Research Interests: Psychology and Gait
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Research Interests: Mechanical Engineering, Robotics, Aerospace Engineering, Physics, Mechanics, and 14 moreBiomimetics, Aerodynamics, Particle Image Velocimetry, Flow Visualization, Animal Locomotion, Flight, Wind Tunnel, Vortex shedding, Model System, Stall, Interdisciplinary Engineering, Wake, Reynolds Number, and Wing
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Although leopards are the most widespread of all the big cats and are known for their adaptability, they are elusive and little is known in detail about their movement and hunting energetics. We used high-resolution GPS/IMU (inertial... more
Although leopards are the most widespread of all the big cats and are known for their adaptability, they are elusive and little is known in detail about their movement and hunting energetics. We used high-resolution GPS/IMU (inertial measurement unit) collars to record position, activity and the first high-speed movement data on four male leopards in the Okavango Delta, an area with high habitat diversity and habitat fragmentation. Leopards in this study were generally active and conducted more runs during the night, with peaks in activity and number of runs in the morning and evening twilight. Runs were generally short (less than 100 m) and relatively slow (maximum speed 5.3 m s<sup>−1</sup>, mean of individual medians) compared to other large predators. Average daily travel distance was 11 km and maximum daily travel distance was 29 km. No direct correlation was found between average daily temperature and travel distance or between season and travel distance. Total daily energy requirements based on locomotor cost and basal metabolic rate varied little between individuals and over time. This study provides novel insights into movement patterns and athletic performance of leopards through quantitative high-resolution measurement of the locomotor, energetic, spatial and temporal movement characteristics. The results are unbiased by methodological and observational limitations characteristic of previous studies and demonstrate the utility of applying new technologies to field studies of elusive nocturnal species.
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... Even so, it will become apparent in the course of this chapter that our understanding of wing morphing in the three Morphing Aerospace Vehicles and Structures, First Edition. Edited by John Valasek. © 2012 John Wiley & Sons, Ltd.... more
... Even so, it will become apparent in the course of this chapter that our understanding of wing morphing in the three Morphing Aerospace Vehicles and Structures, First Edition. Edited by John Valasek. © 2012 John Wiley & Sons, Ltd. Published 2012 by John Wiley & Sons, Ltd. ...
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Research Interests: Physics and Gynecology
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Although leopards are the most widespread of all the big cats and are known for their adaptability, they are elusive and little is known in detail about their movement and hunting energetics. We used high-resolution GPS/IMU (inertial... more
Although leopards are the most widespread of all the big cats and are known for their adaptability, they are elusive and little is known in detail about their movement and hunting energetics. We used high-resolution GPS/IMU (inertial measurement unit) collars to record position, activity and the first high-speed movement data on four male leopards in the Okavango Delta, an area with high habitat diversity and habitat fragmentation. Leopards in this study were generally active and conducted more runs during the night, with peaks in activity and number of runs in the morning and evening twilight. Runs were generally short (less than 100 m) and relatively slow (maximum speed 5.3 m s, mean of individual medians) compared to other large predators. Average daily travel distance was 11 km and maximum daily travel distance was 29 km. No direct correlation was found between average daily temperature and travel distance or between season and travel distance. Total daily energy requirements ba...
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The fastest and most manoeuvrable terrestrial animals are found in savannah habitats, where predators chase and capture running prey. Hunt outcome and success rate are critical to survival, so both predator and prey should evolve to be... more
The fastest and most manoeuvrable terrestrial animals are found in savannah habitats, where predators chase and capture running prey. Hunt outcome and success rate are critical to survival, so both predator and prey should evolve to be faster and/or more manoeuvrable. Here we compare locomotor characteristics in two pursuit predator-prey pairs, lion-zebra and cheetah-impala, in their natural savannah habitat in Botswana. We show that although cheetahs and impalas were universally more athletic than lions and zebras in terms of speed, acceleration and turning, within each predator-prey pair, the predators had 20% higher muscle fibre power than prey, 37% greater acceleration and 72% greater deceleration capacity than their prey. We simulated hunt dynamics with these data and showed that hunts at lower speeds enable prey to use their maximum manoeuvring capacity and favour prey survival, and that the predator needs to be more athletic than its prey to sustain a viable success rate.
