Center of mass motion in swimming fish: effects of speed and locomotor mode during undulatory propulsion

Swimming kinematics of rainbow trout behind cylinder arrays: the effect of vortex street periodicity and turbulence kinetic energy

Fish in the wild often contend with complex flows that are produced by natural and artificial structures. Research into fish interactions with turbulence often investigates metrics such as turbulence kinetic energy (TKE) or fish positional location, with less attention paid to the specific interactions between vortex organization and body swimming kinematics. Here we compare the swimming kinematics of rainbow trout ( Oncorhynchus mykiss ) holding station in flows produced by two different 3 x 5 cylinder arrays. We systematically utilized computational fluid dynamics to generate one array that produced a Kármán vortex street with high vortex periodicity and TKE (KVS array), and another that produced low periodicity and TKE, similar to a parallel vortex street (PVS array). The only difference in swimming kinematics between cylinder arrays was an increased tail beat amplitude in the KVS array. In both cylinder arrays, the tail beat frequency decreased and snout amplitude increased compared with the freestream. The center of mass amplitude was greater in the PVS array than in only the freestream, however, suggesting some buffeting of the body by the fluid. Notably, we did not observe Kármán gaiting in the KVS array as in previous studies. We hypothesize that this is because (1) vorticity was dissipated in the region where fish held station in this study and (2) cylinder arrays produced vortices that were in-line rather than staggered. These results are the first to quantify the kinematics and behavior of fishes swimming in the wake of multiple cylinder arrays, which has important implications for biomechanics, fluid dynamics, and fisheries management.

SUMMARY STATEMENT

The swimming kinematics of rainbow trout are largely preserved across two, 3 x 5 cylinder array treatments that differed in vortex periodicity and turbulence kinetic energy.

How Free Swimming Fosters the Locomotion of a Purely Oscillating Fish-like Body

The recoil motions in free swimming, given by lateral and angular rigid motions due to the interaction with the surrounding water, are of great importance for a correct evaluation of both the forward locomotion speed and efficiency of a fish-like body. Their contribution is essential for calculating the actual movements of the body rear end whose prominent influence on the generation of the proper body deformation was established a long time ago. In particular, the recoil motions are found here to promote a dramatic improvement of the performance when damaged fishes, namely for a partial functionality of the tail or even for its complete loss, are considered. In fact, the body deformation, which turns out to become oscillating and symmetric in the extreme case, is shown to recover in the water frame a kind of undulation leading to a certain locomotion speed though at the expense of a large energy consumption. There has been a deep interest in the subject since the infancy of swimming studies, and a revival has recently arisen for biomimetic applications to robotic fish-like bodies. We intend here to apply a theoretical impulse model to the oscillating fish in free swimming as a suitable test case to strengthen our belief in the beneficial effects of the recoil motions. At the same time, we intend to exploit the linearity of the model to detect from the numerical simulations the intrinsic physical reasons related to added mass and vorticity release behind the experimental observations.

Fish peduncle response during forward and backward propulsion

Fish is the master of fluid control, with high propulsive efficiency and great maneuverability. Carps are chosen for observations since they are the typical carangiform fish. We add some external stimuli on the fish and observe their responses. It is found that a fish attempts to escape backward or forward depending on the stimuli. The fish tries a greater number of its tail oscillations in a forward escape than in a backward escape. In the case of a forward escape, the retract stroke where the tail gets a concave shape (suitable for higher thrust generation) is faster than the forward stroke where the tail takes a convex shape (suitable for smaller drag), while vice versa in the case of a backward escape. Becoming concave or convex shapes of the tail and being faster or slower strokes all correspond to enhancing fluid momentum in the forward or backward directions where appropriate. The traveling wave of the body propagates backward and forward for the forward and backward escapes, respectively. The results provide a reference for bionic fish design and simulation.

