Hybrid adaptive control of a dragonfly model

Dragonflies show unique and superior flight performances than most of other insect species and birds. They are equipped with two pairs of independently controlled wings granting an unmatchable flying performance and robustness. In this paper, it is presented an adaptive scheme controlling a nonlinear model inspired in a dragonfly-like robot. It is proposed a hybrid adaptive (HA) law for adjusting the parameters analyzing the tracking error. At the current stage of the project it is considered essential the development of computational simulation models based in the dynamics to test whether strategies or algorithms of control, parts of the system (such as different wing configurations, tail) as well as the complete system. The performance analysis proves the superiority of the HA law over the direct adaptive (DA) method in terms of faster and improved tracking and parameter convergence.

Modeling and control of a dragonfly-like robot

Dragonflies demonstrate unique and superior flight performances than most of the other insect species and birds. They are equipped with two pairs of independently controlled wings granting an unmatchable flying performance and robustness. In this paper, the dynamics of a dragonfly-inspired robot is studied. The system performance is analyzed in terms of time response and robustness. The development of computational simulation based on the dynamics of the robotic dragonfly allows the test of different control algorithms. We study different movements, the dynamics, and the level of dexterity in wing motion of the dragonfly. The results are positive for the construction of flying platforms that effectively mimic the kinematics and dynamics of dragonflies and potentially exhibit superior flight performance than existing flying platforms.

Modeling and Control of a Dragonfly-Like Robot

Dragonflies demonstrate unique and superior flight performances than most of the other insect species and birds. They are equipped with two pairs of independently controlled wings granting an unmatchable flying performance and robustness. In this paper it is studied the dynamics of a dragonfly-inspired robot. The system performance is analyzed in terms of time response and robustness. The development of computational simulation based on the dynamics of the robotic dragonfly allows the test of different control algorithms. We study different movement, the dynamics and the level of dexterity in wing motion of the dragonfly. The results are positive for the construction of flying platforms that effectively mimic the kinematics and dynamics of dragonflies and potentially exhibit superior flight performance than existing flying platforms.

Are you a dragonfly?

Ofrece información a los niños más pequeños a través del ciclo de vida de una libélula. Cuando el lector mira la vida desde la perspectiva de una libélula le permite ampliar su comprensión por estos animales. El texto informativo que sigue a partir de la pregunta de si es una libélula lleva a los niños a imaginarse cómo nacer, qué comer, cómo crecer, y emprender actividades a través de su metamorfosis en insecto. Al final hay un par de páginas de datos adicionales acerca de sus encarnaciones de fantasía para llegar a la conclusión de que un niño no puede volar. respirar bajo el agua,pero puede hacer muchas cosas, que una libélula no puede. Además, no tiene que mudar la piel,ni comer moscasy mosquitos. Para niños hasta ocho años.

A revision of the Upper Jurassic-Lower Cretaceous dragonfly family Tarsophlebiidae, with a discussion on the phylogenetic positions of the Tarsophlebiidae and Sieblosiidae (Insecta, Odonatoptera, Panodonata)

The Upper Jurassic-Lower Cretaceous dragonfly family Tarsophlebiidae is revised. The type species of the type genus Tarsophlebia Hagen, 1866, T eximia (Hagen, 1862) from the Upper Jurassic Solnhofen Limestones, is redescribed, including important new information on its head, legs, wings, anal appendages and male secondary genital apparatus. The type specimen of Tarsophlebiopsis mayi Tillyard, 1923 is regarded as an aberrant or unusually preserved Tarsophlebia eximia. One new species of Tarsophlebia and three new species of Turanophlebia are described, i.e. Tarsophlebia minor n. sp., Turanophlebia anglicana n. sp., T mongolica n. sp., and T. vitimensis n. sp. A new combination is proposed for Turanophlebia neckini (Martynov, 1927) n. comb. The phylogenetic relationships of the Mesozoic Tarsophlebiidae are discussed on the basis of new body and wing venation characters. The present analysis supports a rather derived position for the Tarsophlebiidae, as sister group of the the Epiproctophora rather than of (Zygoptera + Epiproctophora). Also, through the present discussion, the Oligo-Miocene family Sieblosiidae seems to be more closely related to the Epiproctophora than to the Zygoptera. But the present study and previous analyses suffer of the lack of informations concerning the more inclusive groups of Odonatoptera, viz. Protozygoptera, Triadophlebiomorpha, Protanisoptera, etc. The significance of the tarsophlebiid secondary male genital apparatus for the reconstruction of the evolution of odonate copulation is discussed.

