Escape Flight Research Articles

Guidance Design for Escape Flight Vehicle against Multiple Pursuit Flight Vehicles Using the RNN-Based Proximal Policy Optimization Algorithm

Guidance commands of flight vehicles can be regarded as a series of data sets having fixed time intervals; thus, guidance design constitutes a typical sequential decision problem and satisfies the basic conditions for using the deep reinforcement learning (DRL) technique. In this paper, we consider the scenario where the escape flight vehicle (EFV) generates guidance commands based on the DRL technique, while the pursuit flight vehicles (PFVs) derive their guidance commands employing the proportional navigation method. For every PFV, the evasion distance is described as the minimum distance between the EFV and the PFV during the escape-and-pursuit process. For the EFV, the objective of the guidance design entails progressively maximizing the residual velocity, which is described as the EFV’s velocity when the last evasion distance is attained, subject to the constraint imposed by the given evasion distance threshold. In the outlined problem, three dimensionalities of uncertainty emerge: (1) the number of PFVs requiring evasion at each time instant; (2) the precise time instant at which each of the evasion distances can be attained; (3) whether each attained evasion distance exceeds the given threshold or not. To solve the challenging problem, we propose an innovative solution that integrates the recurrent neural network (RNN) with the proximal policy optimization (PPO) algorithm, engineered to generate the guidance commands of the EFV. Initially, the model, trained by the RNN-based PPO algorithm, demonstrates effectiveness in evading a single PFV. Subsequently, the aforementioned model is deployed to evade additional PFVs, thereby systematically augmenting the model’s capabilities. Comprehensive simulation outcomes substantiate that the guidance design method based on the proposed RNN-based PPO algorithm is highly effective.

Mosquitoes escape looming threats by actively flying with the bow wave induced by the attacker

To detect and escape looming threats, night-flying insects must rely on other senses than vision alone. Nocturnal mosquitoes can evade looming objects in the dark, but how they achieve this is still unknown. Here, we show how night-active female malaria mosquitoes escape from rapidly looming objects that simulate defensive actions of blood-hosts. First, we quantified the escape performance of flying mosquitoes from an event-triggered mechanical swatter, showing that mosquitoes use swatter-induced airflow to increase their escape success. Secondly, we used high-speed videography and deep-learning-based tracking to analyze escape flights in detail, showing that mosquitoes use banked turns to evade the threat. By combining escape kinematics data with numerical simulations of attacker-induced airflow and a mechanistic movement model, we unraveled how mosquitoes control these banked evasive maneuvers: they actively steer away from the danger, and then passively travel with the bow wave produced by the attacker. Our results demonstrate that night-flying mosquitoes can detect looming objects when visual cues are minimal, suggesting that they use attacker-induced airflow both to detect the danger and as a fluid medium to move with away from the threat. This shows that escape strategies of flying insects are more complex than previous visually induced escape flight studies suggest. As most insects are of similar or smaller sizes than mosquitoes, comparable escape strategies are expected among millions of flying insect species. The here-observed escape maneuvers are distinct from those of mosquitoes escaping from odor-baited traps, thus providing new insights for the development of novel trapping techniques for integrative vector management.

Guidance Design for Escape Flight Vehicle Using Evolution Strategy Enhanced Deep Reinforcement Learning

Guidance Design for Escape Flight Vehicle Using Evolution Strategy Enhanced Deep Reinforcement Learning

Reactive response to predation risk affects foraging time of hares, yet not their phosphorus intake

Antipredator responses could affect nutrient intake, which could lead to nutritional deficits. However, little is known about the antipredator response of small herbivores because most are nocturnal or crepuscular and therefore very difficult to study in the field. Therefore, we experimentally assessed the effect of a reactive response to predation risk on the nutrient (i.e., phosphorous) intake of the European hare (Lepus europaeus) using three different playback sounds. Additionally, we studied the time spent being costly vigilant, the time spent foraging, and the vegetation height in which the hares were present using accelerometers and GPS. Our results showed that elevated predation risk from our playback experiment did not affect the (1) phosphorus intake, (2) time spent being costly vigilant, and (3) time spent in tall vegetation. However, elevated predation risk did increase the time spent foraging. Possibly hares spent more time foraging with an increased predation risk because hares cannot seek refuge from predators. Additionally, the effect on phosphorus intake could be weak because phosphorous intake does not benefit a flight escape, while the reactive response acts late in the predation sequence limiting the effect on hare ecology. Prey anti-predator responses seem strongly related to the escape tactics of prey species that can differ between different habitats and the time of the day. More detailed field studies are necessary to get a better insight into species’ anti-predator-food tactics.

