An Insect Tether System Using Magnetic Levitation: Development, Analysis and Feedback Control

2016 ◽  
Author(s):  
Shih-Jung Hsu ◽  
Yagız Efe Bayiz ◽  
Pan Liu ◽  
Bo Cheng
Keyword(s):  
System Identification ◽  
Feedback Control ◽  
Flight Control ◽  
Insect Flight ◽  
Magnetic Levitation ◽  
Body Movement ◽  
Whole Body ◽  
Free Flight ◽  
Tethered Flight ◽  
Development Analysis

Insect flight has gained wide interests in both biology and engineering communities in the past decades regarding its aerodynamics, sensing and flight control. However, studying insect flight experimentally remains a challenge in both free-flight and tethered-flight settings. In free flight experiments, due to highly unpredictable and fast flight behavior of flying insects, it is difficult to apply controlled sensory inputs to their flight system for system identification and modeling analyses. In tethered flight experiments, constrained whole body movement results in silenced proprioceptive feedback therefore breaks the flight control loop and does not reveal any flight dynamics. Therefore, this work aims to develop a novel insect tether system using magnetic levitation. Such a system magnetically fixes an insect in space but allows it to rotate freely about yaw axis with minimal interference from mechanical constraints. This paper presents the development, analysis and feedback control of this system and finally test its performance using a hawkmoth (Manduca Sexta). In addition, a system identification of the magnetic levitation system and detailed analysis in closed-loop stability and performance are provided. In the future, the insect tether system will be applied to study the insect flight aerodynamics, sensing and control.

scholarly journals Insect flight metabolic rate revealed by bolus injection of the stable isotope 13 C

2021 ◽  
Vol 288 (1953) ◽  
pp. 20211082
Author(s):  
Tomer Urca ◽  
Eran Levin ◽  
Gal Ribak
Keyword(s):  
Metabolic Rate ◽  
Bolus Injection ◽  
Insect Flight ◽  
Beetle Species ◽  
Free Flight ◽  
Flight Duration ◽  
Flying Insects ◽  
Formidable Challenge ◽  
Tethered Flight ◽  
Closed Systems

Measuring metabolic rate (MR) poses a formidable challenge in free-flying insects who cannot breathe into masks or be trained to fly in controlled settings. Consequently, flight MR has been predominantly measured on hovering or tethered insects flying in closed systems. Stable isotopes such as labelled water allow measurement of MR in free-flying animals but integrates the measurement over long periods exceeding the average flight duration of insects. Here, we applied the ‘bolus injection of isotopic 13 C Na-bicarbonate’ method to insects to measure their flight MR and report a 90% accuracy compared to respirometry. We applied the method on two beetle species, measuring MR during free flight and tethered flight in a wind tunnel. We also demonstrate the ability to repeatedly use the technique on the same individual. Therefore, the method provides a simple, reliable and accurate tool that solves a long-lasting limitation on insect flight research by enabling the measurement of MR during free flight.

scholarly journals Pose Estimation of Free-Flying Fruit Flies

2021 ◽  
Author(s):  
Omri Ben-Dov ◽  
Tsevi Beatus
Keyword(s):  
Pose Estimation ◽  
Flight Control ◽  
Sensory Integration ◽  
High Speed ◽  
3D Model ◽  
Insect Flight ◽  
Fruit Flies ◽  
Free Flight ◽  
Kinematic Data ◽  
Wing Deformation

AbstractInsect flight is a complex interdisciplinary phenomenon. Understanding its multiple aspects, such as flight control, sensory integration and genetics, often requires the analysis of large amounts of free flight kinematic data. Yet, one of the main bottlenecks in this field is automatically and accurately extracting such data from multi-view videos. Here, we present a model-based method for pose-estimation of free-flying fruit flies from multi-view high-speed videos. To obtain a faithful representation of the fly with minimum free parameters, our method uses a 3D model that mimics two new aspects of wing deformation: a non-fixed wing hinge and a twisting wing surface. The method is demonstrated for free and perturbed flight. Our method does not use prior assumptions on the kinematics apart from the continuity of one wing angle. Hence, this method can be readily adjusted for other insect species.

scholarly journals Humanoid Whole-Body Movement Optimization from Retargeted Human Motions

2019 ◽  
Author(s):  
Waldez Gomes ◽  
Vishnu Radhakrishnan ◽  
Luigi Penco ◽  
Valerio Modugno ◽  
Jean-Baptiste Mouret ◽  
...  
Keyword(s):  
Body Movement ◽  
Whole Body ◽  
Human Motions ◽  
Whole Body Movement

