specific noise level by around 1.4 dB. LES results and noise spectral analysis indicate that the LE serrations can suppress flow separation, reducing the broadband noise at low-to-middle frequencies (40-4k Hz). This passive-flow-control mechanism, likely due to local higher incidence angles associated with LE serrations, is capable of alleviating the intensive pressure gradient while suppressing wall-pressure fluctuations over the LE region, hence weakening the Kelvin-Helmholtz instability. The tonal noise also shows a marked reduction at the highest peak frequency associated with fan-vane interaction. Moreover, we find that the high-frequency noise by-product radiates mainly from the LE serrations andsurroundings, due to the small eddies broken up when the vortical flows pass through the LE serrations. Our results demonstrate that the biomimetic design of the LE serrations can facilitate the break-up of LE vortices passively and effectively without negatively impacting aerodynamic performance, which can be utilized as an effective device to improve the aeroacoustic performance of fan blades.

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Fluid-structure interaction of the flapping wings of a hovering bumblebee is considered. Kinematic reconstruction of the wing motion using synchronized high-speed video recordings is described, that provides the necessary input data for numerical modelling. Computational fluid dynamics (CFD) solver is combined with a dynamical model that describes the wing motion. Results of a high resolution numerical simulation are presented.

Unlike rigid rotors of drones, bird wings are composed of flexible feathers that can passively deform while achieving remarkable aerodynamic robustness in response to wind gusts. In this study, we conduct an experimental study on the effects of the flexible flaps inspired by the covert of bird wings on aerodynamic characteristics of fixed-wings in disturbances. Through force measurements and flow visualization in a low-speed wind tunnel, it is found that the flexible flaps can suppress the large-scale vortex shedding and hence reduce the fluctuations of aerodynamic forces in a disturbed flow behind an oscillating plate. Our results demonstrate that the stiffness of the flaps strongly affects the aerodynamic performance, and the force fluctuations are observed to be reduced when the deformation synchronizes with the strong vortex generation. The results point out that the simple attachment of the flexible flaps on the upper surface of the wing is an effective method, providing a novel biomimetic design to improve the aerodynamic robustness of small-scale drones with fixed-wings operating in unpredictable aerial environments.

Flying animals such as insects display great flight performances with high stability and maneuverability even under unpredictable disturbances in natural and man-made environments. Unlike man-made mechanical systems like a drone, insects can achieve various flapping motions through their flexible musculoskeletal systems. However, it remains poorly understood whether flexibility affects flight performances or not. Here, we conducted an experimental study on the effects of the flexibility associated with the flapping mechanisms on aerodynamic performance with a flexible flapping mechanism (FFM) inspired by the flexible musculoskeletal system of insects. Based on wing kinematic and force measurements, we found an appropriate combination of the flexible components could improve the aerodynamic efficiency by increasing the wingbeat amplitude. Results of the wind tunnel experiments suggested that, through some passive adjustment of the wing kinematics in concert with the flexible mechanism, the disturbance-induced effects could be suppressed. Therefore, the flight stability under the disturbances is improved. While the FFM with the most rigid spring was least efficient in the static experiments, the model was most robust against the wind within the range of the study. Our results, particularly regarding the trade-off between the efficiency and the robustness, point out the importance of the passive response of the flapping mechanisms, which may provide a functional biomimetic design for the flapping micro air vehicles (MAVs) capable of achieving high efficiency and stability.

Insect flight behavior varies among species and selective pressures underlying the diversification of flight performance remain to be fully elucidated. Comparisons of flight behavior among congeners with differing ecologies can contribute to gaining a better understanding of the mechanisms underlying the diversification of insect flight behavior. In this study, we compared the laboratory arena flight performance of four species of nocturnal Holotrichia black chafers (Coleoptera: Scarabaeidae) based on three-dimensional reconstructions of flight trajectories. Principal component analysis was applied to six kinematic parameters to summarize the flight performance of each species. We found that the flight of H. parallela, which feeds on the leaves of hardwood species, was faster and higher than that of the other three species (H. kiotonensis, H. picea, and H. convexopyga), which typically feed on herbaceous plants. However, maneuverability (rotational component) did not differ significantly among the four species. We further compared the flight velocities of H. parallela and H. kiotonensis using a tethered flight mill system. Similar to the free-flight observations, the velocity of H. parallela flights was significantly greater than that of H. kiotonensis. The interspecific difference in velocities may be associated with differences in spatial distribution of their host plants.

