Flying insects have evolved sophisticated sensory–motor systems, and here we argue that such systems are used to keep upright against intrinsic flight instabilities. We describe a theory that predicts the instability growth rate in body pitch from flapping-wing aerodynamics and reveals two ways of achieving balanced flight: active control with sufficiently rapid reactions and passive stabilization with high body drag. By glueing magnets to fruit flies and perturbing their flight using magnetic impulses, we show that these insects employ active control that is indeed fast relative to the instability. Moreover, we find that fruit flies with their control sensors disabled can keep upright if high-drag fibres are also attached to their bodies, an observation consistent with our prediction for the passive stability condition. Finally, we extend this framework to unify the control strategies used by hovering animals and also furnish criteria for achieving pitch stability in flapping-wing robots.

Abstract-In urban vehicular networks, where privacy, especially the location privacy of anonymous vehicles is highly concerned, anonymous verification of vehicles is indispensable. Consequently, an attacker who succeeds in forging multiple hostile identifies can easily launch a Sybil attack, gaining a disproportionately large influence. In this paper, we propose a novel Sybil attack detection mechanism, Footprint, using the trajectories of vehicles for identification while still preserving their location privacy. More specifically, when a vehicle approaches a road-side unit (RSU), it actively demands an authorized message from the RSU as the proof of the appearance time at this RSU. We design a location-hidden authorized message generation scheme for two objectives: first, RSU signatures on messages are signer ambiguous so that the RSU location information is concealed from the resulted authorized message; second, two authorized messages signed by the same RSU within the same given period of time (temporarily linkable) are recognizable so that they can be used for identification. With the temporal limitation on the linkability of two authorized messages, authorized messages used for long-term identification are prohibited. With this scheme, vehicles can generate a location-hidden trajectory for location-privacy-preserved identification by collecting a consecutive series of authorized messages. Utilizing social relationship among trajectories according to the similarity definition of two trajectories, Footprint can recognize and therefore dismiss "communities" of Sybil trajectories. Rigorous security analysis and extensive trace-driven simulations demonstrate the efficacy of Footprint.

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A maple seed falls in a characteristic helical motion. A crude analogy with autorotation of a wind turbine suggests that the torque due to the aerodynamic force would initiate the gyration of the seed. We were therefore surprised that a seed with a torn wing gyrates in a similar manner as a full-winged seed. In fact, a seed with only a sliver of leading edge can still gyrate. Thus the gyrating motion appears not to fully depend on the aerodynamic force. If, on the other hand, the aerodynamic force is completely absent, a seed would fall from rest like a rock in a vacuum.To investigate how the seed reaches its steady helical motion, we use a high-speed digital camera to film the intact and cut seeds at 1000 Hz. With a mirror, the camera records two views simultaneously so that we can extract the 3D kinematics of the wing. We tracked the centre of mass and quantified the descending speed, the azimuthal rotation, and the cone angle for seeds with wings of different shapes. We found that the initial transition from rest to a steady gyration occurs in three steps: a tumble about the span-wise direction, followed by a tilt towards the vertical axis, leading to the gyration about the vertical axis and an opening of the cone angle before settling into a steady state. We offer a new explanation for the cause of the auto-gyration that accounts for these three stages.

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