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Changes in stride frequency and length with speed are key parameters in animal locomotion research. They are commonly measured in a laboratory on a treadmill or by filming trained captive animals. Here, we show that a clustering approach... more
Changes in stride frequency and length with speed are key parameters in animal locomotion research. They are commonly measured in a laboratory on a treadmill or by filming trained captive animals. Here, we show that a clustering approach can be used to extract these variables from data collected by a tracking collar containing a GPS module and tri-axis accelerometers and gyroscopes. The method enables stride parameters to be measured during free-ranging locomotion in natural habitats. As it does not require labelled data, it is particularly suitable for use with difficult to observe animals. The method was tested on large data sets collected from collars on free-ranging lions and African wild dogs and validated using a domestic dog.
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Animals navigate their environment using a variety of senses and strategies. This multiplicity enables them to respond to different navigational requirements resulting from habitat, scale and purpose. One of the challenges social animals... more
Animals navigate their environment using a variety of senses and strategies. This multiplicity enables them to respond to different navigational requirements resulting from habitat, scale and purpose. One of the challenges social animals face is how to reunite after periods of separation. We explore a variety of possible mechanisms used to reunite the members of a cheetah coalition dispersed within a large area after prolonged separation. Using GPS data from three cheetahs reuniting after weeks of separation, we determined that 1) the likelihood of purely coincidental reunion is miniscule 2) the reunion occurred in an area not normally frequented 3) with very little time spent in the region in advance of the reunion. We therefore propose that timely encounter of scent markings where paths cross is the most likely mechanism used to aid the reunion.
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We compare kinematics and wake structure over a range of flight speeds (4.0-8.2 m s(-1)) for two bats that pursue insect prey aerially, Tadarida brasiliensis and Myotis velifer Body mass and wingspan are similar in these species, but M.... more
We compare kinematics and wake structure over a range of flight speeds (4.0-8.2 m s(-1)) for two bats that pursue insect prey aerially, Tadarida brasiliensis and Myotis velifer Body mass and wingspan are similar in these species, but M. velifer has broader wings and lower wing loading. By using high-speed videography and particle image velocimetry of steady flight in a wind tunnel, we show that three-dimensional kinematics and wake structure are similar in the two species at the higher speeds studied, but differ at lower speeds. At lower speeds, the two species show significant differences in mean angle of attack, body-wingtip distance and sweep angle. The distinct body vortex seen at low speed in T. brasiliensis and other bats studied to date is considerably weaker or absent in M. velifer We suggest that this could be influenced by morphology: (i) the narrower thorax in this species probably reduces the body-induced discontinuity in circulation between the two wings and (ii) the wi...
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Unmanned aerial systems (UASs), frequently referred to as 'drones', have become more common and affordable and are a promising tool for collecting data on free-ranging wild animals. We used a Phantom-2 UAS equipped with a... more
Unmanned aerial systems (UASs), frequently referred to as 'drones', have become more common and affordable and are a promising tool for collecting data on free-ranging wild animals. We used a Phantom-2 UAS equipped with a gimbal-mounted camera to estimate position, velocity and acceleration of a subject on the ground moving through a grid of GPS surveyed ground control points (GCPs) (area ∼1200m(2)). We validated the accuracy of the system against a dual frequency survey grade GPS system attached to the subject. When compared to GPS survey data the estimations of position, velocity and acceleration had an RMS error of 0.13m, 0.11ms(-1) and 2.31ms(-2) respectively. The system can be used to collect locomotion and localisation data on multiple free-ranging animals simultaneously. It does not require specialist skills to operate, is rapidly and easily deployed and easily transported to field locations. It is therefore a useful addition to the range of methods available for fiel...
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African wild dogs (Lycaon pictus) are described as highly collaborative endurance pursuit hunters based on observations derived primarily from the grass plains of East Africa. However, the remaining population of this endangered species... more
African wild dogs (Lycaon pictus) are described as highly collaborative endurance pursuit hunters based on observations derived primarily from the grass plains of East Africa. However, the remaining population of this endangered species mainly occupies mixed woodland savannah where hunting strategies appear to differ from those previously described. We used high-resolution GPS and inertial technology to record fine-scale movement of all members of a single pack of six adult African wild dogs in northern Botswana. The dogs used multiple short-distance hunting attempts with a low individual kill rate (15.5%), but high group feeding rate due to the sharing of prey. Use of high-level cooperative chase strategies (coordination and collaboration) was not recorded. In the mixed woodland habitats typical of their current range, simultaneous, opportunistic, short-distance chasing by dogs pursuing multiple prey (rather than long collaborative pursuits of single prey by multiple individuals) c...
