COLIBRI: A hovering flapping twin-wing robot

This paper describes the results of a six-year project aiming at designing and constructing a flapping twin-wing robot of the size of hummingbird (Colibri in French) capable of hovering. Our prototype has a total mass of 22 g, a wing span of 21 cm and a flapping frequency of 22 Hz; it is actively stabilized in pitch and roll by changing the wing camber with a mechanism known as wing twist modulation. The proposed design of wing twist modulation effectively alters the mean lift vector with respect to the center of gravity by reorganization of the airflow. This mechanism is modulated by an onboard control board which calculates the corrective feedback control signals through a closed-loop PD controller in order to stabilize the robot. Currently, there is no control on the yaw axis which is passively stable, and the vertical position is controlled manually by tuning the flapping frequency. The paper describes the recent evolution of the various sub-systems: the wings, the flapping mechanism, the generation of control torques, the avionics and the PD control. The robot has demonstrated successful hovering flights with an on-board battery for the flight autonomy of 15–20 s.Control & Simulatio

Passive stability enhancement with sails of a hovering flapping twin-wing robot

Hovering flapping wing flight is intrinsically unstable in most cases and requires active flight stabilization mechanisms. This paper explores the passive stability enhancement with the addition of top and bottom sails, and the capability to predict the stability from a very simple model decoupling the roll and pitch axes. The various parameters involved in the dynamical model are evaluated from experiments. One of the findings is that the damping coefficient of a bottom sail (located in the flow induced by the flapping wings) is significantly larger than that of a top sail. Flight experiments have been conducted on a flapping wing robot of the size of a hummingbird with sails of various sizes and the observations regarding the flight stability correlate quite well with the predictions of the dynamical model. Twelve out of 13 flight experiments are in agreement with stability predictions.Control & Simulatio

Imaging and Analysis of the Content of Callose, Pectin, and Cellulose in the Cell Wall of Arabidopsis Pollen Tubes Grown In Vitro

To achieve fertilization, pollen tubes have to protect and properly deliver sperm cells through the pistil to the ovules. Pollen tube growth is a representative example of polarized growth where new components of the cell wall and plasma membrane are continuously deposited at the tip of the growing cell. The integrity of the cell wall is of fundamental importance to maintain apical growth. For this reason, pollen tube growth has become an excellent model to study the role of polysaccharides and structural cell wall proteins involved in polar cell expansion. However, quantification of structural polysaccharides at the pollen tube cell wall has been challenging due to technical complexity and the difficulty of finding specific dyes. Here, we propose simple methods for imaging and quantification of callose, pectin, and cellulose using specific dyes such as Aniline Blue, Propidium Iodide, and Pontamine Fast Scarlet 4B.Fil: Sede, Ana Rocío. Consejo Nacional de Investigaciones Científicas y Técnicas. Instituto de Investigaciones en Ingeniería Genética y Biología Molecular "Dr. Héctor N. Torres"; ArgentinaFil: Wengier, Diego Leonardo. Consejo Nacional de Investigaciones Científicas y Técnicas. Instituto de Investigaciones en Ingeniería Genética y Biología Molecular "Dr. Héctor N. Torres"; ArgentinaFil: Borassi, Cecilia. Consejo Nacional de Investigaciones Científicas y Técnicas. Oficina de Coordinación Administrativa Parque Centenario. Instituto de Investigaciones Bioquímicas de Buenos Aires. Fundación Instituto Leloir. Instituto de Investigaciones Bioquímicas de Buenos Aires; ArgentinaFil: Estevez, Jose Manuel. Instituto del Milenio para la Biología Integrativa; Chile. Consejo Nacional de Investigaciones Científicas y Técnicas. Oficina de Coordinación Administrativa Parque Centenario. Instituto de Investigaciones Bioquímicas de Buenos Aires. Fundación Instituto Leloir. Instituto de Investigaciones Bioquímicas de Buenos Aires; Argentina. Universidad Andrés Bello; ChileFil: Muschietti, Jorge Prometeo. Consejo Nacional de Investigaciones Científicas y Técnicas. Instituto de Investigaciones en Ingeniería Genética y Biología Molecular "Dr. Héctor N. Torres"; Argentina. Consejo Nacional de Investigaciones Científicas y Técnicas. Oficina de Coordinación Administrativa Ciudad Universitaria. Instituto de Biodiversidad y Biología Experimental y Aplicada. Universidad de Buenos Aires. Facultad de Ciencias Exactas y Naturales. Instituto de Biodiversidad y Biología Experimental y Aplicada; Argentin

Hidden Costs of Modelling Post-fire Plant Community Assembly Using Cellular Automata

Cellular Automata (CA) models have been applied to different fields of knowledge, from cryptography, arts, to the modelling and simulation of complex systems. In the latter area, however, sometimes the ability to properly represent complex interacting but distinct dynamics taking place within a given area is limited by the need of calibrating models in which the number of necessary parameters grows. Hidden costs related to the identification of specific values or plausible ranges for parameters can become overwhelming. Here we model the assembly process of plant communities after fire. The number of elements of plant communities (plants of different species) and processes involved (seed dispersal, plant recruitment, competence, etc.) require a high degree of parameterization because all those processes have great relevance on the evolution of the system, for instance during post-fire recovery. The fire, aside negative effects, releases a number of resources (space, nutrients, ...) making them easily available for plants, which promptly use those resources so they are no longer available to other plants after a period of time which usually ranges from months to years. In the meantime, the plasticity of species in relation to fire and environment and the interactions among species determine the direction of changes to occur. In this work we present a novel approach to the assembly of plant communities after fire using CA. In particular we gather the preliminary results of their application and give a feasible way to optimize the parameterization of the model