Swimming behavior and hydrodynamics of the Chinese cavefish Sinocyclocheilus rhinocerous and a possible role of its head horn structure

The blind troglobite cavefish Sinocyclocheilus rhinocerous lives in oligotrophic, phreatic subterranean waters and possesses a unique cranial morphology including a pronounced supra-occipital horn. We used a combined approach of laboratory observations and Computational Fluid Dynamics modeling to characterize the swimming behavior and other hydrodynamic aspects, i.e., drag coefficients and lateral line sensing distance of S. rhinocerous. Motion capture and tracking based on an Artificial Neural Network, complemented by a Particle Image Velocimetry system to map out water velocity fields, were utilized to analyze the motion of a live specimen in a laboratory aquarium. Computational Fluid Dynamics simulations on flow fields and pressure fields, based on digital models of S. rhinocerous, were also performed. These simulations were compared to analogous simulations employing models of the sympatric, large-eyed troglophile cavefish S. angustiporus. Features of the cavefish swimming behavior deduced from the both live-specimen experiments and simulations included average swimming velocities and three dimensional trajectories, estimates for drag coefficients and potential lateral line sensing distances, and mapping of the flow field around the fish. As expected, typical S. rhinocerous swimming speeds were relatively slow. The lateral line sensing distance was approximately 0.25 body lengths, which may explain the observation that specimen introduced to a new environment tend to swim parallel and near to the walls. Three-dimensional simulations demonstrate that just upstream from the region under the supra-occipital horn the equipotential of the water pressure and velocity fields are nearly vertical. Results support the hypothesis that the conspicuous cranial horn of S. rhinocerous may lead to greater stimulus of the lateral line compared to fish that do not possess such morphology.

Fin-fin interactions during locomotion in a simplified biomimetic fish model

Fish median fins are extremely diverse, but their function is not yet fully understood. Various biological studies on fish and engineering studies on flapping foils have revealed that there are hydrodynamic interactions between fins arranged in tandem and that these interactions can lead to improved performance by the posterior fin. This performance improvement is often driven by the augmentation of a leading-edge vortex on the trailing fin. Past experimental studies have necessarily simplified fish anatomy to enable more detailed engineering analyses, but such simplifications then do not capture the complexities of an undulating fish-like body with fins attached. We present a flexible fish-like robotic model that better represents the kinematics of swimming fishes while still being simple enough to examine a range of morphologies and motion patterns. We then create statistical models that predict the individual effects of each kinematic and morphological variable. Our results demonstrate that having fins arranged in tandem on an undulating body can lead to more steady production of thrust forces determined by the distance between the fins and their relative motion. We find that these same variables also affect swimming speed. Specifically, when swimming at high frequencies, self-propelled speed decreases by 12%-26% due to out of phase fin motion. Flow visualization reveals that variation within this range is caused in part by fin-fin flow interactions that affect leading edge vortices. Our results indicate that undulatory swimmers should optimize both the positioning and relative motion of their median fins in order to reduce force oscillations and improve overall performance while swimming.

Tunabot Flex: a tuna-inspired robot with body flexibility improves high-performance swimming

Tunas are flexible, high-performance open ocean swimmers that operate at high frequencies to achieve high swimming speeds. Most fish-like robotic systems operate at low frequencies (≤3 Hz) resulting in low swim speeds (≤1.5 body lengths per second), and the cost of transport (COT) is often one to four orders of magnitude higher than that of tunas. Furthermore, the impact of body flexibility on high-performance fish swimming remains unknown. Here we design and test a research platform based on yellowfin tuna (Thunnus albacares) to investigate the role of body flexibility and to close the performance gap between robotic and biological systems. This single-motor platform, termed Tunabot Flex, measures 25.5 cm in length. Flexibility is varied through joints in the tail to produce three tested configurations. We find that increasing body flexibility improves self-propelled swimming speeds on average by 0.5 body lengths per second while reducing the minimum COT by 53%. The most flexible configuration swims 4.60 body lengths per second with a tail beat frequency of 8.0 Hz and a COT measuring 18.4 J kg^-1m^-1. We then compare these results in addition to the midline kinematics, stride length, and Strouhal number with yellowfin tuna data. The COT of Tunabot Flex's most flexible configuration is less than a half-order of magnitude greater than that of yellowfin tuna across all tested speeds. Tunabot Flex provides a new baseline for the development of future bio-inspired underwater vehicles that aim to explore a fish-like, high-performance space and close the gap between engineered robotic systems and fish swimming ability.

