Body-induced vortical flows: a common mechanism for self-corrective trimming control in boxfishes

It Pays to Be Bumpy: Drag Reducing Armor in the Pacific Spiny Lumpsucker, Eumicrotremus orbis

Armor is a multipurpose set of structures that has evolved independently at least 30 times in fishes. In addition to providing protection, armor can manipulate flow, increase camouflage, and be sexually dimorphic. There are potential tradeoffs in armor function: increased impact resistance may come at the cost of maneuvering ability; and ornate armor may offer visual or protective advantages, but could incur excess drag. Pacific spiny lumpsuckers (Eumicrotremus orbis) are covered in rows of odontic, cone-shaped armor whorls, protecting the fish from wave driven impacts and the threat of predation. We are interested in measuring the effects of lumpsucker armor on the hydrodynamic forces on the fish. Bigger lumpsuckers have larger and more complex armor, which may incur a greater hydrodynamic cost. In addition to their protective armor, lumpsuckers have evolved a ventral adhesive disc, allowing them to remain stationary in their environment. We hypothesize a tradeoff between the armor and adhesion: little fish prioritize suction, while big fish prioritize protection. Using micro-CT, we compared armor volume to disc area over lumpsucker development and built 3D models to measure changes in drag over ontogeny. We found that drag and drag coefficients decrease with greater armor coverage and vary consistently with orientation. Adhesive disc area is isometric but safety factor increases with size, allowing larger fish to remain attached in higher flows than smaller fish.

Ontogeny of a tessellated surface: Carapace growth of the longhorn cowfish Lactoria cornuta

Biological armors derive their mechanical integrity in part from their geometric architectures, often involving tessellations: individual structural elements tiled together to form surface shells. The carapace of boxfish, for example, is composed of mineralized polygonal plates, called scutes, arranged in a complex geometric pattern and nearly completely encasing the body. In contrast to artificial armors, the boxfish exoskeleton grows with the fish; the relationship between the tessellation and the gross structure of the armor is therefore critical to sustained protection throughout growth. To clarify whether or how the boxfish tessellation is maintained or altered with age, we quantify architectural aspects of the tessellated carapace of the longhorn cowfish Lactoria cornuta through ontogeny (across nearly an order of magnitude in standard length) and in a high‐throughput fashion, using high‐resolution microCT data and segmentation algorithms to characterize the hundreds of scutes that cover each individual. We show that carapace growth is canalized with little variability across individuals: rather than continually adding scutes to enlarge the carapace surface, the number of scutes is surprisingly constant, with scutes increasing in volume, thickness, and especially width with age. As cowfish and their scutes grow, scutes become comparatively thinner, with the scutes at the edges (weak points in a boxy architecture) being some of the thickest and most reinforced in younger animals and thinning most slowly across ontogeny. In contrast, smaller scutes with more variable curvature were found in the limited areas of more complex topology (e.g., around fin insertions, mouth, and anus). Measurements of Gaussian and mean curvature illustrate that cowfish are essentially tessellated boxes throughout life: predominantly zero curvature surfaces comprised of mostly flat scutes, and with scutes with sharp bends used sparingly to form box edges. Since growth of a curved, tiled surface with a fixed number of tiles would require tile restructuring to accommodate the surface's changing radius of curvature, our results therefore illustrate a previously unappreciated advantage of the odd boxfish morphology: by having predominantly flat surfaces, it is the box‐like body form that in fact permits a relatively straightforward growth system of this tessellated architecture (i.e., where material is added to scute edges). Our characterization of the ontogeny and maintenance of the carapace tessellation provides insights into the potentially conflicting mechanical, geometric, and developmental constraints of this species but also perspectives into natural strategies for constructing mutable tiled architectures.

The carapace of boxfish is composed of mineralized polygonal plates, called scutes, arranged in a complex geometric pattern and nearly completely encasing the body. To clarify whether or how this armor is maintained or altered with age, we quantify architectural aspects of the carapace of the longhorn cowfish Lactoria cornuta through ontogeny, using high‐resolution microCT data and segmentation algorithms to characterize the hundreds of scutes that cover each individual.