Some flying animals use active sensing to perceive and avoid obstacles. Nocturnal mosquitoes exhibit a behavioral response to divert away from surfaces when vision is unavailable, indicating a short-range, mechanosensory collision-avoidance mechanism. We suggest that this behavior is mediated by perceiving modulations of their self-induced airflow patterns as they enter a ground or wall effect. We used computational fluid dynamics simulations of low-altitude and near-wall flights based on in vivo high-speed kinematic measurements to quantify changes in the self-generated pressure and velocity cues at the sensitive mechanosensory antennae. We validated the principle that encoding aerodynamic information can enable collision avoidance by developing a quadcopter with a sensory system inspired by the mosquito. Such low-power sensing systems have major potential for future use in safer rotorcraft control systems.

Remarkable flight performance is key to the survival of adult Odonata. They integrate varied three-dimensional architectures and kinematics of the wings, unsteady aerodynamics, and sensory feedback control in order to achieve agile flight. Therefore, a diverse range of approaches are necessary to understand their flight strategy comprehensively. Recently, new data have been presented in several key areas in Odonata such as measurement of surface topographies, computational fluid dynamic analyses, quantitative flow visualisation using particle image velocimetry, and optical tracking of free flight trajectories in laboratory environments. In this paper, we briefly review those findings alongside more recent studies that have advanced our understanding of the flight mechanics of Odonata still further.

© 2019 The Authors The fluid–structure interaction problem of the flapping wings of bumblebees is considered, with focus on the action of elastic joints between wings and body. Morphological measurements and kinematic reconstruction of the wing motion using synchronized high-speed video recordings are described. They provide the necessary input data for numerical modeling. In particular, for the first time, the moments of inertia of bumblebee&#039;s wing are determined using realistic mass distribution. A computational fluid dynamics solver is combined with a dynamical model that describes the wing motion. The model consists of the wings approximated as flat plates, connected with the body by elastic hinges. The results of high-resolution numerical simulations are presented. The hinged plate model produces realistic feathering motion and accurate time-average estimates of the aerodynamic performance in hover, despite some discrepancy in the instantaneous values of aerodynamic forces compared with the fully prescribed model. A parameter sweep reveals that the hinge is not exactly tuned to maximum efficiency during hovering flight, but slightly offset away from the maximum.

© 2018, Jilin University. While the leading-edge serration in owls’ wing is known to be responsible for low noise gliding and flapping flights, the findings on its aero-acoustic role have been diverse or even controversial. Here we present an experimental study of the morphological effects of leading-edge serrations on aerodynamic force production by utilizing owl-inspired, single-feather, clean and serrated wing models with different serration lengths and spacing, and by combining Particle Image Velocimetry (PIV) and force measurements. Force measurements show that an increase in the length and density of the leading-edge serrations leads to a reduction in the lift coefficient and lift-to-drag ratio at Angles of Attack (AoAs) &lt; 15° whereas the clean and serrated wings achieve comparable aerodynamic performance at higher AoAs &gt; 15°, which owl wings often reach in flight. Furthermore PIV visualization of the flow fluctuations demonstrates that the leading-edge serration-based mechanism is consistent in all serrated wing models in terms of passive control of the laminar-turbulent transition while at AoAs &gt; 15° similar suction flow is present at leading edge resulting in a comparable aerodynamic performance to that of the clean wing. Our results indicate the robustness and usefulness of leading-edge serration-inspired devices for aero-acoustic control in biomimetic rotor designs.