Individual Repeatability of Locomotor Kinematics and Swimming Performance in a Gymnotiform Swimmer

AbstractGymnotiform swimming is a specialized form of swimming wherein thrust is produced by the ribbonlike motion of an elongate anal fin, while the body is held relatively stiff. This form of swimming has been extensively examined in relation to the biomechanics of thrust production, the kinematics of the anal fin, and neuromuscular control, whereas few studies have examined whole-animal performance parameters of this swimming mode. The goals of this research were to (1) assess the maximum abilities and repeatability of two swimming performance measures, sprinting and prolonged swimming, which would indicate that these performance measures in a gymnotiform swimmer may be a target for selection, similar to body-caudal fin-swimming fish; (2) examine how a gymnotiform swimmer modulates swimming speed; and (3) determine whether modulatory behavior is consistent across different-sized fish and within individuals across time. Sprinting and prolonged swimming were examined in black ghost knifefish (Apteronotus albifrons; N=15), multiple times on the same day, and were measured again 4 wk later. Sprinting ability was measured by chasing a fish down a photocell-lined racetrack and obtaining the fastest speed between any 8-cm span. Prolonged swimming abilities were measured in a constant acceleration test (U_cat) in a Brett-style swim tunnel by measuring the maximum speed the fish could attain against a steadily increasing water velocity. We determined frequency, wavelength, and amplitude of the anal fin sine wave in fish swimming at different speeds during the U_cat trials. We found repeatable measures of sprint speed and U_cat performance over short (day) and medium (4 wk) time periods for both tests. Neither sprint nor U_cat performance was significantly dependent on size, suggesting that the primary driver of performance variation was individual differences in physiology. Most modulation of swimming speed occurred through changes in the frequency of the wave train processing down the anal fin, with only modest changes to the wavelength and minimal changes to amplitude. Finally, we compare our measures of swimming performance in this gymnotiform swimmer to published values of body-caudal fin swimmers to demonstrate that this form of locomotion results in comparable sprint and constant-acceleration values.

Fish-like aquatic propulsion studied using a pneumatically-actuated soft-robotic model

Fish locomotion is characterized by waves of muscle electrical activity that proceed from head to tail, and result in an undulatory pattern of body bending that generates thrust during locomotion. Isolating the effects of parameters like body stiffness, co-activation between the right and left sides of the body, and frequency on thrust generation has proven to be difficult in live fishes. We use a pneumatically-actuated fish-like model to investigate how these parameters affect locomotor force generation. We measure thrust as well as side forces and torques generated during propulsion. Using a statistical linear model we examine the effects of input parameter combinations on thrust generation. We show that both stiffness and frequency substantially affect swimming kinematics, and that there are complex interactive effects of these two parameters on thrust. The stiffer the backbone the more impact that increasing frequency has on thrust production. For stiffer models, increasing frequency resulted in higher values for both thrust and lateral forces. Large side forces reduce swimming efficiency but this effect could be mitigated by decreasing undulatory wavelength and allowing appropriate phasing of left and right body movements to reduce amplitudes of side force.

Kinematic integration during prey capture varies among individuals but not ecological contexts in bluegill sunfish, Lepomis macrochirus (Perciformes: Centrarchidae)

The general ability of components of an organism to work together to achieve a common goal has been termed integration and is often studied empirically by deconstructing organisms into component parts and quantifying covariation between them. Kinematic traits describing movement are useful for allowing organisms to respond to ecological contexts that vary over short time spans (milliseconds, minutes, etc.). Integration of these traits can contribute to the maintenance of the function of the whole organism, but it is unclear how modulation of component kinematic traits affects their integration. We examined the integration of swimming and feeding during capture of alternative prey types in bluegill sunfish (Lepomis macrochirus). Despite the expected modulation of kinematics, integration within individuals was inflexible across prey types, suggesting functional redundancy for solving a broad constraint. However, integration was variable among individuals, suggesting that individuals vary in their solutions for achieving whole-organism function and that this solution acts as a ‘top-down’ regulator of component traits, which provides insight into why kinematic variation is observed. Additionally, variation in kinematic integration among individuals could serve as an understudied target of environmental selection on prey capture, which is a necessary first step towards the observed divergence in integration among populations and species.