Tuning of a Basic Coordination Pattern Constructs Straight-Ahead and Curved Walking in Humans

2004 ◽  
Vol 91 (4) ◽  
pp. 1524-1535 ◽  
Author(s):  
Grégoire Courtine ◽  
Marco Schieppati
Keyword(s):  
Principal Components ◽  
Lower Limb ◽  
Time Course ◽  
Body Movement ◽  
The Body ◽  
Whole Body ◽  
Coordination Pattern ◽  
Data Set ◽  
Coordination Patterns ◽  
Straight Ahead

We tested the hypothesis that common principles govern the production of the locomotor patterns for both straight-ahead and curved walking. Whole body movement recordings showed that continuous curved walking implies substantial, limb-specific changes in numerous gait descriptors. Principal component analysis (PCA) was used to uncover the spatiotemporal structure of coordination among lower limb segments. PCA revealed that the same kinematic law accounted for the coordination among lower limb segments during both straight-ahead and curved walking, in both the frontal and sagittal planes: turn-related changes in the complex behavior of the inner and outer limbs were captured in limb-specific adaptive tuning of coordination patterns. PCA was also performed on a data set including all elevation angles of limb segments and trunk, thus encompassing 13 degrees of freedom. The results showed that both straight-ahead and curved walking were low dimensional, given that 3 principal components accounted for more than 90% of data variance. Furthermore, the time course of the principal components was unchanged by curved walking, thereby indicating invariant coordination patterns among all body segments during straight-ahead and curved walking. Nevertheless, limb- and turn-dependent tuning of the coordination patterns encoded the adaptations of the limb kinematics to the actual direction of the walking body. Absence of vision had no significant effect on the intersegmental coordination during either straight-ahead or curved walking. Our findings indicate that kinematic laws, probably emerging from the interaction of spinal neural networks and mechanical oscillators, subserve the production of both straight-ahead and curved walking. During locomotion, the descending command tunes basic spinal networks so as to produce the changes in amplitude and phase relationships of the spinal output, sufficient to achieve the body turn.

Caudal Fin and Body Movement in the Propulsion of some Fish

1963 ◽  
Vol 40 (1) ◽  
pp. 23-56 ◽  
Author(s):  
RICHARD BAINBRIDGE
Keyword(s):  
Body Movement ◽  
Wave Length ◽  
The Body ◽  
Whole Body ◽  
Tail Region ◽  
Caudal Fin ◽  
A Value ◽  
Total Thrust ◽  
Transverse Movement ◽  
Relationship Of

1. Observations made on bream, goldfish and dace swimming in the ‘Fish Wheel’ apparatus are described. These include: 2. An account of the complex changes in curvature of the caudal fin during different phases of the normal locomotory cycle. Measurements of this curvature and of the angles of attack associated with it are given. 3. An account of changes in area of the caudal fin during the cycle of lateral oscillation. Detailed measurements of these changes, which may involve a 30 % increase in height or a 20 % increase in area, are given. 4. An account of the varying speed of transverse movement of the caudal fin under various conditions and the relationship of this to the changes in area and amount of bending. Details of the way this transverse speed may be asymmetrically distributed relative to the axis of progression of the fish are given. 5. An account of the extent of the lateral propulsive movements in other parts of the body. These are markedly different in the different species studied. Measurements of the wave length of this movement and of the rate of progression of the wave down the body are given. 6. It is concluded that the fish has active control over the speed, the amount of bending and the area of the caudal fin during transverse movement. 7. The bending of the fin and its changes in area are considered to be directed to the end of smoothing out and making more uniform what would otherwise be an intermittent thrust from the oscillating tail region. 8. Some assessment is made of the proportion of the total thrust contributed by the caudal fin. This is found to vary considerably, according to the form of the lateral propulsive movements of the whole body, from a value of 45% for the bream to 84% for the dace.

scholarly journals Quantifying Postural Control during Exergaming Using Multivariate Whole-Body Movement Data: A Self-Organizing Maps Approach

PLoS ONE ◽  
2015 ◽  
Vol 10 (7) ◽  
pp. e0134350 ◽  
Author(s):  
Mike van Diest ◽  
Jan Stegenga ◽  
Heinrich J. Wörtche ◽  
Jos B. T. M Roerdink ◽  
Gijsbertus J. Verkerke ◽  
...  
Keyword(s):  
Postural Control ◽  
Body Movement ◽  
Whole Body ◽  
Self Organizing Maps ◽  
Movement Data ◽  
Whole Body Movement ◽  
Self Organizing
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