The interplay of kinematics and aerodynamics in multiple flight modes of a dragonfly

This paper presents the effects of wing kinematics on both normal forward flight and escape flight of a dragonfly. A Navier–Stokes-based numerical model has been adopted, and results have been substantiated by experimental data. The wing kinematics of tethered specimens and the prescribed wing morphology of a free-flying dragonfly were used in the simulation. To shed light on the interplay between kinematics and aerodynamics, a parametric study of the kinematics has been conducted. It is found that in escape flight, the dragonfly generates additional lift while the thrust reduces and the overall efficiency drops. Compared with normal forward flight, the escape mode produces larger lift force peaks. When the kinematics change to facilitate escape flight, the aerodynamic forces are affected by not only the flapping kinematics but, in the case of the hindwing, the varied wing–wing vortex interactions. The direction of the resultant force on each wing changes according to the change of the mean of pitching angle and stroke plane angle. We found that in the studied configurations, the varied phasing of the wings has a marginal effect on the aerodynamics of the dragonfly. It reduces lift and increases thrust, and this force modulation is slightly more efficient when the local angle of attack also changes. On the other hand, the change of angle of attack played a major role in leading-edge vortex formations and directing the resultant forces of the wings. The results can be useful in developing flight control strategies for micro air vehicle design.

Analogical Perspectives on the Comparison between Vǫlundr and Daedalus

Analogical Perspectives on the Comparison between Vǫlundr and Daedalus

Divergence of climbing escape flight performance in Morpho butterflies living in different microhabitats.

ABSTRACTHabitat specialization can influence the evolution of animal movement in promoting divergent locomotor abilities adapted to contrasting environmental conditions, differences in vegetation clutter or predatory communities. While the effect of habitat on the evolution of locomotion and particularly escape performance has been well investigated in terrestrial animals, it remains understudied in flying animals. Here, we investigated whether specialization of Morpho butterfly species into different vertical strata of the Amazonian forest affects the performance of upward escape flight manoeuvres. Using stereoscopic high-speed videography, we compared the climbing flight kinematics of seven Morpho species living either in the forest canopy or in the understory. We show that butterflies from canopy species display strikingly higher climbing speed and steeper ascent angle compared with understory species. Although climbing speed increased with wing speed and angle of attack, the higher climb angle observed in canopy species was best explained by their higher body pitch angle, resulting in more upward-directed aerodynamic thrust forces. Climb angle also scales positively with weight-normalized wing area, and this weight-normalized wing area was higher in canopy species. This shows that a combined divergence in flight behaviour and morphology contributes to the evolution of increased climbing flight abilities in canopy species.

Individual risk-taking behaviour in black-capped chickadees (Poecile atricapillus) does not predict annual survival.

Within species, individuals often show repeatable differences in behaviours, called ‘animal personality’. One behaviour that has been widely studied is how quickly an individual resumes feeding after a disturbance, referred to as boldness or risk-taking. Depending on the mechanism(s) shaping risk-taking behaviour, risk-taking could be positively, negatively, or not associated with differences in overall survival. We studied risk-taking and survival in a population of free-living black-capped chickadees (Poecile atricapillus) in which we previously showed repeatable among-individual differences in risk-taking over the course of several months. We found no evidence that variation in risk-taking is associated with differences in annual survival. We suggest that variation in risk-taking is likely shaped by multiple mechanisms simultaneously, such that the net effect on survival is small or null. For example, among-individual differences in energy demand may favour greater risk-taking without imposing an overall mortality cost if higher energy demand covaries with escape flight performance. We propose directions for future work, including using a multi-trait, multi-year approach to study risk-taking, to allow for stronger inferences regarding the mechanisms shaping these behavioural decisions.