© 2018, The Chinese Society of Theoretical and Applied Mechanics; Institute of Mechanics, Chinese Academy of Sciences and Springer-Verlag GmbH Germany, part of Springer Nature. Winged animals such as insects are capable of flying and surviving in an unsteady and unpredictable aerial environment. They generate and control aerodynamic forces by flapping their flexible wings. While the dynamic shape changes of their flapping wings are known to enhance the efficiency of their flight, they can also affect the stability of a flapping wing flyer under unpredictable disturbances by responding to the sudden changes of aerodynamic forces on the wing. In order to test the hypothesis, the gust response of flexible flapping wings is investigated numerically with a specific focus on the passive maintenance of aerodynamic forces by the wing flexibility. The computational model is based on a dynamic flight simulator that can incorporate the realistic morphology, the kinematics, the structural dynamics, the aerodynamics and the fluid–structure interactions of a hovering hawkmoth. The longitudinal gusts are imposed against the tethered model of a hovering hawkmoth with flexible flapping wings. It is found that the aerodynamic forces on the flapping wings are affected by the gust, because of the increase or decrease in relative wingtip velocity or kinematic angle of attack. The passive shape change of flexible wings can, however, reduce the changes in the magnitude and direction of aerodynamic forces by the gusts from various directions, except for the downward gust. Such adaptive response of the flexible structure to stabilise the attitude can be classified into the mechanical feedback, which works passively with minimal delay, and is of great importance to the design of bio-inspired flapping wings for micro-air vehicles.

<p>Insect wings change its shape passively by the aerodynamic and inertial forces when flapping, which can greatly affect its aerodynamic performances. In order to confirm the importance of the fluid-structure interaction in flapping wing aerodynamics, we performed computational fluid-structure interaction analyses of a hovering hawkmoth with 'virtual' vacuum conditions that can adjust the effect of the aerodynamic force on the deformation of flapping wings. It is turned out that the large part of the wing deformation, such as the wing twist, is induced by the inertial force as reported previously, but the adjustment of the wing deformation by the aerodynamic force can greatly affect the kinematics and the aerodynamics of flapping wings. While the wing deformation, regardless of the contribution of the aerodynamic force, can increase the aerodynamic power, force and efficiency of flapping wings, the wing deformation adjusted in response to the unsteady aerodynamics of flapping wings can further enhance the aerodynamic performance. These results not only reveal the influence of the wing deformation on the aerodynamic performance of flapping wings, but also point out the great importance of the fluid-structure interaction in the aerodynamics of insect flight and the design of bio-inspired micro aerial vehicles.</p>

<p>Insect wings change its shape dynamically through the interactions of the structure, and the aerodynamic and inertial forces when flapping, which can greatly affect its aerodynamic performances. While the detailed change of the wing shape has been extensively measured with high-speed photogrammetry, its implications on the flapping wing aerodynamics are poorly understood. In order to clarify the linking between the wing deformation and the flapping wing aerodynamics, the aerodynamic effect of the wing deformation in terms of the twist, the camber and the spanwise bending have been systematically investigated by means of the computational fluid dynamic analyses of a hovering hawkmoth with artificially deformed flapping wings. With the appropriate magnitude and phase, the twist and the camber are found to enhance the aerodynamic efficiency of flapping wing by redirecting the aerodynamic force vector on the wing so as to reduce the drag or increase the lift. The spanwise bending can increase the aerodynamic force without the redundant increase in aerodynamic power by appropriately adjusting the speed of the wing. We specified the magnitude and the phase of deformation that give the highest efficiency in the range of the study, and pointed out that, while the twist and the camber can enhance the efficiency, the deformation beyond the optima can reduce the aerodynamic efficiency drastically. The results in this study revealed the aerodynamic contributions of each kind of wing deformation, and will be of great implications for the design of bio-inspired micro air vehicles.</p>

In many flying insects, forewings and hindwings are coupled mechanically to achieve flapping flight synchronously while being driven by action of the forewings. How the forewings and hindwings as well as their morphologies contribute to aerodynamic force production and flight control remains unclear. Here we address the point that the forewings can produce most of the aerodynamic forces even with the hindwings removed through a computational fluid dynamic study of three revolving insect wing models, which are identical to the wing morphologies and Reynolds numbers of hawkmoth (Manduca sexta), bumblebee (Bombus ignitus) and fruitfly (Drosophila melanogaster). We find that the forewing morphologies match the formation of leading-edge vortices (LEV) and are responsible for generating sufficient lift forces at the mean angles of attack and the Reynolds numbers where the three representative insects fly. The LEV formation and pressure loading keep almost unchanged with the hindwing removed, and even lead to some improvement in power factor and aerodynamic efficiency. Moreover, our results indicate that the size and strength of the LEVs can be well quantified with introduction of a conical LEV angle, which varies remarkably with angles of attack and Reynolds numbers but within the forewing region while showing less sensitivity to the wing morphologies. This implies that the forewing morphology very likely plays a dominant role in achieving low-Reynolds number aerodynamic performance in natural flyers as well as in revolving and/or flapping micro air vehicles.

