Muijres Florian T, Iwasaki Nicole A, Elzinga Michael J, Melis Johan M, Dickinson Michael H
Experimental Zoology Group, Wageningen University and Research, Wageningen, The Netherlands; Department of Biology, University of Washington, Seattle, WA, USA.
Department of Biology, University of Washington , Seattle, WA , USA.
Interface Focus. 2017 Feb 6;7(1):20160103. doi: 10.1098/rsfs.2016.0103.
Using high-speed videography, we investigated how fruit flies compensate for unilateral wing damage, in which loss of area on one wing compromises both weight support and roll torque equilibrium. Our results show that flies control for unilateral damage by rolling their body towards the damaged wing and by adjusting the kinematics of both the intact and damaged wings. To compensate for the reduction in vertical lift force due to damage, flies elevate wingbeat frequency. Because this rise in frequency increases the flapping velocity of both wings, it has the undesired consequence of further increasing roll torque. To compensate for this effect, flies increase the stroke amplitude and advance the timing of pronation and supination of the damaged wing, while making the opposite adjustments on the intact wing. The resulting increase in force on the damaged wing and decrease in force on the intact wing function to maintain zero net roll torque. However, the bilaterally asymmetrical pattern of wing motion generates a finite lateral force, which flies balance by maintaining a constant body roll angle. Based on these results and additional experiments using a dynamically scaled robotic fly, we propose a simple bioinspired control algorithm for asymmetric wing damage.
我们使用高速摄像技术，研究了果蝇如何补偿单侧翅膀损伤，即一侧翅膀面积损失会影响重量支撑和滚转扭矩平衡。我们的研究结果表明，果蝇通过向受损翅膀一侧滚动身体，并调整完好翅膀和受损翅膀的运动学来控制单侧损伤。为了补偿由于损伤导致的垂直升力降低，果蝇提高了振翅频率。由于频率的增加会提高两翼的拍打速度，这会产生进一步增加滚转扭矩的不良后果。为了补偿这种影响，果蝇增加了受损翅膀的冲程幅度，并提前了受损翅膀内旋和外旋的时间，同时对完好翅膀进行相反的调整。受损翅膀上力的增加和完好翅膀上力的减少共同作用，以保持净滚转扭矩为零。然而，两翼运动的双侧不对称模式会产生一个有限的侧向力，果蝇通过保持恒定的身体滚转角来平衡这个力。基于这些结果以及使用动态缩放机器人果蝇进行的额外实验，我们提出了一种针对不对称翅膀损伤的简单仿生控制算法。