Numerical study of unmanned aerial vehicle (UAV) in dry microburst environment using large eddy simulation (LES) model

PurposeIn a microburst wind, the profiles and characteristics are significantly different from those of normal boundary layer winds. The objective of this work is to study the microburst effect on the performance of aircraft for providing guidelines to frame escape strategies.Design/methodology/approachLarge eddy simulation model is used to study the effect of microburst by simulating the actual physical process of microburst-generated downdraft environment over the unmanned aerial vehicle. In this work, an attempt has been made to simulate the dry microburst (microburst not accompanied by rain) numerically using the impinging jet model to explore the effect of microburst at 12° angle of attack for flight take-off condition with a Mach number 0.04.FindingsThe numerical results revealed the aerodynamic performance loss of an aircraft in the microburst-generated downdraft during take-off condition quantitatively. This could be a more valuable information to the aviation industry. The authors believe that the results shown in this paper will be useful for the designers of aircraft. This will also help train the pilots to control the airplanes in a microburst environment.Practical implicationsSevere thunderstorms are significant weather phenomena that have a significant impact on various facets of national activity, including civil and defence operations, specifically aviation, space vehicle launch and agriculture, in addition to their potential to cause damage to life and property.Originality/valueThe maximum percentage of pressure increases on the upper surface of the aircraft between 2 and 7 s is 99.86% under the microburst-generated downdraft condition. The flight escape maneuver could be initiated, before increasing the pressure on the upper surface of the aircraft. The aircraft flies with high airspeed through the microburst environment, where the microburst-generated downdraft is most severe.

Cat colonies and flight initiation distances of urban birds: Dealing with conflicting sources of citizen wellbeing

Feral cat colonies in cities improve the wellbeing of people who feed and care for them, but they can have negative effects on biodiversity due to the predatory behaviour of cats. We analyse the effect of the presence of the 1171 colonies of feral cats reported for the city of Madrid (Spain) on the flight escape distances (FIDs) of birds to approaching human observers under standardized conditions. Location of cat colonies was obtained from maps maintained by the city authorities. The FID is a behavioural trait that integrates effects on bird's fearfulness of exposure to predation, disturbance, and physiological and reproductive needs. Shorter flight distances are associated with less exposure to predators and disturbance and better access to food and mates. Shorter FIDs are also associated to higher abundances and more positive population trends, at least in Spain. Mean FIDs of 694 birds of 34 species measured in nine city areas in the spring of 2021 were 10% longer in zones with colonies of feral cats than in neighbouring paired zones without colonies but similar regarding other factors potentially affecting FIDs (i.e. urban landscape structure). Birds were 33% higher above ground in zones with colonies, with no significant effects of perching higher on bird fleeing behaviour. Cat colonies were therefore increasing the fearfulness of individual birds and, presumably, downgraded their population trends. Compromising bird conservation with wellness effects of cat colonies on citizens at the city scale will thus imply the maintenance of colony-free areas, especially for ground-foraging birds. In addition, provision of perches for its use as temporal refuges around colonies might reconcile positive and negative effects at local scales.

Dyadic leader–follower dynamics change across situations in captive house sparrows

Abstract Individuals can behave as either leaders or followers in many taxa of collectively moving animals. Leaders initiate movements and may incur predation risks, while followers are thought to be more risk-averse. As a group encounters different challenges and ecological situations, individuals in the group may change their social role. We investigated leader and follower roles using dyads of captive house sparrow (Passer domesticus) during both exploration of a novel environment and a simulation of predator attack. During the exploration of a novel environment, individuals behaved consistently either as leaders or followers. However, in the simulated attack tests, individuals in the dyads switched their roles, with “followers” leading the escape flights and “leaders” following them. Our study provides evidence of 1) consistent differences between individuals in behavior during social escape and 2) a relationship between social roles across different situations. We suggest that such relationship hinges on individual risk-taking tendencies, which manifest through different social roles across different ecological situations. We further speculate that risk-taking individuals might gain benefits by following risk-averse individuals during an escape flight.