This paper discusses the force history and flow topology of accelerating flat-plate wings. The work is a collaborative effort to study fundamental, unsteady low-Reynolds-number flows. The motion kinematics is designed to be relevant to the micro air vehicle flight regime. A combination of experimental and computational techniques is used to obtain data for comparison. There is a striking correlation of lift history data and flow topology from both experimental and computational data sets. It is found that the leading/trailing-edge vortex core separation during the initial part of a surge motion can be reasonably well approximated by c.cos alpha, and the leading/trailing-edge vortex relative advection velocity is estimated to be 0.5.U-infinity. This leading/trailing-edge vortex relative advection velocity is a useful measure of how quickly the trailing-edge vortex moves away from the leading-edge vortex, which can influence lift for accelerating flat plates at high incidence angles.

Animal wings are lightweight and flexible; hence, during flapping flight their shapes change. It has been known that such dynamic wing morphing reduces aerodynamic cost in insects, but the consequences in vertebrate flyers, particularly birds, are not well understood. We have developed a method to reconstruct a three-dimensional wing model of a bird from the wing outline and the feather shafts (rachides). The morphological and kinematic parameters can be obtained using the wing model, and the numerical or mechanical simulations may also be carried out. To test the effectiveness of the method, we recorded the hovering flight of a hummingbird (Amazilia amazilia) using high-speed cameras and reconstructed the right wing. The wing shape varied substantially within a stroke cycle. Specifically, the maximum and minimum wing areas differed by 18%, presumably due to feather sliding; the wing was bent near the wrist joint, towards the upward direction and opposite to the stroke direction; positive upward camber and the 'washout' twist (monotonic decrease in the angle of incidence from the proximal to distal wing) were observed during both half-strokes; the spanwise distribution of the twist was uniform during downstroke, but an abrupt increase near the wrist joint was found during upstroke.

Flying and swimming in nature present sophisticated and exciting ventures in biomimetics, which seeks sustainable solutions and solves practical problems by emulating nature's time-tested patterns, functions, and strategies. Bio-fluids in insect and bird flight, as well as in fish swimming are highly dynamic and unsteady; however, they have been studied mostly with a focus on the phenomena associated with a body or wings moving in a steady flow. Characterized by unsteady wing flapping and body undulation, fluid-structure interactions, flexible wings and bodies, turbulent environments, and complex maneuver, bio-fluid dynamics normally have challenges associated with low Reynolds number regime and high unsteadiness in modeling and analysis of flow physics. In this article, we review and highlight recent advances in unsteady bio-fluid dynamics in terms of leading-edge vortices, passive mechanisms in flexible wings and hinges, flapping flight in unsteady environments, and micro-structured aerodynamics in flapping flight, as well as undulatory swimming, flapping-fin hydrodynamics, body-fin interaction, C-start and maneuvering, swimming in turbulence, collective swimming, and micro-structured hydrodynamics in swimming. We further give a perspective outlook on future challenges and tasks of several key issues of the field.

Owls are widely known for silent flight, achieving remarkably low noise gliding and flapping flights owing to their unique wing morphologies, which are normally characterized by leading-edge serrations, trailing-edge fringes and velvet-like surfaces. How these morphological features affect aerodynamic force production and sound suppression or noise reduction, however, is still not well known. Here we address an integrated study of owl-inspired single feather wing models with and without leading-edge serrations by combining large-eddy simulations (LES) with particle-image velocimetry (PIV) and force measurements in a low-speed wind tunnel. With velocity and pressure spectra analysis, we demonstrate that leading-edge serrations can passively control the laminar-turbulent transition over the upper wing surface, i.e. the suction surface at all angles of attack (0 degrees &lt; AoA &lt; 20 degrees), and hence play a crucial role in aerodynamic force and sound production. We find that there exists a tradeoff between force production and sound suppression: serrated leading-edges reduce aerodynamic performance at lower AoAs &lt; 15 degrees compared to clean leading-edges but are capable of achieving both noise reduction and aerodynamic performance at higher AoAs &gt; 15 degrees where owl wings often reach in flight. Our results indicate that the owl-inspired leading-edge serrations may be a useful device for aero-acoustic control in biomimetic rotor designs for wind turbines, aircrafts, multi-rotor drones as well as other fluid machinery.