Keels of boxfish carapaces strongly improve stabilization against roll

Boxfish (Ostraciidae) have peculiar body shapes, with conspicuous keels formed by their bony carapaces. Previous studies have proposed various hydrodynamic roles for these keels, including reducing drag during swimming, contributing to passive stabilization of the swimming course, or providing resistance against roll rotations. Here, we tested these hypotheses using computational fluid dynamics simulations of five species of Ostraciidae with a range of carapace shapes. The hydrodynamic performance of the original carapace surface models, obtained from laser scanning of museum specimens, was compared with models where the keels had been digitally reduced. The original carapaces showed no reduced drag or increased passive stability against pitch and yaw compared to the reduced-keel carapaces. However, consistently for all studied species, a strong increase in roll drag and roll-added mass was observed for the original carapaces compared to the reduced-keel carapaces, despite the relatively small differences in keel height. In particular, the damping of roll movement by resistive drag torques increased considerably by the presence of keels. Our results suggest that the shape of the boxfish carapace is important in enabling the observed roll-free forward swimming of boxfish and may facilitate the control of manoeuvres.

How much biology is in the product? Role and relevance of biological evolution and function for bio-inspired design

Bio-inspired design (BID) means the concept of transferring functional principles from biology to technology. The core idea driving BID-related work is that evolution has shaped functional attributes, which are termed “adaptations” in biology, to a high functional performance by relentless selective pressure. For current methods and tools, such as data bases, it is implicitly supposed that the considered biological models are adaptations and their functions already clarified. Often, however, the identification of adaptations and their functional features is a difficult task which is not yet accomplished for numerous biological structures, as happens to be the case also for various organismic features from which successful BID developments were derived. This appears to question the relevance of the much stressed importance of evolution for BID. While it is obviously possible to derive an attractive technical principle from an observed biological effect without knowing its original functionality, this kind of BID (“analog BID”) has no further ties to biology. In contrast, a BID based on an adaptation and its function (“homolog BID”) is deeply embedded in biology. It is suggested that a serious and honest clarification of the functional background of a biological structure is an essential first step in devising a BID project, to recognize possible problems and pitfalls as well as to evaluate the need for further biological analysis.

Learning hydrodynamic signatures through proprioceptive sensing by bioinspired swimmers

Objects moving in water or stationary objects in streams create a vortex wake. Such vortex wakes encode information about the objects and the flow conditions. Underwater robots that often function with constrained sensing capabilities can benefit from extracting this information from vortex wakes. Many species of fish do exactly this, by sensing flow features using their lateral lines as part of their multimodal sensing. To replicate such capabilities in robots, significant research has been devoted to developing artificial lateral line sensors that can be placed on the surface of a robot to detect pressure and velocity gradients. We advance an alternative view of embodied sensing in this paper; the kinematics of a swimmer's body in response to the hydrodynamic forcing by the vortex wake can encode information about the vortex wake. Here we show that using artificial neural networks that take the angular velocity of the body as input, fish-like swimmers can be trained to label vortex wakes which are hydrodynamic signatures of other moving bodies and thus acquire a capability to 'blindly' identify them.

Aracaniform Swimming: A Proposed New Category of Swimming Mode in Bony Fishes (Teleostei: Tetraodontiformes: Aracanidae)

The deepwater boxfishes of the family Aracanidae are the phylogenetic sister group of the shallow-water, generally more tropical boxfishes of the family Ostraciidae. Both families are among the most derived groups of teleosts. All members of both families have armored bodies, the forward 70% of which are enclosed in rigid bony boxes (carapaces). There is substantial intragroup variation in both groups in body shapes, sizes, and ornamentation of the carapaces. Swimming-related morphology, swimming mode, biomechanics, kinematics, and hydrodynamics have been studied in detail in multiple species of the ostraciids. Ostraciids are all relatively high-performance median and paired fin swimmers. They are highly maneuverable. They swim rectilinearly with substantial dynamic stability and efficiency. Aracanids have not been previously studied in these respects. This article describes swimming-related aspects of morphology, swimming modes, biomechanics, and kinematics in two south Australian species (striped cowfish and ornate cowfish) that are possibly representative of the entire group. These species differ morphologically in many respects, both from each other and from ostraciids. There are differences in numbers, sizes, and placements of keels on carapaces. The most important differences from ostraciids are openings in the posterior edges of the carapaces behind the dorsal and anal fins. The bases of those fins in ostraciids are enclosed in bone. The openings in aracanids free the fins and tail to move. As a result, aracanids are body and caudal fin swimmers. Their overall swimming performances are less stable, efficient, and effective. We propose establishing a new category of swimming mode for bony fishes called "aracaniform swimming."