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African wild dogs (Lycaon pictus) are reported to hunt with energetically costly long chase distances. We used high-resolution GPS and inertial technology to record 1,119 high-speed chases of all members of a pack of six adult African... more
African wild dogs (Lycaon pictus) are reported to hunt with energetically costly long chase distances. We used high-resolution GPS and inertial technology to record 1,119 high-speed chases of all members of a pack of six adult African wild dogs in northern Botswana. Dogs performed multiple short, high-speed, mostly unsuccessful chases to capture prey, while cheetahs (Acinonyx jubatus) undertook even shorter, higher-speed hunts. We used an energy balance model to show that the energy return from group hunting and feeding substantially outweighs the cost of multiple short chases, which indicates that African wild dogs are more energetically robust than previously believed. Comparison with cheetah illustrates the trade-off between sheer athleticism and high individual kill rate characteristic of cheetahs, and the energetic robustness of frequent opportunistic group hunting and feeding by African wild dogs.
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Unmanned aerial vehicles (UAVs), frequently referred to as drones have become more common and affordable and are a promising tool for providing position and speed data for free ranging wild animals. There are challenges however since the... more
Unmanned aerial vehicles (UAVs), frequently referred to as drones have become more common and affordable and are a promising tool for providing position and speed data for free ranging wild animals. There are challenges however since the camera payload is small, the UAV does not remain in a fixed position even under autopilot control due to GPS position noise and the platform changes orientation when stabilising its position. We are using a DJI Phantom 2 Quadcopter with a GoPro Hero 3 camera and Tarot 2D Gimbal to estimate speeds, acceleration and track of moving animals on the ground. In order to validate the accuracy of the system we compare video tracked positions of a human walking/running in the target area to data from a high sample rate dual frequency surgery-grade GPS unit worn by the tracked subject.
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Page 1. In-Flight Wing-Membrane Strain Measurements on Bats Roberto Albertani Research &amp;amp;amp;amp; Engineering Education Facility (REEF), University of Florida Department of Mechanical and Aerospace Engineering 1350 North... more
Page 1. In-Flight Wing-Membrane Strain Measurements on Bats Roberto Albertani Research &amp;amp;amp;amp; Engineering Education Facility (REEF), University of Florida Department of Mechanical and Aerospace Engineering 1350 North Poquito Rd, Shalimar, FL, 32579, ralb@ufl.edu ...
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Bipedal animals experience ground reaction forces (GRFs) that pass close to the centre of mass (CoM) throughout stance, first decelerating the body, then re-accelerating it during the second half of stance. This results in fluctuations in... more
Bipedal animals experience ground reaction forces (GRFs) that pass close to the centre of mass (CoM) throughout stance, first decelerating the body, then re-accelerating it during the second half of stance. This results in fluctuations in kinetic energy, requiring mechanical work from the muscles. However, here we show analytically that, in extreme cases (with a very large body pitch moment of inertia), continuous alignment of the GRF through the CoM requires greater mechanical work than a maintained vertical force; we show numerically that GRFs passing between CoM and vertical throughout stance are energetically favourable under realistic conditions; and demonstrate that the magnitude, if not the precise form, of actual CoM-torque profiles in running is broadly consistent with simple mechanical work minimization for humans with appropriate pitch moment of inertia. While the potential energetic savings of CoM-torque support strategies are small (a few per cent) over the range of hum...
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There is an ongoing debate about the reasons underlying gait transition in terrestrial locomotion. In bipedal locomotion, the ‘compass gait’, a reductionist model of inverted pendulum walking, predicts the boundaries of speed and step... more
There is an ongoing debate about the reasons underlying gait transition in terrestrial locomotion. In bipedal locomotion, the ‘compass gait’, a reductionist model of inverted pendulum walking, predicts the boundaries of speed and step length within which walking is feasible. The stance of the compass gait is energetically optimal—at walking speeds—owing to the absence of leg compression/extension; completely stiff limbs perform no work during the vaulting phase. Here, we extend theoretical compass gait vaulting to include inclines, and find good agreement with previous observations of changes in walk–run transition speed (approx. 1% per 1% incline). We measured step length and frequency for humans walking either on the level or up a 9.8 per cent incline and report preferred walk–run, walk–compliant-walk and maximum walk–run transition speeds. While the measured ‘preferred’ walk–run transition speed lies consistently below the predicted maximum walking speeds, and ‘actual’ maximum wa...
