Halteres in the context of "Flies"

Dipteran morphology differs in some significant ways from the broader morphology of insects. The Diptera is a very large and diverse order of mostly small to medium-sized insects. They have prominent compound eyes on a mobile head, and (at most) one pair of functional, membraneous wings, which are attached to a complex mesothorax. The second pair of wings, on the metathorax, are reduced to halteres. The order's fundamental peculiarity is its remarkable specialization in terms of wing shape and the morpho-anatomical adaptation of the thorax – features which lend particular agility to its flying forms. The filiform, stylate or aristate antennae correlate with the Nematocera, Brachycera and Cyclorrhapha taxa respectively. It displays substantial morphological uniformity in lower taxa, especially at the level of genus or species. The configuration of integumental bristles is of fundamental importance in their taxonomy, as is wing venation. It displays a complete metamorphosis (egg, larva, pupa, adult), or holometabolous development. The larvae are legless, and have head capsules with mandibulate mouthparts in the Nematocera. The larvae of "higher flies" (Brachycera) are however headless and wormlike, and display only three instars. Pupae are obtect in the Nematocera, or coarcate in Brachycera.

A vibrating structure gyroscope (VSG), defined by the IEEE as a Coriolis vibratory gyroscope (CVG), is a gyroscope that uses a vibrating (as opposed to rotating) structure as its orientation reference. A vibrating structure gyroscope functions much like the halteres of flies (insects in the order Diptera).

The underlying physical principle is that a vibrating object tends to continue vibrating in the same plane even if its support rotates. The Coriolis effect causes the object to exert a force on its support, and by measuring this force the rate of rotation can be determined.