Estimation of Self-Motion for Gaze and Flight Stabilization in Flying Insects

HOLGER G. KRAPP

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Estimation of Self-Motion for Gaze and Flight Stabilization in Flying Insects

机译：飞行昆虫凝视和飞行稳定自运动的估计

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The stunning maneuverability of flying insects has attracted much attention from biologists and engineers over past decades. Biologists, fascinated by insect flight performance, have taken several different approaches when investigating how the insect nervous system computes signals in powerful closed-loop motor control circuits. So far, quantitative behavioral experiments, the measurement of electrical activity in the nervous system, and modeling studies have mainly been focusing on individual sensory mechanisms contributing to the functional organization of stabilization reflexes. Recently it became obvious, however, that it is the orchestration of several sensory mechanisms, operating in parallel, which enables motor control over an extended dynamic range. Current research aims at discovering general principles in multisensor fusion and sensor-rich feedback control that flying insects have evolved to master stabilization tasks during flight. Engineers follow the latest progress with excitement wondering whether biological control systems may inspire the design of technical applications in man-made devices.

机译：在过去的几十年中，飞行昆虫令人惊叹的机动性引起了生物学家和工程师的广泛关注。对昆虫飞行性能着迷的生物学家在研究昆虫神经系统如何在强大的闭环电机控制电路中计算信号时采用了几种不同的方法。迄今为止，定量的行为实验，神经系统电活动的测量以及模型研究主要集中在有助于稳定反射功能组织的各个感觉机制上。然而，最近很明显的是，这是几个并行运行的感觉机制的编排，它可以在扩展的动态范围内进行电机控制。当前的研究旨在发现多传感器融合和传感器丰富的反馈控制中的一般原理，即飞行中的昆虫已经进化为掌握飞行过程中的稳定任务。工程师激动地关注着最新进展，想知道生物控制系统是否会激发人造设备技术应用的设计。

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《Navigation》 |2008年第2期|p.147-158|共12页
作者
HOLGER G. KRAPP;
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作者单位

Imperial College London, SW7 2AZ, UK;

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收录信息美国《工程索引》(EI);
原文格式 PDF
正文语种 eng
中图分类水路运输;
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1. Analysis of Vertical Distributions and Effective Flight Layers of Insects: Three-Dimensional Simulation of Flying Insects and Catch at Trap Heights [J] . Byers John A. . Environmental Entomology . 2011,第5期

机译：昆虫的垂直分布和有效飞行层的分析：在诱捕高度处飞行昆虫和捕获的三维模拟
2. Stabilizing gaze in flying blowflies [J] . C. Schilstra, J. H. van Hateren Nature . 1998,第6703期

机译：稳定蝇眼中的目光
3. Towards the Long-Endurance Flight of an Insect-Inspired, Tailless, Two-Winged, Flapping-Wing Flying Robot [J] . Hoang Vu Phan, Aurecianus Steven, Thi Kim Loan Au, IEEE Robotics and Automation Letters . 2020,第4期

机译：朝着长期耐力飞行的昆虫灵感，无尾，双翼，扑翼飞行机器人
4. Estimation and Control of Self-motion and Gaze in Flying Insects [C] . Holger G. Krapp Institute of Navigation . 2007

机译：飞行昆虫自动运动和凝视的估算和控制
5. Biomimetic sensor modeling and simulations for flight control of a micromechanical flying insect. [D] . Wu, Wei-Chung. 2006

机译：仿生传感器的建模和仿真，用于控制微机械飞行昆虫。
6. Insect-Inspired Self-Motion Estimation with Dense Flow Fields—An Adaptive Matched Filter Approach [O] . Simon Strübbe, Wolfgang Stürzl, Martin Egelhaaf -1

机译：具有密集流场的昆虫启发式自运动估计—自适应匹配滤波方法
7. Endothermy of dynastine scarab beetles (Cyclocephala colasi) associated with pollination biology of a thermogenic arum lily (Philodendron solimoesense) : Cyclocephala colasi beetles are facultative endotherms that spend most of their adult lives inside the inflorescences of Philodendron solimoesense, where ambient temperature (Ta) averages about 28°C due to floral thermogenesis. Measurements of respiration within a range of Ta showed that active beetles became spontaneously endothermic at Ta below 28°C but were rarely endothermic above it. There was no evidence of endothermy within the inflorescences, indicating that activities in the floral chamber can occur without the high energy expense of endothermy. Bouts of endothermy occurred at lower Ta in respirometer chambers mainly in the evening, when the insects normally fly from one inflorescence to another, and during the night, when they normally eat and mate within the inflorescence. Patterns of endothermy in individual episodes were studied in non-flying beetles with respirometry and infrared thermal imaging. Heat was generated in the thorax by oscillatory waves of respiration that were coupled with thoracic temperature (Tth) increases. Stationary beetles could regulate Tth at about 33°C independently of Ta between 16 and 29°C. At Ta20°C, this represents a 116-fold increase in metabolic rate over resting, ectothermic values. Endothermy was clearly a requirement for flight, and beetles departing inflorescences warmed to about 30°C before take-off. During flight, Tth was dependent on Ta, decreasing from 37 to 28°C at Ta of 37 to 20°C, respectively. The lowest Ta at which flight could occur was about 20°C. Thermal conductance of stationary, endothermic beetles increased at higher metabolic rates, probably because of increased ventilatory heat loss. [O] . Seymour, R.S., White, C.R., Gibernau, Marc 2009

机译：与产热香芋百合（Philodendron solimoesense）授粉生物学相关的动态圣甲虫（Cyclocephala colasi）吸热：Cyclocephala colasi甲虫是兼性吸热体，它们大部分成年生活都在Philodendron solimoesense的花序中，其平均温度（Ta）由于花的生热作用，温度约为28°C。在Ta范围内的呼吸测量表明，活跃的甲虫在Ta低于28°C时会自发吸热，而在Ta高于28°C时很少吸热。在花序中没有吸热的迹象，表明花室中的活动可以在没有高的吸热能量消耗的情况下发生。吸热的爆发主要发生在晚上，当昆虫通常从一个花序飞到另一个花序时，以及在晚上，它们通常在花序中进食并交配时，在呼吸计室的较低Ta处发生。在非飞行甲虫中通过呼吸测定法和红外热成像研究了单个发作中的吸热模式。伴随着胸温（Tth）升高的呼吸振荡波在胸腔中产生热量。固定甲虫可以在约33°C的温度下调节Tth，而与Ta在16至29°C之间的温度无关。在Ta20°C下，这表示其代谢速率比静止的，等温的升高116倍。吸热显然是飞行的要求，离开花序的甲虫在起飞前会升温到约30°C。在飞行过程中，Tth取决于Ta，在Ta从37降至20°C时，Tth分别从37°C降至28°C。可能发生飞行的最低Ta约为20°C。固定的，吸热的甲虫的热导率以较高的代谢率增加，这可能是由于通风热损失增加所致。

Estimation of Self-Motion for Gaze and Flight Stabilization in Flying Insects

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