Mosquitoes exhibit unusual wing kinematics; their long, slender wings flap at remarkably high frequencies for their size (&gt; 800 Hz) and with lower stroke amplitudes than any other insect group(1). This shifts weight support away from the translation-dominated, aerodynamic mechanisms used by most insects(2), as well as by helicopters and aeroplanes, towards poorly understood rotational mechanisms that occur when pitching at the end of each half-stroke. Here we report free-flight mosquito wing kinematics, solve the full Navier-Stokes equations using computational fluid dynamics with overset grids, and validate our results with in vivo flow measurements. We show that, although mosquitoes use familiar separated flow patterns, much of the aerodynamic force that supports their weight is generated in a manner unlike any previously described for a flying animal. There are three key features: leading-edge vortices (a well-known mechanism that appears to be almost ubiquitous in insect flight), trailing-edge vortices caused by a form of wake capture at stroke reversal, and rotational drag. The two new elements are largely independent of the wing velocity, instead relying on rapid changes in the pitch angle (wing rotation) at the end of each half-stroke, and they are therefore relatively immune to the shallow flapping amplitude. Moreover, these mechanisms are particularly well suited to high aspect ratio mosquito wings.

© 2017 by the American Helicopter Society International, Inc. All rights reserved. In recent years, multicopter drone has been attracting attention because of its great potentials for various missions such as surveillance, investigation and delivery. For application of drone, however, its noise will be a serious issue especially in urban areas, and, to our knowledge, it has not been resolved yet. In this study, inspired by our previous studies of bio-inspired design system focusing on unique wing structures of insects and birds, we have developed new low-noise type propellers for drone. The various bio-inspired attachments such as the serrations on the leading-edge, velvet-like surface and fringe on the trailing edge were tested and noise levels and aerodynamic performance were evaluated experimentally and numerically. Our results show that an attachment at the trailing edge can suppress the noise level while maintaining the aerodynamic efficiency at the close level to the basic propeller.

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 partide 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'.

Insect wing shapes are remarkably diverse and the combination of shape and kinematics determines both aerial capabilities and power requirements. However, the contribution of any specific morphological feature to performance is not known. Using targeted RNA interference to modify wing shape far beyond the natural variation found within the population of a single species, we show a direct effect on flight performance that can be explained by physical modelling of the novel wing geometry. Our data show that altering the expression of a single gene can significantly enhance aerial agility and that the Drosophila wing shape is not, therefore, optimized for certain flight performance characteristics that are known to be important. Our technique points in a new direction for experiments on the evolution of performance specialities in animals.

Aerodynamic performance and agility during flapping flight are determined by the combination of wing shape and kinematics, The degree of morphological and kinematic optimization is unknown and depends upon a large parameter space. Aimed at providing an accurate and computationally inexpensive modelling tool for flapping-wing aerodynamics, we propose a novel CID (computational fluid dynamics)-informed quasi-steady model (CIQSM), which assumes that the aerodynamic forces on a flapping wing can be decomposed into quasi-steady forces and parameterized based on CFD results, Using least-squares fitting, we determine a set of proportional coefficients for the quasi-steady model relating wing kinematics to instantaneous aerodynamic force and torque; we calculate power as the product. of quasi steady torques and angular velocity. With the quasi steady model fully and independently parameterized on the basis of high-fidelity CUD modelling, it is capable of predicting flapping-wing aerodynamic forces and power more accurately than the conventional blade element model (BEM) does. The improvement can be attributed to, for instance, taking into account the effects of the induced downwash and the wing tip vortex on the force generation and power consumption. Our model is validated by comparing the aerodynamics of a CFD model and the present quasi-steady model using the example case of a hovering hawkmoth. This demonstrates that the CIQSM outperforms the conventional BEM while remaining computationally cheap, and hence can be an effective tool for revealing the mechanisms of optimization and control of kinematics and morphology in flapping-wing flight for both bio-flyers and unmanned aerial systems.

