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Fig. 10. (A) Geometrical angle of attack of the robotic wing as measured from the DPIV images. The time values correspond to the time section before (negative values) or after (positive values) the clap occurs (gray line). The small jitter in angular wing position might be due to mechanical play within the robotic wing hinge. Rate of change in geometrical angle of attack during fling phase amounts to approximately 74 deg. s–1 (linear regression fit, y=87.1–74.1x). (B) Rotational coefficient for LEV circulation during fling using Lighthill (1973)'s analytical model for inviscid flow conditions. The function g({theta}) is equal to LEV circulation normalized to angular speed of wing rotation and wing chord. Color coding of the data points corresponds to the five different layers used for the DPIV measurements (see pictogram). (C) Mean values for the rotational coefficient g({theta}) (black), calculated from the five DPIV layers as shown in B. Analytical function modeling inviscid flow conditions during the clap-and-fling kinematics of the parasitic wasp Encarsia formosa is plotted in blue (replotted from Lighthill, 1973). See Materials and methods for more details.





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