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The influence of sensory delay on the yaw dynamics of a flapping insect
- Publication Year :
- 2012
- Publisher :
- The Royal Society, 2012.
-
Abstract
- In closed-loop systems, sensor feedback delays may have disastrous implications for performance and stability. Flies have evolved multiple specializations to reduce this latency, but the fastest feedback during flight involves a delay that is still significant on the timescale of body dynamics. We explored the effect of sensor delay on flight stability and performance for yaw turns using a dynamically scaled robotic model of the fruitfly,Drosophila. The robot was equipped with a real-time feedback system that performed active turns in response to measured torque about the functional yaw axis. We performed system response experiments for a proportional controller in yaw velocity for a range of feedback delays, similar in dimensionless timescale to those experienced by a fly. The results show a fundamental trade-off between sensor delay and permissible feedback gain, and suggest that fast mechanosensory feedback in flies, and most probably in other insects, provide a source of active damping which compliments that contributed by passive effects. Presented in the context of these findings, a control architecture whereby a haltere-mediated inner-loop proportional controller provides damping for slower visually mediated feedback is consistent with tethered-flight measurements, free-flight observations and engineering design principles.
- Subjects :
- Computer science
Biomedical Engineering
Biophysics
Proportional control
Bioengineering
Context (language use)
Biochemistry
Insect flight
Models, Biological
Biomaterials
Control theory
Torque
Animals
Simulation
Research Articles
business.industry
Yaw
Aircraft principal axes
Robotics
Flight, Animal
Flapping
Drosophila
Artificial intelligence
business
Biotechnology
Subjects
Details
- Language :
- English
- Database :
- OpenAIRE
- Accession number :
- edsair.doi.dedup.....61bbafda7abd8875ee6fad3affd9dd15