Thompson R A, Wehling M F, Evers J H, Dixon W E
Air Force Research Laboratory, AFRL/RWGI, Eglin AFB, FL, USA.
J Comp Physiol A Neuroethol Sens Neural Behav Physiol. 2009 Jan;195(1):99-112. doi: 10.1007/s00359-008-0388-1. Epub 2008 Nov 15.
Halteres, the modified rear wings of Diptera, have long been recognized as sensory organs necessary for basic flight stability. These organs, which act as vibrating structure gyroscopes, are known to sense strains proportional to Coriolis accelerations. While compensatory responses have been demonstrated that indicate the ability of insects to distinguish all components of the body rate vector, the specific mechanism by which the halteres are able to decouple the body rates has not been clearly understood. The research documented in this report describes a potential mechanism, using averaged strain and strain rate at the center of the haltere stroke, to decouple the inertial rate components. Through dynamic simulation of a nonlinear model of the haltere 3-dimensional trajectory, this straightforward method was demonstrated to provide an accurate means of generating signals that are proportional to three orthogonal body rate components. Errors associated with residual nonlinearity and rate-coupling were quantified for a bilaterally reconstructed body rate vector over a full range of pitch and yaw rates and two roll rate conditions. Models that are compatible with insect physiology are proposed for performing necessary signal averaging and bilateral processing.
平衡棒是双翅目昆虫经过改造的后翅，长期以来一直被认为是基本飞行稳定性所必需的感觉器官。这些器官作为振动结构陀螺仪，已知能感知与科里奥利加速度成正比的应变。虽然已经证明了补偿反应，表明昆虫有能力区分身体速率矢量的所有组成部分，但平衡棒能够解耦身体速率的具体机制尚未完全清楚。本报告中记录的研究描述了一种潜在机制，利用平衡棒冲程中心的平均应变和应变率来解耦惯性速率分量。通过对平衡棒三维轨迹的非线性模型进行动态模拟，证明了这种直接的方法能够提供一种准确的手段来生成与三个正交身体速率分量成正比的信号。在俯仰和偏航速率的全范围内以及两种横滚速率条件下，对双侧重建的身体速率矢量的残余非线性和速率耦合相关误差进行了量化。提出了与昆虫生理学兼容的模型，用于进行必要的信号平均和双侧处理。