Hydrodynamics of linear acceleration in bluegill sunfish, Lepomis macrochirus

In their natural habitat, fish rarely swim steadily. Instead they frequently accelerate and decelerate. Relatively little is known about how fish produce extra force for acceleration in routine swimming behavior. In this study, we examined the flow around bluegill sunfish Lepomis macrochirus during steady swimming and during forward acceleration, starting at a range of initial swimming speeds. We found that bluegill produce vortices with higher circulation during acceleration, indicating a higher force per tail beat, but they do not substantially redirect the force. We quantified the flow patterns using high speed video and particle image velocimetry and measured acceleration with small inertial measurement units attached to each fish. Even in steady tail beats, the fish accelerates slightly during each tail beat, and the magnitude of the acceleration varies. In steady tail beats, however, a high acceleration is followed by a lower acceleration or a deceleration, so that the swimming speed is maintained; in unsteady tail beats, the fish maintains the acceleration over several tail beats, so that the swimming speed increases. We can thus compare the wake and kinematics during single steady and unsteady tail beats that have the same peak acceleration. During unsteady tail beats when the fish accelerates forward for several tail beats, the wake vortex forces are much higher than those at the same acceleration during single tail beats in steady swimming. The fish also undulates its body at higher amplitude and frequency during unsteady tail beats. These kinematic changes likely increase the fluid dynamic added mass of the body, increasing the forces required to sustain acceleration over several tail beats. The high amplitude and high frequency movements are also likely required to generate the higher forces needed for acceleration. Thus, it appears that bluegill sunfish face a trade-off during acceleration: the body movements required for acceleration also make it harder to accelerate.

Swimming performance of a bio-inspired robotic vessel with undulating fin propulsion

Undulatory fin propulsion exhibits a high degree of maneuver control-an ideal feature for underwater vessels exploring complex environments. In this work, we developed and tested a self-contained, free-swimming robot with a single undulating fin running along the length of the robot, which controls both forward motion and directional maneuvers. We successfully replicated several maneuvers including forward swimming, reversed motion, diving, station-keeping and vertical swimming. For each maneuver, a series of experiments was performed as a function of fin frequency, wavelength and traveling wave direction to measure swimming velocities, orientation angles and mean power consumption. In addition, 3D flow fields were measured during forward swimming and station-keeping using volumetric particle image velocimetry (PIV). The efficiency for forward swimming was compared using three metrics: cost of transport, wave efficiency and Strouhal number (St). The results indicate that the cost of transport exhibits a V-shape trend with the minimum value at low swimming velocity. The robot reaches optimal wave efficiency and locomotor performance at a range of 0.2-0.4 St. Volumetric PIV data reveal the shed of vortex tubes generated by the fin during forward swimming and station keeping. For forward swimming, a series of vortex tubes are shed off the fin edge with a lateral and downward direction with respect to the longitudinal axis of the fin. For station keeping, flow measurements suggest that the vortex tubes are shed at the mid-section of the fin while the posterior and anterior segment of the vortex stay attached to the fin. These results agree with the previous vortex structures based on simulations and 2D PIV. The development of this vessel with high maneuverability and station keeping performance has applications for oceanography, coastal exploration, defense, the oil industry and other marine industries where operations are unsafe or impractical for divers or human-piloted vessels.

Dynamics and locomotion of flexible foils in a frictional environment

Over the past few decades, oscillating flexible foils have been used to study the physics of organismal propulsion in different fluid environments. Here, we extend this work to a study of flexible foils in a frictional environment. When the foil is oscillated by heaving at one end but is not free to locomote, the dynamics change from periodic to non-periodic and chaotic as the heaving amplitude increases or the bending rigidity decreases. For friction coefficients lying in a certain range, the transition passes through a sequence of N-periodic and asymmetric states before reaching chaotic dynamics. Resonant peaks are damped and shifted by friction and large heaving amplitudes, leading to bistable states. When the foil is free to locomote, the horizontal motion smoothes the resonant behaviours. For moderate frictional coefficients, steady but slow locomotion is obtained. For large transverse friction and small tangential friction corresponding to wheeled snake robots, faster locomotion is obtained. Travelling wave motions arise spontaneously, and move with horizontal speeds that scale as transverse friction coefficient to the power 1/4 and input power that scales as the transverse friction coefficient to the power 5/12. These scalings are consistent with a boundary layer form of the solutions near the foil's leading edge.

