Adaptive and Online Health Monitoring System for Autonomous Aircraft

Good situation awareness is one of the key attributes required to maintain safe flight, especially for an Unmanned Aerial System (UAS). Good situation awareness can be achieved by incorporating an Adaptive Health Monitoring System (AHMS) to the aircraft. The AHMS monitors the flight outcome or flight behaviours of the aircraft based on its external environmental conditions and the behaviour of its internal systems. The AHMS does this by associating a health value to the aircraft's behaviour based on the progression of its sensory values produced by the aircraft's modules, components and/or subsystems. The AHMS indicates erroneous flight behaviour when a deviation to this health information is produced. This will be useful for a UAS because the pilot is taken out of the control loop and is unaware of how the environment and/or faults are affecting the behaviour of the aircraft. The autonomous pilot can use this health information to help produce safer and securer flight behaviour or fault tolerance to the aircraft. This allows the aircraft to fly safely in whatever the environmental conditions. This health information can also be used to help increase the endurance of the aircraft. This paper describes how the AHMS performs its capabilities

Scaling and Intermittency in Animal Behavior

Scale-invariant spatial or temporal patterns and L\'evy flight motion have been observed in a large variety of biological systems. It has been argued that animals in general might perform L\'evy flight motion with power law distribution of times between two changes of the direction of motion. Here we study the temporal behaviour of nesting gilts. The time spent by a gilt in a given form of activity has power law probability distribution without finite average. Further analysis reveals intermittent eruption of certain periodic behavioural sequences which are responsible for the scaling behaviour and indicates the existence of a critical state. We show that this behaviour is in close analogy with temporal sequences of velocity found in turbulent flows, where random and regular sequences alternate and form an intermittent sequence.Comment: 10 page

So near and yet so far: Harmonic radar reveals reduced homing ability of nosema infected honeybees

Pathogens may gain a fitness advantage through manipulation of the behaviour of their hosts. Likewise, host behavioural changes can be a defence mechanism, counteracting the impact of pathogens on host fitness. We apply harmonic radar technology to characterize the impact of an emerging pathogen - Nosema ceranae (Microsporidia) - on honeybee (Apis mellifera) flight and orientation performance in the field. Honeybees are the most important commercial pollinators. Emerging diseases have been proposed to play a prominent role in colony decline, partly through sub-lethal behavioural manipulation of their hosts. We found that homing success was significantly reduced in diseased (65.8%) versus healthy foragers (92.5%). Although lost bees had significantly reduced continuous flight times and prolonged resting times, other flight characteristics and navigational abilities showed no significant difference between infected and non-infected bees. Our results suggest that infected bees express normal flight characteristics but are constrained in their homing ability, potentially compromising the colony by reducing its resource inputs, but also counteracting the intra-colony spread of infection. We provide the first high-resolution analysis of sub-lethal effects of an emerging disease on insect flight behaviour. The potential causes and the implications for both host and parasite are discussed

Reduced order system identification for UAVs

Reduced order models representing the dynamic behaviour of symmetric aircraft are well known and can be easily derived from the standard equations of motion. In flight testing, accurate measurements of the dependent variables which describe the linearised reduced order models for a particular flight condition are vital for successful system identification. However, not all the desired measurements such as the rate of change in vertical velocity (W. ) can be accurately measured in practice. In order to determine such variables two possible solutions exist: reconstruction or differentiation. This paper addresses the effect of both methods on the reliability of the parameter estimates. The methods are used in the estimation of the aerodynamic derivatives for the Aerosonde UAV from a recreated flight test scenario in Simulink. Subsequently, the methods are then applied and compared using real data obtained from flight tests of the Cranfield University Jetstream 31 (G-NFLA) research aircraft

Surface Tension dominates Insect Flight on Fluid Interfaces

Flight on the two-dimensional air-water interface, with body weight supported by surface tension, is a unique locomotion strategy well adapted for the environmental niche on the surface of water. Although previously described in phylogenetically basal aquatic insects like stone flies, the biomechanics of interfacial flight has never been analyzed. Here, we report interfacial flight as an adapted behaviour in water-lily beetles (Galerucella nymphaeae, Linnaeus 1758) which are also dexterous airborne fliers. We present the first quantitative biomechanical model of interfacial flight in insects, uncovering an intricate interplay of capillary, aerodynamic and neuromuscular forces. We show that water-lily beetles use their tarsal claws to attach themselves to the interface, via a fluid contact line pinned at the claw. We investigate the kinematics of interfacial flight trajectories using high-speed imaging and construct a mathematical model describing the flight dynamics. Our results show that nonlinear surface tension forces make interfacial flight energetically expensive compared to airborne flight at the relatively high speeds characteristic of water-lily beetles, and cause chaotic dynamics to arise naturally in these regimes. We identify the crucial roles of capillary-gravity wave drag and oscillatory surface tension forces which dominate interfacial flight, showing that the air-water interface presents a radically modified force landscape for flapping wing flight compared to air.Comment: 7 figures, 4 supplementary figures, 12 videos (link given in Supplementary Information

Intermittent Gliding in the Hunting Flight of the Kestrel, Falco tinnunculus L.