A new species of Lauromacromia (Odonata: Corduliidae) from Southeastern Brazil, with a cladistic analysis of the genus and comments on Neotropical dragonfly biogeography

Lauromacromia melanica sp. nov. from Conceicao da Barra municipality, Espirito Santo State, Brazil, is described and illustrated based on two males (both in MNRJ n degrees 135). The new species is similar to L. picinguaba differing from it mainly by the absence of pale spots on S3-6 and by the ellipsoid shape of metepisternal pale stripe. A key for males of all species of the genus is provided. A cladistic analysis encompassing 43 external morphological male characters carried out in two distinct procedures, the first with all characters unordered and the second with two or three state characters ordered. The unordered analysis generated only one most-parsimonious tree (66 steps of length, CI = 0.69, RI = 0.62). The hypothesis of monophyly of Lauromacromia is supported and includes three groups, one formed by the Atlantic Forest species (L. melanica sp. nov. + L. picinguaba), and another by the Cerrado species (L. flaviae + (L. bedei + L. luismoojeni)), and L. dubitalis, positioned in polytomy with these two groups. The ordered analysis also generated only one most-parsimonious tree (68 steps of length, CI = 0.70, RI = 0.67), which maintained the monophyly of Lauromacromia but L. dubitalis positioned basally as sister-group to the Atlantic Forest + Cerrado species groups. The geographic distribution of Lauromacromia is updated with a new record of L. luismoojeni based on one adult male (Brazil: Mato Grosso do Sul State) and probable first Brazilian records for L. dubitalis (Amazonas and Para States) based on two larvae. A vicariance hypothesis is proposed to explain spatial evolution of Lauromacromia, and based on current biogeographical classifications we consider Gomphomacromia and Rialla apart from Neotropical biota. Some aspects of biology and ecology of Lauromacromia are also discussed.

Alternative splicing, muscle calcium sensitivity, and the modulation of dragonfly flight performance

Calcium sensitivity of myosin cross-bridge activation in striated muscles commonly varies during ontogeny and in response to alterations in muscle usage, but the consequences for whole-organism physiology are not well known. Here we show that the relative abundances of alternatively spliced transcripts of the calcium regulatory protein troponin T (TnT) vary widely in flight muscle of Libellula pulchella dragonflies, and that the mixture of TnT splice variants explains significant portions of the variation in muscle calcium sensitivity, wing-beat frequency, and an index of aerodynamic power output during free flight. Two size-distinguishable morphs differ in their maturational pattern of TnT splicing, yet they show the same relationship between TnT transcript mixture and calcium sensitivity and between calcium sensitivity and aerodynamic power output. This consistency of effect in different developmental and physiological contexts strengthens the hypothesis that TnT isoform variation modulates muscle calcium sensitivity and whole-organism locomotor performance. Modulating muscle power output appears to provide the ecologically important ability to operate at different points along a tradeoff between performance and energetic cost.

Habitat parameters of the Hine's Emerald Dragonfly : using temperatures loggers to assess hydrological regime in wetlands supporting the larval states, Lockport Prairie section 206 project, final report /

"Submitted to: the U.S. Fish and Wildlife Service" -- cover

Ray Freeland of Harbor Springs with his homemade "Dragonfly" ice sled on Little Traverse Bay

verso: Ray is still living in Harbor Springs

The Distribution and Quality of Hine's Emerald Dragonfly Habitat in Relation to Surface and Groundwater Dynamics in the Lockport Prairie Preserve Preliminary Report (February 1, 2001-January 31, 2002)

INHS Technical Report prepared for Corporation for Openlands, US Fish and Wildlife Service

Study of the rotational state of Titan using radio tracking data of the Dragonfly mission