Biomechanics of swimming in developing larval fish

Most larvae of bony fish are able to swim almost immediately after hatching. Their locomotory system supports several vital functions: fish larvae make fast manoeuvres to escape from predators, aim accurately during suction feeding and may migrate towards suitable future habitats. Owing to their small size and low swimming speed, larval fish operate in the intermediate hydrodynamic regime, which connects the viscous and inertial flow regimes. They experience relatively strong viscous effects at low swimming speeds, and relatively strong inertial effects at their highest speeds. As the larvae grow and increase swimming speed, a shift occurs towards the inertial flow regime. To compensate for size-related limitations on swimming speed, fish larvae exploit high tail beat frequencies at their highest speeds, made possible by their low body inertia and fast neuromuscular system. The shifts in flow regime and body inertia lead to changing functional demands on the locomotory system during larval growth. To reach the reproductive adult stage, the developing larvae need to adjust to and perform the functions necessary for survival. Just after hatching, many fish larvae rely on yolk and need to develop their feeding systems before the yolk is exhausted. Furthermore, the larvae need to develop and continuously adjust their sensory, neural and muscular systems to catch prey and avoid predation. This Review discusses the hydrodynamics of swimming in the intermediate flow regime, the changing functional demands on the locomotory system of the growing and developing larval fish, and the solutions that have evolved to accommodate these demands.

Turning characteristics of biomimetic robotic fish driven by two degrees of freedom of pectoral fins and flexible body/caudal fin

This article considers the turning characteristics of robotic fish with two-degree-of-freedom pectoral fins and flexible body/caudal fin. The hydrodynamics are first established for three cases propelled by both sides of pectoral fins, flexible body/caudal fin, and composite of them. Then, the turning characteristics of such three cases are analyzed by numerical simulations and experiments. The results show that if robotic fish is cooperatively propelled by pectoral fins and flexible body, it can obtain the fast turning speed and the average turning speed is up to 0.6 rad s−1. The smallest turning speed is achieved as robotic fish is only propelled by pectoral fins; however, it can turn on the spot in this case. The presented results provide the more abundant ways of turning, the better maneuverability, and the higher turning speed for the proposed robotic fish.

Archer fish jumping prey capture: kinematics and hydrodynamics

Smallscale archer fish, Toxotes microlepis, are best known for spitting jets of water to capture prey, but also hunt by jumping out of the water to heights of up to 2.5 body lengths. In this study, high-speed imaging and particle image velocimetry were used to characterize the kinematics and hydrodynamics of this jumping behavior. Jumping used a set of kinematics distinct from those of in-water feeding strikes and was segmented into three phases: (1) hovering to sight prey at the surface, (2) rapid upward thrust production and (3) gliding to the prey once out of the water. The number of propulsive tail strokes positively correlated with the height of the bait, as did the peak body velocity observed during a jump. During the gliding stage, the fish traveled ballistically; the kinetic energy when the fish left the water balanced with the change in potential energy from water exit to the maximum jump height. The ballistic estimate of the mechanical energy required to jump was comparable with the estimated mechanical energy requirements of spitting a jet with sufficient momentum to down prey and subsequently pursuing the prey in water. Particle image velocimetry showed that, in addition to the caudal fin, the wakes of the anal, pectoral and dorsal fins were of nontrivial strength, especially at the onset of thrust production. During jump initiation, these fins were used to produce as much vertical acceleration as possible given the spatial constraint of starting directly at the water's surface to aim.

Morphometric comparisons of plant-mimetic juvenile fish associated with plant debris observed in the coastal subtropical waters around Kuchierabu-jima Island, southern Japan

The general morphological shape of plant-resembling fish and plant parts were compared using a geometric morphometrics approach. Three plant-mimetic fish species, Lobotes surinamensis (Lobotidae), Platax orbicularis (Ephippidae) and Canthidermis maculata (Balistidae), were compared during their early developmental stages with accompanying plant debris (i.e., leaves of several taxa) in the coastal subtropical waters around Kuchierabu-jima Island, closely facing the Kuroshio Current. The degree of similarity shared between the plant parts and co-occurring fish species was quantified, however fish remained morphologically distinct from their plant models. Such similarities were corroborated by analysis of covariance and linear discriminant analysis, in which relative body areas of fish were strongly related to plant models. Our results strengthen the paradigm that morphological clues can lead to ecological evidence to allow predictions of behavioural and habitat choice by mimetic fish, according to the degree of similarity shared with their respective models. The resemblance to plant parts detected in the three fish species may provide fitness advantages via convergent evolutionary effects.