The hunting flight of the kestrel (Falco tinnunculus) consists of short bouts of flight at wind speed against the wind with the eyes in a fixed position relative to the ground, and of short flights from one such position to the next. High speed films taken with a camera in a fixed position of a hunting kestrel of known weight and dimensions, allow estimates to be made of the amount of energy required for this behaviour. A theoretical model shows how a bird could economise by alternating flapping flight with short gliding bouts, without changing the position of the eyes above the ground, by mere displacement of the centre of gravity relative to the head. High speed film data confirm predictions from this model.

Ontogeny of aerial righting and wing flapping in juvenile birds

Mechanisms of aerial righting in juvenile Chukar Partridge (Alectoris chukar) were studied from hatching through 14 days post hatching (dph). Asymmetric movements of the wings were used from 1 to 8 dph to effect progressively more successful righting behaviour via body roll. Following 8 dph, wing motions transitioned to bilaterally symmetric flapping that yielded aerial righting via nose down pitch, along with substantial increases in vertical force production during descent. Ontogenetically, the use of such wing motions to effect aerial righting precedes both symmetric flapping and a previously documented behaviour in chukar (i.e., wing assisted incline running) hypothesized to be relevant to incipient flight evolution in birds. These findings highlight the importance of asymmetric wing activation and controlled aerial manoeuvres during bird development, and are potentially relevant to understanding the origins of avian flight

Individual strategies of aggressive and non-aggressive male mice in encounters with trained aggressive residents

To determine whether individual differences in offensive behaviour are related to differences in defensive behaviour, the responses of male wild house mice, Mus domesticus, of an aggressive and a non-aggressive line to defeat by physically stronger residents were analysed. Individuals of the aggressive line engaged in more flight behaviour, whereas the males of the non-aggressive line predominantly showed immobility. The higher flight tendency of the aggressive intruders provoked more attacks by the resident, resulting in more fighting between the resident and an aggressive male than between the resident and a non-aggressive intruder. However, if offered an opportunity to escape from the home-cage of the resident, aggressive males more readily made use of it than non-aggressive intruders. Differences between aggressive and non-aggressive male mice are interpreted in terms of fundamentally different behavioural strategies adopted in response to social interaction. The response of aggressive males can be characterized as an active behavioural strategy by which they tend to determine actively their social situation. In contrast, the prevailing lack of overt attempts to manipulate the situation by the non-aggressive mice points to passive confrontation, in an offensive as well as in a defensive context.

Water bathing alters the speed-accuracy trade-off of escape flights in European starlings

Birds of most species regularly bathe in water, but the function of this behaviour is unknown. We tested the hypothesis that water bathing is important in feather maintenance, and hence should enhance flight performance. We manipulated European starlings', Sturnus vulgaris, access to bathing water in a 2 × 2 design: birds were housed in aviaries either with or without water baths for a minimum of 3 days (long-term access) before being caught and placed in individual cages either with or without water baths for a further 24 h (short-term access). We subsequently assessed the speed and accuracy of escape flights through an obstacle course of vertical strings. Birds that had bathed in the short-term flew more slowly and hit fewer strings than birds that were deprived of bathing water in the short term, whereas long-term access to bathing water had no significant effect on flight performance. Thus recent access to bathing water alters flight performance by altering the trade-off between escape flight speed and accuracy. We hypothesize that lack of bathing water provision could increase anxiety in captive starlings because of an increase in their perceived vulnerability to predation. This study therefore potentially provides an important functional link between the expression of natural behaviours in captivity and welfare considerations. © 2009 The Association for the Study of Animal Behaviour

Characterizing Human Mobility Patterns in a Large Street Network

Previous studies demonstrated empirically that human mobility exhibits Levy flight behaviour. However, our knowledge of the mechanisms governing this Levy flight behaviour remains limited. Here we analyze over 72 000 people's moving trajectories, obtained from 50 taxicabs during a six-month period in a large street network, and illustrate that the human mobility pattern, or the Levy flight behaviour, is mainly attributed to the underlying street network. In other words, the goal-directed nature of human movement has little effect on the overall traffic distribution. We further simulate the mobility of a large number of random walkers, and find that (1) the simulated random walkers can reproduce the same human mobility pattern, and (2) the simulated mobility rate of the random walkers correlates pretty well (an R square up to 0.87) with the observed human mobility rate.Comment: 13 figures, 17 page