Vibrational Gyroscopes in Instrumentation and in Creation Robert - - PowerPoint PPT Presentation

Vibrational Gyroscopes in Instrumentation and in Creation

Robert Leland Oral Roberts University

rleland@oru.edu

L: flickr.com R: en.wikipedia.org/wiki/Halteres

Good design is a reflection of a wise designer.

Even in the insects that God has created, we see complex, effective engineering design.

Vibrational gyroscopes are examples of this. They are found in both flies and man-made motion control systems. Vibrational gyroscopes illustrate important aspects of design in creation:

• 1. Similar structures and functions in biological and

electro-mechanical systems

• 2. Successful integration into a larger, complex system.
• 3. A detailed process for fabrication/development.

Wikipedia Commons www.nasa.gov/centers/dryden/multimedia/imagegallery/F-16AFTI/EC89-0016-20.html

A vibrational gyroscope uses a vibrating structure to measure rotation rate.

There are no spinning parts. They measure their own rotation rate without reference to anything outside the body (inertial measurement). Used in attitude control (orientation) and navigation of aircraft and spacecraft. Gyroscopes are also found in iPhones, Wii controllers and flies.

Cassini Spacecraft www.jpl.nasa.gov

A vibrational gyroscope can be modeled as a mass supported by springs.

Drive Axis Sense Axis Mass M Spring K

The mass is driven to vibrate along the drive axis When the gyroscope rotates about an axis coming out of the screen, a Coriolis force creates a vibration along the sense axis. Rotation rate is determined from the sense axis vibration.

An actual Micro Electro Mechanical System (MEMS) Gyroscope might look like this:

Combed fingers for driving and sensing motion. This gyro has two vibrating masses, like a tuning fork. Draper Tuning Fork Gyroscope

Acceleration/Vibration An Overview of MEMS Inertial Sensing Technology February 1, 2003 By: Jonathan Bernstein, Corning- IntelliSense Corp. Sensors Online Photo available as Figure 6 at www.sensorsmag.com/sensors/acceleration-vibration/an-

• verview-mems-inertial-sensing-technology-970

Insects in the order Diptera have vibrational gyroscopes.

Diptera = 2 wings (instead of 4) Includes Drosophila (fruit flies) Rear wings are replaced with ‘posts’ called halteres. The halteres vibrate and function as gyroscopes. Crane Fly

Commons.wikimedia.org

The first Jet Propulsion Laboratory (JPL) microgyro used a rocking post similar to a fly haltere.

Aerospace Technology Innovation Nov/Dec 1999

EEE Links Vol. 6 No. 1 Mar 2000 NASA Electronics Parts and Packaging Program

Rocks in one direction along the drive axis. The

• ther direction is the

sense axis

A similar gyroscope we developed at the University of Alabama uses a rocking post with strain sensors

These sensors measure strain, (the fraction a surface is stretched or compressed). Strain provides a measurement of the bending of the supports, hence measuring the rocking of the post

Finite Element Analysis John Jackson

• S. Kotru, R. K. Pandy, P. Periaswami, A. Highsmith

Sensors are formed by depositing and patterning a piezoelectric material (PNZT) on a silicon wafer

In a similar manner, fly halteres vibrate and their motion is sensed.

Haltere motion is sensed by five sensor fields called campaniform sensilla which sense strain like the University of Alabama gyro Most of these fields measure the back and forth motion of the halteres (drive axis) One field measures motion at a right angle to this vibration (sense axis) This last field sends signals directly to the motor neurons of the fly’s turning muscles

• M. H. Dickenson Integr. Comp. Biol., 45:274–281 (2005)
• A. Fayyazuddin, M. H. Dickinson, J. of Neuroscience, August 15, 1996, 16(16):5225–5232

CSIRO ScienceImage 3237 Fly haltere.jpg Wikipedia Commons

God’s design in nature achieves specific survival goals

Halteres are used in attitude control and allow the insect to have a shorter body, which is more maneuverable.

“The critical role of the haltere in flight stability was first identified in 1714 by William Derham, who showed that a fly could not remain airborne if its tiny halteres were surgically removed. . .” Quote from: M.H. Dickinson,

• Integr. Comp. Biol., 45:274–281 (2005)

Halteres identified as gyroscopes in 1938

• G. Fraenkel, J. W. S. Pringle,

Nature 141:919–920. (1938)

Show stable and unstable aircraft

The halteres are critical in performing rapid direction changes in Drosophila (fruit flies)

Flies make rapid 90o turns in midair. These turns take about 1/20 of a second. In order to control these turns, flies sense rotation visually and with their halteres. The halteres appear to respond more quickly than the vision system. Experiments suggest: Visual sensing is used to initiate the turn. The halteres are used in ending the turn by making a quick counter-torque.

• M. H. Dickenson Integr. Comp. Biol., 45:274–281 (2005)

Possible trajectory

commons.wikimedia.org

vision system b1 muscle haltere

God’s design in nature involves complex, interconnected systems

Complexity ≠ Good engineering design Successful, efficient, and reliable performance of tasks requiring complexity = Good engineering design

Successful flight requires flight control.