Our solar system contains an impressive amount of celestial bodies. For example Saturn posses a huge variety of natural satellites, the diversity in size and physical proprieties of which might amaze imagination. The observational data gathered in 30 years range of deep space missions revealed, that some of these bodies can hide subsurface oceans under their crust. The water, as we know, serves as a fundamental base for a possible appearance of life. This statement is quite exited for the scientific society and serves as a reason for studying so called ”ocean worlds”. In order to detect the celestial bodies with the hidden subsurface ocean, one of the key aspects is the study of their rotational state, which is strongly coupled with the body internal structure. It can be done through the various techniques mentioned in Chapter 1. The main goal of the thesis is the study of rotational state of Titan, whose interior structure expectedly contains liquid ocean layer under its icy crust. Titan is the largest moon of Saturn and it is the second largest moon in the solar system in general. This natural satellite is of particular scientific interest, because it is one of a kind which has substantial atmosphere. The present work was done using radio tracking data of the Dragonfly mission which is one of the next NASA’s missions destined for Titan selected as a part of the New Frontiers Program in 2019. The detailed characteristic of the Dragonfly regarding the landing site and mission lifetime was reported in Chapter 2. The radio-tracking communication link from Titan side was performed using Dragonfly X band transponder according to the schedule tracking opportunity. From Earth side according to the mission, Deep Space Station 25 which is a part of NASA’s Deep Space Network was considered. Only Doppler data was used for studying Titan rotational state, even though there are other reliable techniques described in Chapter 3, that in general could be implemented.

Navicordulia aemulatrix sp. nov. (Odonata, Corduliidae) from northeastern Santa Catarina State, Brazil

Navicordulia aemulatrix sp. nov. (holotype male deposited in MZSP: Brazil, Santa Catarina State, [São Bento do Sul municipality, 26°14'58"S, 49°22'59"W], [railroad station] Rio Vermelho, II.1952) is described and illustrated based on three males. The long cercus (2.9-3.2 mm) places this species in the longistyla-group together with N. kiautai, N. longistyla and N. nitens but it differs from them mainly by the shape of cercus, with carinated part occupying 0.33 of cercus total length, and also by dorsal, ventro-medial and ventro-lateral tubercles developed. An unusual process on tergal portion of prothorax is reported for the first time in Navicordulia. The rate of description of new species of South American 'Corduliidae' is discussed. A map with records of Atlantic Forest Navicordulia species and a list of Brazilian corduliids by state are also presented.

Residence advantage in heterospecific territorial disputes of Erythrodiplax Brauer species (Odonata, Libellulidae)

Residence advantage in heterospecific territorial disputes of Erythrodiplax Brauer species (Odonata, Libellulidae). Territories are the outcome of interactions determining where and how long individuals settle. To odonate species, aggressive disputes are not so common since the outcome can be predetermined by advantages such as residency, age, and body size. However, it is possible to predict that at heterospecific disputes, larger body-sized or more aggressive species have some profits overcoming these individual advantages, generating patterns of species hierarchy. Here, I studied the aggressiveness of five Erythrodiplax species (Odonata, Libellulidae) during territorial disputes and verified if larger body-sized species are more aggressive than smaller ones or if the residence advantage prevails on the heterospecific disputes. Larger species were not more aggressive than smaller ones and winners of intra- and interspecific territorial disputes were defined mainly by the residence. So, the residence advantage between heterospecific opponents appears to prevail over any other asymmetry among these species. This pattern may occur because, despite the territorial behaviour in dragonfly males, heterospecific disputes may not increment male reproductive success because it may not increase their access to females.

Navicordulia aemulatrix sp. nov. (Odonata, Corduliidae) from northeastern Santa Catarina State, Brazil

Navicordulia aemulatrix sp. nov. (holotype male deposited in MZSP: Brazil, Santa Catarina State, [São Bento do Sul municipality, 26°14'58"S, 49°22'59"W], [railroad station] Rio Vermelho, II.1952) is described and illustrated based on three males. The long cercus (2.9-3.2 mm) places this species in the longistyla-group together with N. kiautai, N. longistyla and N. nitens but it differs from them mainly by the shape of cercus, with carinated part occupying 0.33 of cercus total length, and also by dorsal, ventro-medial and ventro-lateral tubercles developed. An unusual process on tergal portion of prothorax is reported for the first time in Navicordulia. The rate of description of new species of South American 'Corduliidae' is discussed. A map with records of Atlantic Forest Navicordulia species and a list of Brazilian corduliids by state are also presented.