Table Of ContentThe Biokinetics of Flying
and Swimming
Second Edition
“fm” — 2006/2/18 — page i — #1
This page intentionally left blank
The Biokinetics of Flying
and Swimming
Second Edition
AkiraAzuma
ProfessorEmeritusoftheUniversityofTokyo
37-3Miyako-cho,
Saiwai-ku,Kawasaki,Kanagawa-prefecture
212-0021Japan
EDUCATIONSERIES
JosephA.Schetz
SeriesEditor-in-Chief
VirginiaPolytechnicInstituteandStateUniversity
Blacksburg,Virginia
Publishedby
AmericanInstituteofAeronauticsandAstronautics,Inc.
1801AlexanderBellDrive,Reston,VA20191
“fm” — 2006/2/18 — page iii — #3
AmericanInstituteofAeronauticsandAstronautics,Inc.,Reston,Virginia
1 2 3 4 5
LibraryofCongressCataloging-in-PublicationDataonFile
Copyright©2006bytheAmericanInstituteofAeronauticsandAstronautics,Inc.Allrightsreserved.
PrintedintheUnitedStates.Nopartofthispublicationmaybereproduced,distributed,ortransmitted,
inanyformorbyanymeans, orstoredinadatabaseorretrievalsystem, withoutthepriorwritten
permissionofthepublisher.
1-56347-781-5
Dataandinformationappearinginthisbookareforinformationpurposesonly.AIAAisnotresponsible
foranyinjuryordamageresultingfromuseorreliance,nordoesAIAAwarrantthatuseorreliance
willbefreefromprivatelyownedrights.
“fm” — 2006/2/18 — page iv — #4
AIAAEducationSeries
Editor-in-Chief
JosephA.Schetz
VirginiaPolytechnicInstituteandStateUniversity
EditorialBoard
TakahiraAoki RakeshK.Kapania
UniversityofTokyo VirginiaPolytechnicInstituteand
StateUniversity
EdwardW.Ashford
KarenD.Barker BrianLandrum
TheBraheCorporation UniversityofAlabama,Huntsville
RobertH.Bishop TimC.Lieuwen
UniversityofTexasatAustin GeorgiaInstituteofTechnology
ClaudioBruno
UniversityofRome MichaelMohaghegh
TheBoeingCompany
AaronR.Byerley
U.S.AirForceAcademy ConradF.Newberry
NavalPostgraduateSchool
RichardColgren
UniversityofKansas
MarkA.Price
KajalK.Gupta Queen’sUniversityBelfast
NASADrydenFlight
ResearchCenter
JamesM.Rankin
OhioUniversity
RikardB.Heslehurst
AustralianDefenceForceAcademy
DavidK.Schmidt
DavidK.Holger UniversityofColorado,
IowaStateUniversity ColoradoSprings
DavidM.VanWie
JohnsHopkinsUniversity
“fm” — 2006/2/18 — page v — #5
This page intentionally left blank
Foreword
WeareverypleasedtopresentthesecondeditionofTheBiokineticsofFlyingand
SwimmingbyProfessorAkiraAzuma.Theoriginalbookwaspublishedin1992and
isacomprehensiveandin-depthtreatmentofthesefascinatingtopics.Itattracted
suchanavidreadershipthatitquicklysoldout,andonecouldscarcelyfindused
copiesevenonthebestinternetusedbookWebsites.Thisneweditionhasupdated
thematerialandexpandedthecoverage,andweanticipatethatitwillbeequally
well or even better received. This edition has eight chapters and more than 500
pages.TherecentgreatlyincreasedinterestinUAVsandunderwaterautonomous
vehiclesexpandstheapplicationsofthistopicfarbeyondnaturalphenomena.
ProfessorAzumaisuniquelyqualifiedtowritethisbook,becauseofhisbroad
expertiseinthearea.Hiscommandofthematerialisexcellent,andheisableto
organizeandpresentitinaveryclearmanner.
TheAIAA Education Book Series aims to cover a very broad range of topics
in the general aerospace field, including basic theory, applications, and design.
Information about the complete list of titles can be found on the last pages of
this volume. The philosophy of the series is to develop textbooks that can be
usedinauniversitysetting,asinstructionalmaterialsforcontinuingeducationand
professionaldevelopmentcourses,andalsoasbooksthatcanserveasthebasisfor
independentstudy.Suggestionsfornewtopicsorauthorsarealwayswelcome.
JosephA.Schetz
Editor-in-Chief
AIAAEducationBookSeries
vii
“fm” — 2006/2/18 — page vii — #7
This page intentionally left blank
Table of Contents
Preface........................................................................... xi
PrefacetoAIAAEdition....................................................... xv
Nomenclature................................................................... xvii
1. Introduction ............................................................... 1
1.1 FormandLocomotion ............................................. 1
1.2 DynamicSimilarity ................................................ 6
2. Dragging,Floating,andJumping ....................................... 15
2.1 TerminalSpeedofFree-FallingBodies........................... 15
2.2 DriftinginAir ...................................................... 18
2.3 DriftinginWater ................................................... 22
2.4 JumpingandFreeFalling.......................................... 25
3. FlightbyGliding .......................................................... 33
3.1 WingCharacteristics............................................... 33
3.2 FlightinBirds...................................................... 42
3.3 WindEffectsonGlidingFlight.................................... 61
3.4 AuxiliaryDevices .................................................. 72
3.5 OtherFormsofGlidingFlight..................................... 78
3.6 RotarySeeds........................................................ 104
4. FlightbyBeating.......................................................... 123
4.1 PoweredFlight ..................................................... 123
4.2 FlightinBirds...................................................... 149
4.3 Power-SavingFlight ............................................... 181
4.4 FlightinInsects .................................................... 200
4.5 FlightMechanicsinInsects........................................ 221
4.6 StatisticalDataonWings.......................................... 259
4.7 Human-PoweredFlight ............................................ 262
5. SwimmingbySnaking.................................................... 277
5.1 Micro-andMedium-SizedElongateOrganisms.................. 277
5.2 UndulatoryMotionofaLargeElongateBody.................... 294
ix
“fm” — 2006/2/18 — page ix — #9