The Importance of Flapping Kinematic Parameters in the Facilitation of the Different Flight Modes of Dragonflies

To better understand dragonflies’ remarkable flapping wing aerodynamic performance, we measured the kinematic parameters of the wings in two different flight modes (Normal Flight Mode (NFM) and Escape Flight Mode (EFM)). When the specimens switched from normal to escape mode the flapping frequency was invariant, but the stroke plane of the wings was more horizontally inclined. The flapping of both wings was adjusted to be more ventral with a change of the pitching angle that resulted in a larger angle of attack during downstroke and smaller during upstroke to affect the flow directions and the added mass effect. Noticeably, the phasing between the fore and hind pair of wings varies between two flight modes, which affects the wing-wing interaction as well as body oscillations. It is found that the momentum stream in the wake of EFM is qualitatively different from that in NFM. The change of the stroke plane angle and the varied pitching angle of the wings diverts the momentum downwards, while the smaller flapping amplitude and less phase difference between the wings compresses the momentum stream. It seems that in order to achieve greater flight maneuverability a flight vehicle needs to actively control positional angle as well as the pitching angle of the flapping wings.

On the Ronen Method in Simple 1-D Geometries for Neutron Transport Theory Solutions

In this work, we apply the Ronen method to obtain highly-accurate approximations to the solution of the neutron transport equation in simple homogeneous problems. Slab, cylindrical, and spherical geometries are studied. This method demands successive resolutions of the diffusion equation, where the local diffusion constants are modified in order to reproduce new estimates of the currents by a transport operator. The diffusion solver employs here finite differences and the transport-corrected currents are forced in the numerical scheme by means of drift terms, like in the CMFD scheme. Boundary conditions are discussed introducing proper approximations to save the particle balance in case of reflection in the slab. The solution from the Ronen iterations is compared against reference results provided by the collision probability method. More accurate estimates of the currents are provided by integral transport equations using first flight escape probabilities. Slow convergence on the scalar flux is analyzed, although the results match the reference solutions in the limit of fine meshes and far from the bare boundary.

Freezing Displayed by Others Is a Learned Cue of Danger Resulting from Co-experiencing Own Freezing and Shock.

Social cues of threat are widely reported [1-3], whether actively produced to trigger responses in others such as alarm calls or by-products of an encounter with a predator, like the defensive behaviors themselves such as escape flights [4-14]. Although the recognition of social alarm cues is often innate [15-17], in some instances it requires experience to trigger defensive responses [4, 7]. One mechanism proposed for how learning from self-experience contributes to social behavior is that of auto-conditioning, whereby subjects learn to associate their own behaviors with relevant trigger events. Through this process, the same behaviors, now displayed by others, gain meaning [18, 19] (but see [20]). Although it has been shown that only animals with prior experience with shock display observational freezing [21-25], suggesting that auto-conditioning could mediate this process, evidence for this hypothesis was lacking. Previously we found that, when a rat freezes, the silence that results from immobility triggers observational freezing in its cage-mate, provided the cage-mate had experienced shocks before [24]. Therefore, in our study, auto-conditioning would correspond to rats learning to associate shock with their own response to it-freezing. Using a combination of behavioral and optogenetic manipulations, here, we show that freezing becomes an alarm cue by a direct association with shock. Our work shows that auto-conditioning can indeed modulate social interactions, expanding the repertoire of cues mediating social information exchange, providing a framework to study how the neural circuits involved in the self-experience of defensive behaviors overlap with the ones involved in socially triggered defensive behaviors.

Effects of timing and magnitude of wing stroke-plane tilt on the escape maneuverability of flapping wing