Inter-seasonal events are believed to connect and affect reproductive performance (RP) in animals. However, much remains unknown about such carry-over effects (COEs), in particular how behaviour patterns during highly mobile life-history stages, such as migration, affect RP. To address this question, we measured at-sea behaviour in a long-lived migratory sea-bird, the Manx shearwater (Puffinus puffinus) and obtained data for individual migration cycles over 5 years, by tracking with geolocator/immersion loggers, along with 6 years of RP data. We found that individual breeding and non-breeding phenology correlated with subsequent RP, with birds hyperactive during winter more likely to fail to reproduce. Furthermore, parental investment during one year influenced breeding success during the next, a COE reflecting the trade-off between current and future RP. Our results suggest that different life-history stages interact to influence RP in the next breeding season, so that behaviour patterns during winter may be important determinants of variation in subsequent fitness among individuals.

Particle image velocimetry has been the preferred experimental technique with which to study the aerodynamics of animal flight for over a decade. In that time, hardware has become more accessible and the software has progressed from the acquisition of planes through the flow field to the reconstruction of small volumetric measurements. Until now, it has not been possible to capture large volumes that incorporate the full wavelength of the aerodynamic track left behind during a complete wingbeat cycle. Here, we use a unique apparatus to acquire the first instantaneous wake volume of a flying animal's entire wingbeat. We confirm the presence of wake deformation behind desert locusts and quantify the effect of that deformation on estimates of aerodynamic force and the efficiency of lift generation. We present previously undescribed vortex wake phenomena, including entrainment around the wing-tip vortices of a set of secondary vortices borne of Kelvin-Helmholtz instability in the shear layer behind the flapping wings.

Flexible wings of insects and bio-inspired micro air vehicles generally deform remarkably during flapping flight owing to aerodynamic and inertial forces, which is of highly nonlinear fluid-structure interaction (FSI) problems. To elucidate the novel mechanisms associated with flexible wing aerodynamics in the low Reynolds number regime, we have built up a FSI model of a hawkmoth wing undergoing revolving and made an investigation on the effects of flexible wing deformation on aerodynamic performance of the revolving wing model. To take into account the characteristics of flapping wing kinematics we designed a kinematic model for the revolving wing in two-fold: acceleration and steady rotation, which are based on hovering wing kinematics of hawkmoth, Manduca sexta. Our results show that both aerodynamic and inertial forces demonstrate a pronounced increase during acceleration phase, which results in a significant wing deformation. While the aerodynamic force turns to reduce after the wing acceleration terminates due to the burst and detachment of leading-edge vortices (LEVs), the dynamic wing deformation seem to delay the burst of LEVs and hence to augment the aerodynamic force during and even after the acceleration. During the phase of steady rotation, the flexible wing model generates more vertical force at higher angles of attack (40A degrees-60A degrees) but less horizontal force than those of a rigid wing model. This is because the wing twist in spanwise owing to aerodynamic forces results in a reduction in the effective angle of attack at wing tip, which leads to enhancing the aerodynamics performance by increasing the vertical force while reducing the horizontal force. Moreover, our results point out the importance of the fluid-structure interaction in evaluating flexible wing aerodynamics: the wing deformation does play a significant role in enhancing the aerodynamic performances but works differently during acceleration and steady rotation, which is mainly induced by inertial force in acceleration but by aerodynamic forces in steady rotation.

The position and attitude controls of flapping wing flyers are challenging because of their inherent instabilities. Insects can cope with such difficulties by finely and quickly tuning their wing kinematics. In addition, it is known that insects change their posture through the joint between thorax and abdomen in response to visual stimuli. In this study, the effect of the body flexion on the flight dynamics of a hovering hawkmoth are investigated numerically by using an in-house computational fluid dynamics (CFD) and a flexible body dynamics (FBD) solvers. For an integrated understanding of the effects of the body flexion, the curved or flexible body models, which replicate the longitudinal active and passive body flexion respectively, are developed. Our computational results indicate that the slight change of the center of mass (CoM) caused by the active body flexion alters the total aerodynamic torque, which result in the large pitch-up or pitch down of the body within a few wingbeat cycles. It is also found that, even though the rigid body pitches up in free-flight with a measured wing kinematics, the mild flexibility in the body can maintain the body attitude without any control. These results point out the importance of the CoM position on the flight dynamics and control of a flapping flight and, furthermore, the possibility of the simple but effective flight-control system with the body flexion for a bio-inspired MAV.