The Wright brothers achieved controlled, powered flight Controlled by Wilbur and Orville using wing warping. The body of the aircraft is extended, which increases stability.

The AFTI F16 uses a much more complex digital flight control system that coordinates a large number of control surfaces.

General Dynamics F-16A AFTI 1.50- 2.07

It can move left

• r right, and up
• r down without

turning, banking,

• r pitching up or

down.

https://www.youtube.com/watch?v=iClN05EWuEY

www.nasa.gov/centers/dryden/multimedia/imagegallery/F-16AFTI/EC89-0016-20.html

Flies are capable of incredibly complex maneuvers using their wings and a wide array of sensors.

http://tedxcaltech.com/content/michael-dickinson 1.25-1.44

The fly is capable of making complex responses to predators. The fly must determine the presence and position of a predator, estimate the time to respond, and initiate a complex flight sequence involving large changes in both orientation and direction. This all happens literally in the blink of an eye, and requires coordination of sensors, brain function and muscles.

• G. Bohne, wikimedia commons

Insect flight is more complex than aircraft flight.

Insect wings sweep back and forth at different angles and create a leading edge vortex (air rotation) above the wing that produces upward lift forces Most aircraft wings are airfoils that use streamlined airflow to create a lower pressure above the wing producing lift.

en.wikipedia.org

Forward Stroke Backward Stroke

Wikipedia Commons

Flies use two sets

• f muscles to fly.

Power muscles move the wings back and forth without direct control of beating from the brain (design efficiency) Steering muscles contract quickly to alter the hinge joints of the wings to create turns

www.flickr.com

Flies use a large number of sensors in flight control.

en.wikipedia.org

Antenna: Can sense wind Eyes: Fastest visual system on earth Ocelli: Eyes, function unknown Halteres: Sense rotation Brain: About 100,000 neurons (design efficiency) Wing sensors: can sense changes in shape of the wing

commons.wikimedia.org

Insect flight requires a number of complex systems working together properly.

“When considering the control of complex aerial behaviors, it is impossible to disentangle the aerodynamics of flapping from the mechanics of the wing hinge, the physiology of the flight muscles, or the properties of sensory-motor circuits in the brain.

• M. H. Dickinson, Integr. Comp. Biol.,

45:274–281 (2005)

God’s design in nature involves the successful coordination of complex interconnected systems.

www.flickr.com

www.flickr.com

God’s design in nature includes development and growth mechanisms

Design of a MEMS gyroscope considers both the final product and the process to make it.

iPhone 4 Gyroscope

MEMS designers think in terms of the steps for fabricating a device, not just the final product.

Computer Aided Design software is linked to the fabrication process.

en.wikipedia.org

Insect Fabrication Process: Metamorphosis

Haltere development is controlled by a single gene: Ultrabithorax (Ubx). Without this gene, they develop into wings. Halteres develop from flat imaginal discs in the larva. During metamorphosis, these discs are extended so the center of disk becomes the far end of the haltere. Drosophila imaginal discs

en.wikipedia.org

Disc from leg en.wikipedia.org

Vibrational gyroscopes in Diptera are a critical part

• f a complex flight control system designed by God.

Insect flight control systems display amazing engineering design. God’s design in nature includes achieving survival goals, integration into a larger system, and the ‘fabrication’ process. Insect flight control was recognized as displaying God’s wisdom in creation long before creation-evolution debates. Negative stereotypes of people who pull wings off flies should be reconsidered.

Micro Air Vehicle

en.wikipedia.com www.flickr.com

A small sample of the literature on vibrational gyroscopes in insects

• W. Derham, Physico-Theology: or a Demonstration of the Being and

Attributes of God from His Works of Creation, 1914, London.

• J. W. S. Pringle, The gyroscopic mechanism of the halteres of

Diptera, Philos Trans R Soc Lond [Biol] 233:347–384 (1948) J.A. Bender, M. H. Dickinson, A comparison of visual and haltere- mediated feedback in the control of body saccades in Drosophila melanogaster, J Exp. Biol. 209, 4597-4606 (2006)

• M. H. Dickinson, The Initiation and Control of Rapid Flight Maneuvers

in Fruit Flies, Integr. Comp. Biol., 45:274–281 (2005)

• A. Fayyazuddin, M. H. Dickinson, Haltere Afferents Provide Direct,

Electrotonic Input to a Steering Motor Neuron in the Blowfly, Calliphora, J. Neurosci., 16(16):5225–5232 (1996)

More references on vibrational gyroscopes in insects.

http://tedxcaltech.com/content/michael-dickinson This presentation gives a very clear description of the complexity of flight control in flies, and their nervous systems. It also contains videos of the fly experiments.

Excellent TEDxCaltech talk by Michael Dickinson

How Flies Fly

• A. L. Eberle, B. H. Dickerson, P. G. Reinhall, T. L. Daniel, A New Twist on

Gyroscopic sensing: body rotations lead to torsion in flapping, flexing insect wings, J. Royal Society Interface, Jan 28, 2015.

• G. Fraenkel, J. W. S. Pringle, Halteres of flies as gyroscopic organs of
• equilibrium. Nature 141:919–920. (1938)