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The fluid dynamics of flight control by kinematic phase lag variation between two robotic insect wings

SUMMARY Insects flying with two pairs of wings must contend with the forewing wake passing over the beating hindwing. Some four-winged insects, such as dragonflies, move each wing independently and therefore may alter the relative timing between the fore- and hindwing stroke cycles. The significance of modifying the phase relationship between fore- and hindwing stroke kinematics on total lift production is difficult to assess in the flying animal because the effect of wing-wake interference critically depends on the complex wake pattern produced by the two beating wings. Here we investigate the effect of changing the fore- and hindwing stroke-phase relationship during hovering flight conditions on the aerodynamic performance of each flapping wing by using a dynamically scaled electromechanical insect model. By varying the relative phase difference between fore- and hindwing stroke cycles we found that the performance of the forewing remains approximately constant, while hindwing lift production may vary by a factor of two. Hindwing lift modulation appears to be due to two different fluid dynamic phenomenons: leading edge vortex destruction and changes in strength and orientation of the local flow vector. Unexpectedly, the hindwing regains aerodynamic performance near to that of the wing free from forewing wake interference, when the motion of the hindwing leads the forewing by around a quarter of the stroke cycle. This kinematic relationship between hind- and forewing closely matches the phase-shift commonly used by locusts and some dragonflies in climbing and forward flight. The experiments support previous assumptions that active neuromuscular control of fore- and hindwing stroke phase might enable dragonflies and other functionally four-winged insects to manipulate ipsilateral flight force production without further changes in wing beat kinematics.