Modelling of soldier fly halteres for gyroscopic oscillations

Parween, Rizuwana; Pratap, Rudra

doi:10.1242/bio.20149688

Cited by 7 publications

(9 citation statements)

References 25 publications

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“…The model was verified against the results reported by [26], and validated against the experimental results reported in [27], obtaining in all cases a deviation lower than 15% between reported and simulated data. In Fig.…”

Section: Validationsupporting

confidence: 52%

Bioinspired Ciliary Force Sensor for Robotic Platforms

Ribeiro

Khan

Alfadhel

et al. 2017

IEEE Robot. Autom. Lett.

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The detection of small forces is of great interest in any robotic application that involves interaction with the environment (e.g. objects manipulation, physical human-robot interaction, minimally invasive surgery), since it allows the robot to detect the contacts early on and to act accordingly. In this work, we present a sensor design inspired by the ciliary structure frequently found in nature, consisting of an array of permanently magnetized cylinders (cilia) patterned over a giant magnetoresistance sensor (GMR). When these cylinders are deformed in shape due to applied forces, the stray magnetic field variation will change the GMR sensor resistivity, thus enabling the electrical measurement of the applied force. In this paper we present two 3×3 mm 2 prototypes composed of an array of 5 cilia with 1 mm of height and 120 µm and 200 µm of diameter for each prototype. A minimum force of 333 µN was measured. A simulation model for determining the magnetized cylinders average stray magnetic field is also presented.

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Section: Validationsupporting

confidence: 52%

Bioinspired Ciliary Force Sensor for Robotic Platforms

Ribeiro

Khan

Alfadhel

et al. 2017

IEEE Robot. Autom. Lett.

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“…Closed-loop roll control during the righting process ( Meresman et al, 2014;Yanoviak et al, 2010) combined with inertial measurements provided by the halteres (Dickinson et al, 1999;Fraenkel and Pringle, 1938). During flight, the halteres are known to oscillate up and down in antiphase with the wings (see Nalbach, 1993) and are therefore highly receptive to the state of wing activation (see Dickerson et al, 2019;Parween and Pratap, 2015;Deora et al, 2015Deora et al, , 2017Pratt et al, 2017). However, because of the extremely short duration of the righting reflex (∼49 ms) and the relatively long processing time required by the motion-processing neurons (about ∼50 ms in the fruit fly; see Warzecha and Egelhaaf, 2000;Frye, 2009), the righting reflex can be assumed to depend only on the angular body speed measurements provided by the halteres.…”

Section: Body Roll Model and Righting Responsementioning

confidence: 99%

“…However, a conspicuous behavioural difference was also observed not only in roll but also in pitch manoeuvres. By adding a mass at the tip of each haltere, we increased the mass moment of inertia and thus decreased the haltere's natural frequency in both the actuation and sensing directions (see Parween and Pratap, 2015). This also increased the sensitivity (gain) of the halteres to the Coriolis force (see Wu et al, 2002;Northrop, 2000).…”

Section: Haltere-based Feedback and Feedforward Control Systemsmentioning

confidence: 99%

How do hoverflies use their righting reflex?

Verbe

Varennes

Vercher

et al. 2020

Journal of Experimental Biology

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When taking off from a sloping surface, flies have to reorient themselves dorsoventrally and stabilize their body by actively controlling their flapping wings. We have observed that the righting is achieved solely by performing a rolling manoeuvre. How flies manage to do this has not yet been elucidated. It was observed here for the first time that hoverflies’ reorientation is entirely achieved within 6 wingbeats (48.8ms) at angular roll velocities of up to 10×103 °/s and that the onset of their head rotation consistently follows that of their body rotation after a time-lag of 16ms. The insects’ body roll was found to be triggered by the asymmetric wing stroke amplitude, as expected. The righting process starts immediately with the first wingbeat and seems unlikely to depend on visual feedback. A dynamic model for the fly's righting reflex is presented, which accounts for the head/body movements and the time-lag recorded in these experiments. This model consists of a closed-loop control of the body roll, combined with a feedforward control of the head/body angle. During the righting manoeuvre, a strong coupling seems to exist between the activation of the halteres (which measure the body's angular speed) and the gaze stabilization reflex. These findings again confirm the fundamental role played by the halteres in both body and head stabilisation processes.

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“…Let the length ( L ) of the stalk, radius ( a ) of the stalk, and radius ( d ) of the end knob be 1000 μ m, 11 μ m, and 220 μ m, respectively. From the literature, the density of the haltere material is taken as 1200 kg/m 3 [ 22 ] and Young's modulus of the haltere as 625 MPa [ 14 , 23 ]. By using these data, the elastic strain at four points A, C, B, and D on cross-section during the upstroke and downstroke was estimated.…”

Section: Significance Of Sensillum Locationmentioning

confidence: 99%

“…The haltere has a larger amplitude of motion as compared to the MEMS vibratory gyroscopes. In our previous work, Parween and Pratap presented the stiffness of the haltere along both the actuation and sensing directions [ 14 ]. The natural frequency along the sensing direction was found to be higher than the natural frequency along the actuation direction.…”

Section: Introductionmentioning

confidence: 99%

Significance of the Asymmetry of the Haltere: A Microscale Vibratory Gyroscope

Parween

2020

Applied Bionics and Biomechanics

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Nature has evolved a beautiful design for small-scale vibratory gyroscopes in the form of halteres located in the metathorax region of the dipteran flies that detect body rotations based on the Coriolis principle. The specific design of the haltere is in contrast to the existing MEMS vibratory gyroscope, where the elastic beams supporting the proof mass are typically designed with symmetric cross-sections so that there is a mode matching between the actuation and sensing vibrations. The mode matching provides high sensitivity and low bandwidth. Hence, the objective of the manuscript is to understand the mechanical significance of the haltere’s asymmetry. In this study, the distributed Coriolis force and the corresponding bending stress by incorporating the actual mass variations along the haltere length are estimated. In addition, it is hypothesied that sensilla sense the rate of rotation based on the differential strain (difference between the final strain (strain due to the inertial and Coriolis forces) and the reference strain (strain due to inertial force)). This differential strain always occurs either on the dorsal or ventral surface of the haltere and at a distance away from the base, where the campaniform sensilla are located. This study brings out one specific feature—the asymmetric geometry of the haltere structure—that is not found in current vibratory gyroscope designs. This finding will inspire new designs of MEMS gyroscopes that have elegance and simplicity of the haltere along with the desired performance.

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Modelling of soldier fly halteres for gyroscopic oscillations

Cited by 7 publications

References 25 publications

Bioinspired Ciliary Force Sensor for Robotic Platforms

Bioinspired Ciliary Force Sensor for Robotic Platforms

How do hoverflies use their righting reflex?

Significance of the Asymmetry of the Haltere: A Microscale Vibratory Gyroscope

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