有姿态的蜜蜂：阵风对flight dynamics的影响
Bees with attitude: the effect of gusts on flight dynamics
摘要：
在小尺度上飞行是一项复杂的任务，部分原因是空气中无处不在的不稳定空气。飞行生物使用主动和被动控制机制来控制它们的身体运动。扑翼生物体的姿态与其合成的飞行轨迹和性能有关，但很少有人了解离散的非定常空气动力学现象如何影响这种系统的交织动力学。在这项研究中，我们研究了自由飞行的大黄蜂受到一个单一的离散阵风模拟空气动力学干扰的性质。大黄蜂是空中领域的专家指挥官，因为它们持续在复杂的地形元素中觅食。诸如花朵之类的物理障碍物会产生代表典型阵风的局部效应，从而威胁到复杂机动的精确控制。通过跟踪蜜蜂在阵风中飞行的3D动态，我们确定了在三种干扰条件下允许飞行的运动序列。蜜蜂重复执行一系列被动的冲动演习，然后主动恢复演习。在每个阵风方向上，脉冲运动都是独特的，纯粹通过被动操纵身体来保持控制。蜜蜂在每次扰动中恢复的开始阶段都会上下起伏，然后采取纠正措施，使它们的态度恢复到原来的状态。蜜蜂在侧向阵风的作用下位移最大，表现出较大的侧向平移和滚转偏差。向上的阵风更容易让蜜蜂飞过，只会造成轻微的飞行变化和最短的恢复时间。向下的阵风严重损害了蜜蜂的控制反应，造成强烈的不利力量，急剧打乱轨迹。蜜蜂在每次干扰中飞行时都使用了有趣的控制策略，为昆虫规模的扑翼飞行和生物启发的机器人系统提供了新的见解。
英文摘要：
Flight is a complicated task at small scales in part due to the ubiquitous unsteady air which contains it. Flying organisms deal with these difficulties using active and passive control mechanisms to steer their body motion. Body attitudes of flapping organisms are linked with their resultant flight trajectories and performance, yet little is understood about how discrete unsteady aerodynamic phenomena affect the interlaced dynamics of such systems. In this study, we examined freely flying bumblebees subject to a single discrete gust to emulate aerodynamic disturbances encountered in nature. Bumblebees are expert commanders of the aerial domain as they persistently forage within complex terrain elements. Physical obstacles such as flowers produce local effects representative of a typified gust which threatens the precise control of intricate maneuvers. By tracking the 3D dynamics of bees flying through gusts, we determined the sequences of motion that permit flight in three disturbance conditions. Bees repetitively executed a series of passive impulsive maneuvers followed by active recovery maneuvers. Impulsive motion was unique in each gust direction, maintaining control purely by passive manipulation of the body. Bees pitched up and slowed-down at the beginning of recovery in every disturbance, followed by corrective maneuvers which brought attitudes back to their original state. Bees were displaced the most by the sideward gust, displaying large lateral translations and roll deviations. Upward gusts were easier for bees to fly through, causing only minor flight changes and minimal recovery times. Downward gusts severely impaired the control response of bees, inflicting strong adverse forces which sharply upset trajectories. Bees used interesting control strategies when flying in each disturbance, offering new insights into insect-scale flapping flight and bio-inspired robotic systems.
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