Hummingbirds perform a variety of agile maneuvers, and one of them is the escape maneuver, in which the birds can steer away from threats using only 3–4 wingbeats in less than 150 ms. A distinct kinematic feature that enables the escape maneuver is the rapid backward tilt of the wing stroke plane at the beginning of the maneuver. This feature results in a simultaneous nose-up pitching and backward acceleration. In this work, we investigated how the magnitude and timing of the wing stroke-plane tilt (relative to the phase of flapping cycle) affected the generation of backward thrust, lift, and pitching moment and therefore the maneuverability of escape flight. Investigations were performed using experiments on dynamically scaled robotic wings and computational fluid dynamic simulation based on a simplified harmonic wing stroke and rotation kinematics at Re = 1000 and hummingbird wing kinematics at Re ≈ 10 000. Results showed that the wing stroke-plane tilt timing exerted a strong influence on the aerodynamic force generation. Independent of the tilt magnitude, the averaged backward thrust and pitching moment were maximized when the stroke plane tilt occurred near the end of the half strokes (e.g., upstroke and downstroke). Relative to the other timings of stroke-plane tilt, the ‘optimal’ timings led to a maximal backward tilt of the total aerodynamic force during the wing upstroke; hence, the backward thrust and nose-up pitching moment increased. The ‘optimal’ timings found in this work were in good agreement with those identified in the escape maneuvers of four species of hummingbirds. Therefore, hummingbirds may use a similar strategy in the beginning of their escape maneuver.

Freezing Displayed by Others is a Learned Cue of Danger Resulting from Co-Experiencing Own-Freezing and Shock

Social cues of threat are widely reported, whether actively produced to trigger responses in others, such as the emission of alarm calls, or by-products of an encounter with a predator, like the defensive behaviors themselves, such as an escape flight. Although the recognition of social alarm cues is often innate, in some instances it requires experience to trigger defensive responses. One mechanism proposed for how learning from self-experience contributes to social behavior is that of auto-conditioning, whereby subjects learn to associate their own behaviors with the relevant trigger events. Through this process the same behaviors, now displayed by others, gain meaning. Although it has been shown that only animals with prior experience with shock display observational freezing suggesting that auto-conditioning could mediate this process, evidence for this hypothesis was lacking. Previously we found that when a rat freezes, the silence that results from immobility triggers observational freezing in its cage-mate, provided the cage-mate had experienced shocks before. Hence, in our study auto-conditioning would correspond to rats learning to associate shock with their own response to it – freezing. Using a combination of behavioral and optogenetic manipulations, here we show that freezing becomes an alarm cue by a direct association with shock. Our work shows that auto-conditioning can indeed modulate social interactions, expanding the repertoire of cues that mediate social information exchange, providing a framework to study how the neural circuits involved in the self-experience of defensive behaviors overlap with the ones involved in socially triggered defensive behaviors.

Is social coordination during escape flights a general phenomenon in birds?

AbstractEscape from predatory attack as a socially coordinated group is observed in many social animals, including birds, especially those in more open habitats where the group itself may be the only source of protection from an attacking predator. For many social birds, however, woody vegetative cover is the main refuge from attack, but such birds might nevertheless benefit from social coordination during escape flights to cover. Such benefits could reflect the confusion effect, selfish herd effect, or the simple dilution of risk. We examined this possibility of coordinated escape in mixed flocks of wintering passerellid sparrows (Passerellidae). These free‐living birds fed in a patch of food flanked on opposite sides by two refuges composed of woody cover. Under such conditions, coordination in escape behavior should be expressed as a tendency to escape together as a group to the same cover location. Such behavior, however, was not the rule. During spontaneous flushes to cover, a group of escaping birds stayed together only when one cover location was clearly closer than the other. With cover equidistant from the food patch, escaping flocks tended to split about evenly between cover locations. Birds in close proximity prior to an escape flight did not show enhanced escape coordination, nor did those feeding at significant distances from protective cover. Evidence of escape coordination was observed in small groups (two–four birds), but even in such groups, flock splitting during escape was generally the rule. Flock splitting during attacks might reflect some sort of strategic decision‐making process that lessens the risk of capture, but the most parsimonious explanation is that (all else equal) birds head for the nearest refuge, largely irrespective of the behavior of their flockmates. Our results thus provide little evidence of flock‐wide social coordination during escape flights in cover‐dependent birds.

