Surfing on Turbulence: A Strategy for Planktonic Navigation

Fish-inspired tracking of underwater turbulent plumes

Autonomous ocean-exploring vehicles have begun to take advantage of onboard sensor measurements of water properties such as salinity and temperature to locate oceanic features in real time. Such targeted sampling strategies enable more rapid study of ocean environments by actively steering towards areas of high scientific value. Inspired by the ability of aquatic animals to navigate via flow sensing, this work investigates hydrodynamic cues for accomplishing targeted sampling using a palm-sized robotic swimmer. As proof-of-concept analogy for tracking hydrothermal vent plumes in the ocean, the robot is tasked with locating the center of turbulent jet flows in a 13,000-liter water tank using data from onboard pressure sensors. To learn a navigation strategy, we first implemented RL on a simulated version of the robot navigating in proximity to turbulent jets. After training, the RL algorithm discovered an effective strategy for locating the jets by following transverse velocity gradients sensed by pressure sensors located on opposite sides of the robot. When implemented on the physical robot, this gradient following strategy enabled the robot to successfully locate the turbulent plumes at more than twice the rate of random searching. Additionally, we found that navigation performance improved as the distance between the pressure sensors increased, which can inform the design of distributed flow sensors in ocean robots. Our results demonstrate the effectiveness and limits of flow-based navigation for autonomously locating hydrodynamic features of interest.

A Life Outside

How do the morphologies of organisms affect their physical interactions with the environment and other organisms? My research in marine systems couples field studies of the physical habitats, life history strategies, and ecological interactions of organisms with laboratory analyses of their biomechanics. Here, I review how we pursued answers to three questions about marine organisms: (a) how benthic organisms withstand and utilize the water moving around them, (b) how the interaction between swimming and turbulent ambient water flow affects where small organisms go, and (c) how hairy appendages catch food and odors. I also discuss the importance of different types of mentors, the roadblocks for women in science when I started my career, the challenges and delights of interdisciplinary research, and my quest to understand how I see the world as a dyslexic.

Multisensory navigational strategies of hatchling fish for dispersal

Animals influence how they disperse in the environment by sensing local cues and adapting how they move. However, controlling dispersal can present a particular challenge early in life when animals tend to be more limited in their capacities to sense and move. To what extent and by what mechanisms can newly hatched fish control how they disperse? Here, we reveal hatchling sensorimotor mechanisms for controlling dispersal by combining swim tracking and precise sensory manipulations of a model species, zebrafish. In controlled laboratory experiments, if we physically constrained hatchlings or blocked sensations of motion through vision and the lateral line, hatchlings responded by elevating their buoyancy and passively moving with faster surface currents. Complementarily, in stagnant water, hatchlings covered more ground using hyperstable swimming, strongly orienting based on graviception. Using experimentally calibrated hydrodynamic simulations, we show that these hatchling behaviors nearly tripled diffusivity and made dispersal robust to local conditions, suggesting this multisensory strategy may provide important advantages for early life in a variable environment.