In this chapter, we present an integrated study of flexible wing aerodynamics and passive dynamic flight stability of a prototype bio-inspired, flapping-wing micro air vehicle (MAV) by a combination of flexible wing kinematics and force measurements and computational approaches. The MAV is weighted 2.4–3.0 g, equipped with an X-type wing and a wingspan of 12–15 cm. A bio-inspired, dynamic flight simulator is utilized to evaluate the aerodynamic performance of the flexible wing MAV. This simulator, by integrating the modeling of realistic wing-body morphology and realistic flapping-wing and body kinematics, is capable to provide an evaluation of the MAV’s unsteady aerodynamics in terms of vortex and wake structures and their relationship with aerodynamic force generation.

We present a fluid-structure interactions (FSI) model of insect flapping flight with flexible wings. This FSI-based model is established by loosely coupling a finite element method (FEM)-based computational structural dynamic (CSD) model and a computational fluid dynamic (CFD)-based insect dynamic flight simulator. The CSD model is developed specifically for insect flapping flight, which is capable to model thin shell structures of insect flexible wings by taking into account the distribution and anisotropy in both wing morphology involving veins, membranes, fibers and density, and in wing material properties of Young's modulus and Poisson's ratios. The insect dynamic flight simulator that is based on a multi-block, overset grid, fortified Navier-Stokes solver is capable to integrate modeling of realistic wing-body morphology, realistic flapping-wing and body kinematics, and unsteady aerodynamics in flapping-wing flights. Validation of the FSI-based aerodynamics and structural dynamics in flexible wings is achieved through a set of benchmark tests and comparisons with measurements, which contain a heaving spanwise flexible wing, a heaving chordwise-flexible wing with a rigid teardrop element, and a realistic hawkmoth wing rotating in air. A FSI analysis of hawkmoth hovering with flapping flexible wings is then carried out and discussed with a specific focus on the in-flight deformation of the hawkmoth wings and hovering aerodynamic performances with the flexible and rigid wings. Our results demonstrate the feasibility of the present FSI model in accurately modeling and quantitatively evaluating flexible-wing aerodynamics of insect flapping flight in terms of the aerodynamic forces, the power consumption and the efficiency. (C) 2011 Elsevier Inc. All rights reserved.

Insect wings are deformable structures that change shape passively and dynamically owing to inertial and aerodynamic forces during flight. It is still unclear how the three-dimensional and passive change of wing kinematics owing to inherent wing flexibility contributes to unsteady aerodynamics and energetics in insect flapping flight. Here, we perform a systematic fluid-structure interaction based analysis on the aerodynamic performance of a hovering hawkmoth, Manduca, with an integrated computational model of a hovering insect with rigid and flexible wings. Aerodynamic performance of flapping wings with passive deformation or prescribed deformation is evaluated in terms of aerodynamic force, power and efficiency. Our results reveal that wing flexibility can increase downwash in wake and hence aerodynamic force: first, a dynamic wing bending is observed, which delays the breakdown of leading edge vortex near the wing tip, responsible for augmenting the aerodynamic force-production; second, a combination of the dynamic change of wing bending and twist favourably modifies the wing kinematics in the distal area, which leads to the aerodynamic force enhancement immediately before stroke reversal. Moreover, an increase in hovering efficiency of the flexible wing is achieved as a result of the wing twist. An extensive study of wing stiffness effect on aerodynamic performance is further conducted through a tuning of Young's modulus and thickness, indicating that insect wing structures may be optimized not only in terms of aerodynamic performance but also dependent on many factors, such as the wing strength, the circulation capability of wing veins and the control of wing movements.

