We study the dynamics of hovering mechanisms inspired by hummingbirds and bats to extract practical guidelines for the design and control of aerial robots. Using a dynamical model that incorporates wing flapping, pronation and folding, we determine the parameters for which hovering is possible. We show that the pronation angle (rotational degree of freedom for the wing about its span) significantly effects energy consumption of the system and demonstrate an optimal wing-beat frequency that minimizes the average power consumption. Furthermore, we show that increased body rotational inertia can significantly increase the energy consumption of hovering and can lead to implausible hovering trajectories. Last, we show that a bat-inspired hovering mechanism that allows for wing folding can generate plausible hovering behavior for larger aerial systems.

We present four studies investigating tools and methodologies for artist-scientist-technologist collaboration in designing multivariate, virtual reality (VR) visualizations. Design study 1 identifies the promise of 3D drawing-style interfaces for VR design and also establishes limitations of these tools with respect to precision and support for animation. Design study 2 explores animating artist-created visualization designs with scientific 3D fluid flow data. While results captured an accurate sense of flow that was advantageous as compared to the results of study 1, the potential for visual exploration using the design tools tested was limited. Design study 3 reveals the importance of a new 3D interface that overcomes the precision limitation found in study 1 while remaining accessible to artist collaborators. Drawing upon previous results, design study 4 engages collaborative teams in a design process that begins with traditional paper sketching and moves to animated, interactive, VR prototypes "sketched" by designers in VR using interactive 3D tools. Conclusions from these four studies identify important characteristics of effective artist-accessible VR visualization design tools and lead to a proposed formalized methodology for successful collaborative design that we expect to be useful in guiding future collaborations. We call this proposed methodology Scientific Sketching.

Introduction: We present visualizations that emphasize vortices in simulated airflow around a motion-captured bat model. These visualizations aim to help biologists gain understanding on the mechanics of bat flight. As suggested by our fluid dynamics collaborators, studying the formation and shedding of vortices in the flight of bats will help scientists understand the efficient mechanisms bats employ in generating lift. By understanding bat flight, we hope to make discoveries in areas such as biomechanics, aerodynamics, and evolutionary biology. This work is the time varying extension of R. Weinstein’s simulation and visualization of a still bat [7].