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Animals need to navigate between resources such as water, food and shelter and how they achieve this is likely to vary with species. Here, using high accuracy GPS data, we study repeated journeys made by wild zebra (Equus quagga) through... more
Animals need to navigate between resources such as water, food and shelter and how they achieve this is likely to vary with species. Here, using high accuracy GPS data, we study repeated journeys made by wild zebra (Equus quagga) through a naturally vegetated environment to explore whether they consistently follow the same route through the area or whether they use a range of routes to reach their goal. We use a model to distinguish and quantify these two possibilities and show that our observations are consistent with the use of multiple routes. Our model performs better than assuming uniform angular distribution of trajectories. The typical separation of the routes was found to be small (1.96 m), while the scale at which neighboring trajectories are informative to direction of travel was found to be large (with a confidence interval of (1.19, 26.4) m). Our observations are consistent with the hypothesis that zebra are able to navigate without having to return to previously used ro...
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Mechanically, the most economical gait for slow bipedal locomotion requires walking as an ‘inverted pendulum’, with: I, an impulsive, energy-dissipating leg compression at the beginning of stance; II, a stiff-limbed vault; and III, an... more
Mechanically, the most economical gait for slow bipedal locomotion requires walking as an ‘inverted pendulum’, with: I, an impulsive, energy-dissipating leg compression at the beginning of stance; II, a stiff-limbed vault; and III, an impulsive, powering push-off at the end of stance. The characteristic ‘M’-shaped vertical ground reaction forces of walking in humans reflect this impulse–vault–impulse strategy. Humans achieve this gait by dissipating energy during the heel-to-sole transition in early stance, approximately stiff-limbed, flat-footed vaulting over midstance and ankle plantarflexion (powering the toes down) in late stance. Here, we show that the ‘M’-shaped walking ground reaction force profile does not require the plantigrade human foot or heel–sole–toe stance; it is maintained in tip–toe and high-heel walking as well as in ostriches. However, the unusual, stiff, human foot structure—with ground-contacting heel behind ankle and toes in front—enables both mechanically eco...
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We report on experiments concerning unsteady effects in flapping flight, conducted in the low-speed wind tunnel of the TU Darmstadt using a mechanical flapping-wing model. Particle Image Velocimetry (PIV) was used for qualitative and... more
We report on experiments concerning unsteady effects in flapping flight, conducted in the low-speed wind tunnel of the TU Darmstadt using a mechanical flapping-wing model. Particle Image Velocimetry (PIV) was used for qualitative and quantitative analysis parallel and perpendicular to the flow field. A sensitivity analysis of the main flight parameters has been performed, with specific attention to the flight
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We report on experiments concerning the wake structure and kinematics of bat flight, conducted in a low-speed wind tunnel using time-resolved PIV (200Hz) and 4 high-speed cameras to capture wake and wing motion simultaneously. 16 Lesser... more
We report on experiments concerning the wake structure and kinematics of bat flight, conducted in a low-speed wind tunnel using time-resolved PIV (200Hz) and 4 high-speed cameras to capture wake and wing motion simultaneously. 16 Lesser dog-faced fruit bats (C. brachyotis) were trained to fly in the wind tunnel at 3-6.5m/s. The PIV recordings perpendicular to the flow stream allowed
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Flight kinematics and morphology differ greatly between the approx. 1200 bat species and the goal of our project is to understand how these differences affect the flight mechanisms, the generation of aerodynamic forces, and the resultant... more
Flight kinematics and morphology differ greatly between the approx. 1200 bat species and the goal of our project is to understand how these differences affect the flight mechanisms, the generation of aerodynamic forces, and the resultant wake structures. Multiple individuals of three diverse species of bat were flown in the wind tunnel. The three species have different morphology, wing aspect
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Abstract We present a visual exploration tool that facilitates biologists navigating through complex bat wing geometry by combining a novel modeling method and an interactive visualization approach. Our work contributes to the following:... more
Abstract We present a visual exploration tool that facilitates biologists navigating through complex bat wing geometry by combining a novel modeling method and an interactive visualization approach. Our work contributes to the following: a new method to quantify the dynamic kinematics during flight, a new curve fitting method that measures camber, and a new tool for time-varying data visualization for biological knowledge discovery.