A computational fluid dynamic (CFD) modelling approach is used to study the unsteady aerodynamics of the flapping wing of a hovering hawkmoth. We use the geometry of a Manduca sexta-based robotic wing to define the shape of a three-dimensional ‘virtual’ wing model and ‘hover’ this wing, mimicking accurately the three-dimensional movements of the wing of a hovering hawkmoth. Our CFD analysis has established an overall understanding of the viscous and unsteady flow around the flapping wing and of the time course of instantaneous force production, which reveals that hovering flight is dominated by the unsteady aerodynamics of both the instantaneous dynamics and also the past history of the wing. A coherent leading-edge vortex with axial flow was detected during translational motions of both the up- and downstrokes. The attached leading-edge vortex causes a negative pressure region and, hence, is responsible for enhancing lift production. The axial flow, which is derived from the spanwise pressure gradient, stabilises the vortex and gives it a characteristic spiral conical shape. The leading-edge vortex created during previous translational motion remains attached during the rotational motions of pronation and supination. This vortex, however, is substantially deformed due to coupling between the translational and rotational motions, develops into a complex structure, and is eventually shed before the subsequent translational motion. Estimation of the forces during one complete flapping cycle shows that lift is produced mainly during the downstroke and the latter half of the upstroke, with little force generated during pronation and supination. The stroke plane angle that satisfies the horizontal force balance of hovering is 23.6°, which shows excellent agreement with observed angles of approximately 20–25°. The time-averaged vertical force is 40% greater than that needed to support the weight of the hawkmoth.

The aerodynamic mechanisms employed durng the flight of the hawkmoth, Manduca sexta , have been investigated through smoke visualization studies with tethered moths. Details of the flow around the wings and of the overall wake structure were recorded as stereophotographs and high–speed video sequences. The changes in flow which accompanied increases in flight speed from 0.4 to 5.7 m s ⁻¹ were analysed. The wake consists of an alternating series of horizontal and vertical vortex rings which are generated by successive down– and upstrokes, respectively. The downstroke produces significantly more lift than the upstroke due to a leading–edge vortex which is stabilized by a radia flow moving out towards the wingtip. The leading–edge vortex grew in size with increasing forward flight velocity. Such a phenomenon is proposed as a likely mechanism for lift enhancement in many insect groups. During supination, vorticity is shed from the leading edge as postulated in the ‘flex’ mechanism. This vorticity would enhance upstroke lift if it was recaptured diring subsequent translation, but it is not. Instead, the vorticity is left behind and the upstroke circulation builds up slowly. A small jet provides additional thrust as the trailing edges approach at the end of the upstroke. The stereophotographs also suggest that the bound circulation may not be reversed between half strokes at the fastest flight speeds.

Preferential attention to living creatures is believed to be an intrinsic capacity of the visual system of several species, with perception of biological motion often studied and, in humans, it correlates with social cognitive performance. Although domestic dogs are exceptionally attentive to human social cues, it is unknown whether their sociability is associated with sensitivity to conspecific and heterospecific biological motion cues of different social relevance. We recorded video clips of point-light displays depicting a human or dog walking in either frontal or lateral view. In a preferential looking paradigm, dogs spontaneously viewed 16 paired point-light displays showing combinations of normal/inverted (control condition), human/dog and frontal/lateral views. Overall, dogs looked significantly longer at frontal human point-light display versus the inverted control, probably due to its clearer social/biological relevance. Dogs’ sociability, assessed through owner-completed questionnaires, further revealed that low-sociability dogs preferred the lateral point-light display view, whereas high-sociability dogs preferred the frontal view. Clearly, dogs can recognize biological motion, but their preference is influenced by their sociability and the stimulus salience, implying biological motion perception may reflect aspects of dogs’ social cognition.

The objective of this study was to develop and evaluate a methodology for quantifying the contributions of modelling error terms, as well as individual joint torque, gravitational force and motion-dependent terms, to the generation of ground reaction force (GRF), whose true value can be measured with high accuracy using a force platform. Dynamic contributions to the GRF were derived from the combination of (1) the equations of motion for the individual segments, (2) the equations for constraint conditions arising from the connection of adjacent segments at joints, and (3) the equations for anatomical constraint axes at certain joints. The contribution of the error term was divided into four components caused by fluctuation of segment lengths, geometric variation in the constraint joint axes, and residual joint force and moment errors. The proposed methodology was applied to the running motion of thirteen rear-foot strikers at a constant speed of 3.3 m/s. Modelling errors arose primarily from fluctuations in support leg segment lengths and rapid movement of the virtual joint between the foot and ground during the first 20% of stance phase. The magnitudes of these error contributions to the vertical and anterior/posterior components of the GRF are presented alongside the non-error contributions, of which the joint torque term was the largest.