Hydrodynamics of a robotic fish tail: effects of the caudal peduncle, fin ray motions and the flow speed

Recent advances in understanding fish locomotion with robotic devices have included the use of biomimetic flapping based and fin undulatory locomotion based robots, treating two locomotions separately from each other. However, in most fish species, patterns of active movements of fins occur in concert with the body undulatory deformation during swimming. In this paper, we describe a biomimetic robotic caudal fin programmed with individually actuated fin rays to mimic the fin motion of the Bluegill Sunfish (Lepomis macrochirus) and coupled with heave and pitch oscillatory motions adding to the robot to mimic the peduncle motion which is derived from the undulatory fish body. Multiple-axis force and digital particle image velocimetry (DPIV) experiments from both the vertical and horizontal planes behind the robotic model were conducted under different motion programs and flow speeds. We found that both mean thrust and lift could be altered by changing the phase difference (φ) from 0° to 360° between the robotic caudal peduncle and the fin ray motion (spanning from 3 mN to 124 mN). Notably, DPIV results demonstrated that the caudal fin generated multiple wake flow patterns in both the vertical and horizontal planes by varying φ. Vortex jet angle and thrust impulse also varied significantly both in these two planes. In addition, the vortex shedding position along the spanwise tail direction could be shifted around the mid-sagittal position between the upper and lower lobes by changing the phase difference. We hypothesize that the fish caudal fin may serve as a flexible vectoring propeller during swimming and may be critical for the high maneuverability of fish.

Automated Reconstruction of Three-Dimensional Fish Motion, Forces, and Torques

Fish can move freely through the water column and make complex three-dimensional motions to explore their environment, escape or feed. Nevertheless, the majority of swimming studies is currently limited to two-dimensional analyses. Accurate experimental quantification of changes in body shape, position and orientation (swimming kinematics) in three dimensions is therefore essential to advance biomechanical research of fish swimming. Here, we present a validated method that automatically tracks a swimming fish in three dimensions from multi-camera high-speed video. We use an optimisation procedure to fit a parameterised, morphology-based fish model to each set of video images. This results in a time sequence of position, orientation and body curvature. We post-process this data to derive additional kinematic parameters (e.g. velocities, accelerations) and propose an inverse-dynamics method to compute the resultant forces and torques during swimming. The presented method for quantifying 3D fish motion paves the way for future analyses of swimming biomechanics.

Stability versus Maneuvering: Challenges for Stability during Swimming by Fishes

Fishes are well known for their remarkable maneuverability and agility. Less visible is the continuous control of stability essential for the exploitation of the full range of aquatic resources. Perturbations to posture and trajectory arise from hydrostatic and hydrodynamic forces centered in a fish (intrinsic) and from the environment (extrinsic). Hydrostatic instabilities arise from vertical and horizontal separation of the centers of mass (CM) and of buoyancy, thereby creating perturbations in roll, yaw, and pitch, with largely neglected implications for behavioral ecology. Among various forms of hydrodynamic stability, the need for stability in the face of recoil forces from propulsors is close to universal. Destabilizing torques in body-caudal fin swimming is created by inertial and viscous forces through a propulsor beat. The recoil component is reduced, damped, and corrected in various ways, including kinematics, shape of the body and fins, and deployment of the fins. We postulate that control of the angle of orientation, θ, of the trailing edge is especially important in the evolution and lifestyles of fishes, but studies are few. Control of stability and maneuvering are reflected in accelerations around the CM. Accelerations for such motions may give insight into time-behavior patterns in the wild but cannot be used to determine the expenditure of energy by free-swimming fishes.

Not So Fast: Swimming Behavior of Sailfish during Predator-Prey Interactions using High-Speed Video and Accelerometry

Billfishes are considered among the fastest swimmers in the oceans. Despite early estimates of extremely high speeds, more recent work showed that these predators (e.g., blue marlin) spend most of their time swimming slowly, rarely exceeding 2 m s(-1). Predator-prey interactions provide a context within which one may expect maximal speeds both by predators and prey. Beyond speed, however, an important component determining the outcome of predator-prey encounters is unsteady swimming (i.e., turning and accelerating). Although large predators are faster than their small prey, the latter show higher performance in unsteady swimming. To contrast the evading behaviors of their highly maneuverable prey, sailfish and other large aquatic predators possess morphological adaptations, such as elongated bills, which can be moved more rapidly than the whole body itself, facilitating capture of the prey. Therefore, it is an open question whether such supposedly very fast swimmers do use high-speed bursts when feeding on evasive prey, in addition to using their bill for slashing prey. Here, we measured the swimming behavior of sailfish by using high-frequency accelerometry and high-speed video observations during predator-prey interactions. These measurements allowed analyses of tail beat frequencies to estimate swimming speeds. Our results suggest that sailfish burst at speeds of about 7 m s(-1) and do not exceed swimming speeds of 10 m s(-1) during predator-prey interactions. These speeds are much lower than previous estimates. In addition, the oscillations of the bill during swimming with, and without, extension of the dorsal fin (i.e., the sail) were measured. We suggest that extension of the dorsal fin may allow sailfish to improve the control of the bill and minimize its yaw, hence preventing disturbance of the prey. Therefore, sailfish, like other large predators, may rely mainly on accuracy of movement and the use of the extensions of their bodies, rather than resorting to top speeds when hunting evasive prey.

