1. after Nachtigall, 1978

3. ‘Quasi-steady’ analysis (blade element theory)
total force
liftn
dragn
liftn = ½ CL (an) Un2 r S
dragn = ½ CD (an) Un2 r S Un
‘Quasi-steady’ analysis
(blade element theory) an
wind tunnel CL CD
0.5
1.0 U an
drag = S dragn N
lift = S liftn

4. range needed to support flight1 2 3 4 -
drag coefficient
lift coefficient
locust f c
fruit fly
crane fly
range needed to support flight
1.3
0.8

6. 2D wing model at 45o angle of attack
leading edge
vortex
leading
edge
direction
of motion
trailing
edge

7. early late early late 2p increase from leading edge vortex
value required
For QSBE

8. Start of motion at low angle of attack

9. Start of motion at high angle of attack

10. leading edge
vortex

11. RoboFly

12. DPIV and force measurement

13. DPIV and force measurement

14. 2D translating flat plate 3D revolving flat plate at low Re
Karman
street
leading edge
vortex
3D revolving flat plate
at low Re
prolonged
attachment

15. Ftrans CD CL lift total a U drag force coefficients- 9 1 8 2 7 3 6 4 5 .
angle of attack (degs)
force coefficients CL CD 1 2 3
3.0
time (secs) CD CL
1.5
-1.5
45o
-9o

16. 1.8 1.3 0.8 lift coefficient drag coefficient 1 2 3 4 - locust f c1 2 3 4 -
drag coefficient
lift coefficient
locust f c
fruit fly
crane fly
flapping
model
fruit fly
1.8
1.3
0.8

17. vs. u CL CD 3 constant angular velocity (72 deg/sec) 2 1
constant forward
velocity (0.157 m/s) -1 1 2 3 4 CD

18. 3D wing at 45o angle of attack, Re 110
Translating model
3D wing at 45o angle of attack, Re 110
David Lentink

19. 3D model at 45o angle of attack, Re 110
Revolving motion
3D model at 45o angle of attack, Re 110
David Lentink

20. 3 2 1 4 3. stroke reversal 2. rotational lift 1. delayed stall
downstroke
upstroke
3. stroke reversal 3
2. rotational lift 2
1. delayed stall 1
4. wake capture
&added mass 4

21. down up stroke cycle up down 1.5 1.0 0.5 net force (10-5 N) measured
net force (10-5 N)
measured
force
translational
quasi-steady

22. Altschuler, et al., 2005 PNAS

23. Dear Prof. Dickinson, July 28, 2006
I report on aviation for The Wall Street Journal and wonder if I could trouble you for a professional judgment.
Some entrepreneurs attempting to build a large commercial aircraft with small flapping wings have approached me to write a story about their project, and I'm trying to get a sense of whether their idea is at all realistic. They say their design is based, in part, on your research and development work. But obviously there is a huge difference between simulating a tiny insect and building a 100-passenger aircraft. The company is called JCR Technology, in case you have come across them. Their website, which so far seems only to be in French, has information about their design and some computer-graphic simulations.
Would you or someone in your lab have a few minutes to look at this and assess whether it is realistic to develop or simply to far-fetched? I would be happy to call to discuss your work more, and how it has prompted this idea.
Best regards, Dan Michaels

25. JCR3D1c
JCR_demo_c

26. Integrative Approach Behavior sensory systems central nervous system
feedback
olfaction
mechano-
vision
Behavior
dynamics& environment
kinematics
& forces
central nervous system
musculoskeletal system
motor
commands

27. sensory system of flies Each wing stroke, the fly’s brain
Ocelli (300 cells)
light-based orientation
Wing Sensors (1000 cells)
wing loading and contact
Halteres (900 cells)
angular rate gyroscope
Eyes (8800 cells)
image & optic flow sensor
Antennae (2000 cells)
olfaction, hearing, airspeed
Each wing stroke, the fly’s brain
integrates input from 15,000 cells.
0.5 mm

28. Tammero&Dickinson, JEB 2002, Mark Fry, Ros Sayamen
infrared
light
infrared sensitive
cameras
fabric
enclosure
10 sec
-1200
1200
velocity (o s-1)
angular
Flyorama2
Slowed new saccade
side view
side view
top view
5000 frames/sec, 150 msec duration
Tammero&Dickinson, JEB 2002, Mark Fry, Ros Sayamen

29. visual
feedback

30. Saccades are triggered by visual input.
number 50 25
+90
-90
saccade angle
~90o
50%
~90o
Tammero&Dickinson, JEB 2002a

31. Flies turn away from expansion.
“fly’s eye view”
flight arena
Emd movie
Flies turn away from expansion.
Tammero&Dickinson, JEB 2002a

32. ‘closed-loop’ flight simulators
angular velocity
of stripe
gain
left- right stroke
amplitude
fly
IR diode
LED
display
wingbeat
analyzer

33. Stripe Fixation
Michael
Reiser
Flight_start.wmv
Reiser_stripe_fixation

34. fixation/expansion
Collision avoidance

35. summary of expansion reflexes
left
center
right

36. musculoskeletal mechanics

37. power muscles
upstroke muscles
downstroke muscles

38. steering muscles
b1 (first basalar)

39. b1
50 ms
wing
motion

40. steering muscle control
phase advance
phase delay

41. aerodynamics

42. high speed
camera
IR LED
panel
visual
target
flight
path

43. Saccade with forces v3

44. kinematics changes during saccades
2) tilt of
stroke plane
30 degs
1) increase in
stroke amplitude
0.25
1.0
yaw torque (10-8 Nm)

45. What triggers counter-turn?
torque
to turn
counter-torque
to stop turning
left
right
What triggers counter-turn?

46. mechanosensory
feedback

47. magnetic tether IR camera LED arena CPU mirror magnet N S
Loose tether saccade

48. ‘loose’ saccades vs. ‘rigid’ saccades
torque with
rigid tether
angular velocity
with loose tether
400 os -1
100 ms
5x10-9 nNm
eyes
halteres

49. halteres
pitch
Coriolis
force
sensor
arrays
Flapping_nat

50. time (ms) 100 200 300 400 500 orientation (deg) 50 150 stimulus fly
100
200
300
400
500
orientation
(deg) 50
150
stimulus
fly
saccade002p7

51. rotation against
rotation with
weighted haltere
ablated haltere

52. haltere feedback shortens saccades
***
normal ,
rotation
with fly
rotation
against fly
mass on
haltere
no haltere 60 50 40
|amplitude| (deg) 30 20 10

53. summary of haltere reflex
Amir
Fayyazuddin
summary of haltere reflex
wing sensors
phase advance
phase delay
steering motor neuron
haltere
sensors
steering motor neuron
wing input
delay
haltere input
advance

54. working hypothesis small change in wing stroke accelerates animal
halteres detects rotation and trigger counter-turn
visual expansion triggers saccade
fly continues on
new heading.