完美音高：果蝇如何控制身体俯仰角
Pitch Perfect: How Fruit Flies Control their Body Pitch Angle
摘要：
扑翼昆虫飞行是一种复杂而美丽的现象，它依赖于快速、主动的控制机制来对抗空气动力学的不稳定性。直接研究自由飞行的D。黑腹果蝇控制它们的身体俯仰角来对抗这种不稳定性，我们使用脉冲机械扭矩来干扰它们，并用高速视频拍摄它们的纠正动作。结合实验观察和数值模拟，我们发现，苍蝇纠正俯仰偏转高达40度，在29 +/- 8毫秒的双边调制他们的翅膀的最前端的行程角的方式很好地描述了一个线性比例积分（PI）控制器。苍蝇在仅10 +/- 2 ms后启动此校正过程，表明俯仰稳定涉及快速反射反应。值得注意的是，苍蝇也可以纠正非常大幅度的俯仰扰动-大于150度-提供了一个制度，其中探测线性响应框架的限制。结合之前关于偏航和滚转控制的研究，我们对俯仰的研究结果表明，苍蝇对这些身体角度的稳定性与PI控制一致。
英文摘要：
Flapping insect flight is a complex and beautiful phenomenon that relies on fast, active control mechanisms to counter aerodynamic instability. To directly investigate how freely-flying D. melanogaster control their body pitch angle against such instability, we perturb them using impulsive mechanical torques and film their corrective maneuvers with high-speed video. Combining experimental observations and numerical simulation, we find that flies correct for pitch deflections of up to 40 degrees in 29 +/- 8 ms by bilaterally modulating their wings' front-most stroke angle in a manner well-described by a linear proportional-integral (PI) controller. Flies initiate this corrective process after only 10 +/- 2 ms, indicating that pitch stabilization involves a fast reflex response. Remarkably, flies can also correct for very large-amplitude pitch perturbations--greater than 150 degrees--providing a regime in which to probe the limits of the linear-response framework. Together with previous studies regarding yaw and roll control, our results on pitch show that flies' stabilization of each of these body angles is consistent with PI control.
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