Passive mechanical models of fish caudal fins: effects of shape and stiffness on self-propulsion

Fishes are found in a great variety of body forms with tail shapes that vary from forked tuna-like tails to the square-shaped tails found in some deep-bodied species. Hydrodynamic theory suggests that a fish's body and tail shape affects undulatory swimming performance. For example, a narrow caudal peduncle is believed to reduce drag, and a tuna-like tail to increase thrust. Despite the prevalence of these assertions, there is no experimental verification of the hydrodynamic mechanisms that may confer advantages on specific forms. Here, we use a mechanically-actuated flapping foil model to study how two aspects of shape, caudal peduncle depth and presence or absence of a forked caudal fin, may affect different aspects of swimming performance. Four different foil shapes were each made of plastics of three different flexural stiffnesses, permitting us to study how shape might interact with stiffness to produce swimming performance. For each foil, we measured the self-propelling swimming speed. In addition, we measured the forces, torques, cost of transport and power coefficient of each foil swimming at its self-propelling speed. There was no single 'optimal' foil exhibiting the highest performance in all metrics, and for almost all measures of swimming performance, foil shape and flexural stiffness interacted in complicated ways. Particle image velocimetry of several foils suggested that stiffness might affect the relative phasing of the body trailing edge and the caudal fin leading edge, changing the flow incident to the tail, and affecting hydrodynamics of the entire foil. The results of this study of a simplified model of fish body and tail morphology suggest that considerable caution should be used when inferring a swimming performance advantage from body and tail shape alone.

Diverse anguilliform swimming kinematics in Pacific hagfish (Eptatretus stoutii) and Atlantic hagfish (Myxine glutinosa)

Anguilliform mode swimmers pass waves of lateral bending down their elongate bodies to propel forward. Hagfishes (Myxinidae) are classified as anguilliform swimmers, but their unique habits and reduced morphology—including a flexible body lacking a vertebral column—have the potential to translate into unique swimming behaviour within this broad classification. Their roles as active scavengers and hunters can require considerable bouts of swimming, yet quantitative data on hagfish locomotion are limited. Here, we aim to provide a more complete mechanistic understanding of hagfish swimming by quantifying whole-body kinematics of steady swimming in Pacific hagfish (Eptatretus stoutii (Lockington, 1878)) and Atlantic hagfish (Myxine glutinosa L., 1758), species from the two main lineages of Myxinidae. We analyzed high-speed video of hagfishes swimming at voluntary swim speeds and found that both species swim using high-amplitude undulatory waves. Swim speed is generally frequency-modulated, but patterns in wave speed, wavelength, and amplitude along the body and across swim speeds are variable, implying versatile mechanisms for the control of swim speed in these highly flexible fishes. We propose mechanistic explanations for this kinematic variability and compare hagfish with other elongate swimmers, demonstrating that the hagfish’s rich locomotory repertoire adds variety to the already diverse set of locomotory kinematics found in anguilliform swimmers.

Fish locomotion: recent advances and new directions

Research on fish locomotion has expanded greatly in recent years as new approaches have been brought to bear on a classical field of study. Detailed analyses of patterns of body and fin motion and the effects of these movements on water flow patterns have helped scientists understand the causes and effects of hydrodynamic patterns produced by swimming fish. Recent developments include the study of the center-of-mass motion of swimming fish and the use of volumetric imaging systems that allow three-dimensional instantaneous snapshots of wake flow patterns. The large numbers of swimming fish in the oceans and the vorticity present in fin and body wakes support the hypothesis that fish contribute significantly to the mixing of ocean waters. New developments in fish robotics have enhanced understanding of the physical principles underlying aquatic propulsion and allowed intriguing biological features, such as the structure of shark skin, to be studied in detail.