Inspired by novel mechanisms in insect and bird flights, in particular, the clap-and-fling mechanism associated with the aerodynamic force enhancement owing to the wing-wing interaction, we developed a prototype flapping micro air vehicle (fMAV), which is weighted 2.4 - 3.0 g, equipped with a X-type wing and a wingspan of 12 -15 cm. In this study, we carried out an integrated study of flexible wing aerodynamics and passive dynamic flight stability of the MAV by a combination of flexible wing kinematics and force measurements and computational approaches. We designed a high-speed camera filming system to measure the flexible wing kinematics and deformations and constructed the computational wing kinematic model. Together with the force measurements we investigated the wing stiffness effects on the force generation associated with the flexible wing deformation. We further used a biology-inspired, dynamic flight simulator to evaluate the aerodynamic performance of the flexible wing MAV. This simulator, by integrating the modeling of realistic wing-body morphology and realistic flapping-wing and body kinematics, provided an evaluation of the MAV's unsteady aerodynamics in terms of vortex and wake structures and their relationship with aerodynamic force generation. Our results show that the clap-and-fling mechanism is indeed realized by the prototype four-winged MAV and the flexible wing deformation even further enhance its effects. Furthermore, we employed a computational approach to analyze the passive dynamic flight stability of the MAV's forward flight. Results based on a linear theory indicated that the MAV is very likely of dynamical stability even with no active feedback control system. © 2012 IEEE.

MAVs (micro air vehicles) with a maximal dimension of 15 cm and nominal flight speeds of around 10 m s(-1), operate in a Reynolds number regime of 10(5) or lower, in which most natural flyers including insects, bats and birds fly. Furthermore, due to their light weight and low flight speed, the MAVs' flight characteristics are substantially affected by environmental factors such as wind gust. Like natural flyers, the wing structures of MAVs are often flexible and tend to deform during flight. Consequently, the aero/fluid and structural dynamics of these flyers are closely linked to each other, making the entire flight vehicle difficult to analyze. We have recently developed a hummingbird-inspired, flapping flexible wing MAV with a weight of 2.4-3.0 g and a wingspan of 10-12 cm. In this study, we carry out an integrated study of the flexible wing aerodynamics of this flapping MAV by combining an in-house computational fluid dynamic (CFD) method and wind tunnel experiments. A CFD model that has a realistic wing planform and can mimic realistic flexible wing kinematics is established, which provides a quantitative prediction of unsteady aerodynamics of the four-winged MAV in terms of vortex and wake structures and their relationship with aerodynamic force generation. Wind tunnel experiments further confirm the effectiveness of the clap and fling mechanism employed in this bio-inspired MAV as well as the importance of the wing flexibility in designing small flapping-wing MAVs.

Aiming at establishing an effective computational framework to accurately predict free-flying dynamics and aerodynamics we here present a comprehensive investigation on some issues associated with the modelling of free flight. Free flight modelling/simulation is essential for some types of flights e.g. falling leaves or auto-rotating seeds for plants unsteady manoeuvres such as take-off, turning, or landing for animals. In addition to acquiring the deeper understanding of the flight biomechanics of those natural organisms, revealing the sophisticated aerodynamic force generation mechanisms employed by them may be useful in designing man-made flying-machines such as rotary or flapping micro air vehicles (MAVs). The simulations have been conducted using the coupling of computational fluid dynamics (CFD) and rigid body dynamics, thus achieving the free flight. The flow field is computed with a three-dimensional unsteady incompressible Navier-Stokes solver using pseudo-compressibility and overset gird technique. The aerodynamic forces acting on the flyer are calculated by integrating the forces on the surfaces. Similarly, the aerodynamic torque around the flyer's centre of mass is obtained. The forces and moments are then introduced into a six degrees-of-freedom rigid body dynamics solver which utilises unit quaternions for attitude description in order to avoid singular attitude. Results are presented of a single body model and some insect-like multi-body models with flapping wings, which point to the importance of free-flight modelling in systematic analyses of flying aerodynamics and manoeuvrability. Furthermore, a comprehensive investigation indicates that the framework is capable to predict the aerodynamic performance of free-flying or even free-swimming animals in an intermediate range of Reynolds numbers (&lt 105). Copyright © 2011 by ASME.