Species‐specific strategies increase unpredictability of escape flight in eared moths

Abstract Many prey species overlap in time and space and are hunted by the same predators. A common anti‐predator behaviour is using evasive manoeuvres to escape an attacking predator. The escape‐tactic diversity hypothesis postulates that species‐specific differences in evasive behaviour will increase the overall unpredictability experienced by predators within a predator–prey community. Evolutionary, escape‐tactic diversity would be driven by the enhanced predator protection for each prey individual in the community. However, escape‐tactic diversity could also be a functional consequence of morphological differences that correlate with evasive capabilities. Echolocating bats and eared moths are a textbook example of predator–prey interactions. Moths exhibit evasive flight with diverse tactics; however, the variability of their evasive flight within and between species and individuals has never been quantified systematically. In addition, moth species show variation in size, which correlates with their flight capability. We recorded flight strength during tethered flight of eight sympatric moth species in response to the same level of simulated bat predation. Our method allowed us to record kinematic parameters that are correlated with evasive flight in a controlled way to investigate species‐specific differences in escape tactics. We show species‐specific and size‐independent differences in both overall flight strength and change of flight strength over time, supporting the escape‐tactic diversity hypothesis for eared moths. Additionally, we show strong interindividual differences in evasive flight within some species. This diversity in escape tactic between eared moths increases the overall unpredictability of evasive flight experienced by bat predators, likely providing increased protection against predatory bats for the single individual.

A small stem-galliform bird (Aves: Paraortygidae) from the Eocene of Uzbekistan

Landfowl (order Galliformes) are among the most characteristic birds of the modern avian faunas, but their early evolutionary history is insufficiently known. The diversity of previously described Eocene galliforms implies a great role of Eocene diversification in the early evolution of this group. However, almost nothing is known about the Eocene diversity of galliforms in Asia, even though this large continent with a variety of habitats might have played a significant role in their early evolution. Here we describe a partial coracoid from the Lutetian–Bartonian of Uzbekistan, which is the oldest diagnosable galliform bird in Asia, and is further the first landbird known from this geographical area. The specimen displays a unique morphology with few autapomorphies and an unexpected combination of similarities with the African genus Scopelortyx and Eurasian Paraortyx, and hence is described as a new taxon, Xorazmortyx turkestanensis gen. et sp. nov., within the extinct family Paraortygidae, being the first Asian representative of this clade. Similarities with the African genus Scopelortyx indicate a connection of land bird faunas between northern Africa/Arabia and Asia in the middle Eocene. Better dispersal abilities of the early galliforms Paraortygidae are inferred from the osteology of their pectoral girdle and the humerus, which do not show adaptations to the powerful burst take off (escape flight), characteristic of most modern Phasianidae.

Defence tactics cycle with diel microhabitat choice and body temperature in the desert locust,Schistocerca gregaria

AbstractWe examined environmental factors influencing plasticity in antipredator defences of adult gregarious desert locusts,Schistocerca gregaria, including daily cycles in temperature, light, microhabitat occupied and predator threat. In the Sahara Desert in Mauritania, West Africa, daily temperature fluctuated widely from below locusts’ cold thermal limits for jump‐ and flight‐defence, to above their preferred body temperature. Locusts changed microhabitats throughout the 24‐hr period in synchrony with the daily thermo‐photocycle. They roosted in tall trees and large bushes at night, moved to the ground in the morning, shaded under or in small bushes and annuals at midday, moved back to the ground in the afternoon and then returned to night roosting sites around dusk. Locust antipredator defences varied throughout the 24‐hr period, and these changes were correlated with temperature, photocycle and habitat. Flight escape was associated with daytime, high temperatures and the ground habitat. Dropping escape (= releasing hold of vegetation and dropping to the ground or into vegetation) was associated with cool temperatures and low‐to‐medium sized bushes. Stationary behaviour was associated with the tree microhabitat and height off the ground. Roosting (a primary defence) was associated with cool temperatures at night and early morning, tree habitats and nocturnal ground‐foraging times of endothermic mammals. In summary, we propose that temperature is the key factor in determining both changing microhabitat choice and changing antipredator defence, due to thermal constraints on locust muscle for this ectothermic insect. The thermocycle also influences temporal predator loads, which influence the evolution of locust diel defence strategies. These various environmental factors not only influence one another, they also interact to influence antipredator defence expression in locusts. Overall, our study suggests that plasticity in locust antipredator defences is a complicated matter mediated by the interactions of multiple environmental factors and physiological and ecological constraints and trade‐offs.