Modulating yaw with an unstable rigid body and a course-stabilizing or steering caudal fin in the yellow boxfish (Ostracion cubicus)

Despite that boxfishes have a rigid carapace that restricts body undulation, they are highly manoeuvrable and manage to swim with remarkably dynamic stability. Recent research has indicated that the rigid body shape of boxfishes shows an inherently unstable response in its rotations caused by course-disturbing flows. Hence, any net stabilizing effect should come from the fishes' fins. The aim of the current study was to determine the effect of the surface area and orientation of the caudal fin on the yaw torque exerted on the yellow boxfish, Ostracion cubicus, a square cross-sectional shaped species of boxfish. Yaw torques quantified in a flow tank using a physical model with an attachable closed or open caudal fin at different body and tail angles and at different water flow speeds showed that the caudal fin is crucial for controlling yaw. These flow tank results were confirmed by computational fluid dynamics simulations. The caudal fin acts as both a course-stabilizer and rudder for the naturally unstable rigid body with regard to yaw. Boxfishes seem to use the interaction of the unstable body and active changes in the shape and orientation of the caudal fin to modulate manoeuvrability and stability.

Variation in Morphology and Kinematics Underlies Variation in Swimming Stability and Turning Performance in Freshwater Turtles

Among swimming animals, stable body designs often sacrifice performance in turning, and high turning performance may entail costs in stability. However, some rigid-bodied animals appear capable of both high stability and turning performance during swimming by propelling themselves with independently controlled structures that generate mutually opposing forces. Because such species have traditionally been studied in isolation, little is known about how variation within rigid-bodied designs might influence swimming performance. Turtles are a lineage of rigid-bodied animals, in which most species use contralateral limbs and mutually opposing forces to swim. We tested the stability and turning performance of two species of turtles, the pleurodire Emydura subglobosa and the cryptodire Chrysemys picta. Emydura subglobosa exhibited both greater stability and turning performance than C. picta, potentially through the use of subequally-sized (and larger) propulsive structures, faster limb movements, and decreased limb excursions. These data show how, within a given body design, combinations of different traits can serve as mechanisms to improve aspects of performance with competing functional demands.

Flow structure modifications by leading-edge tubercles on a 3D wing

Leading-edge tubercles on a humpback whale flipper are known to enhance its hydrodynamic performance at post-stall angles of attack (Miklosovic et al 2004 Phys. Fluids 16 39-42). We investigate vortical structures above a three-dimensional wing with tubercles using surface-oil-flow visualization and particle image velocimetry measurement. Two wing models with and without tubercles, previously studied by Miklosovic et al (2004 Phys. Fluids 16 39-42), are considered at the Reynolds number of 180 000 based on the free-stream velocity and mean chord length. At this Reynolds number, tubercles delay the stall angle by 7° and increase the maximum lift coefficient by about 22%. At a low angle of attack, flow separation first occurs near the tip region for both wing models. While flow separation rapidly progresses inboard (toward the wing root) for the model without tubercles with increasing angle of attack, tubercles produce two types of vortical motions and block the inboard progression of flow separation, resulting in delayed stall from α  =  8° to 15°. One of these two vortical structures is pairs of counter-rotating streamwise vortices evolving from hemi-spherical separation bubbles near the leading-edge troughs at pre-, near-, and post-stall angles of attack, and the other is asymmetric pairs of streamwise vortices evolving from separated flow regions after the mid-chord region at near-stall angle of attack. At a post-stall angle of attack (α  =  16°), strong clockwise and counter-clockwise streamwise vortices are generated from foci at the root and tip near the trailing edge, respectively, and delay flow separation in the mid-span, resulting in a higher lift coefficient than that without tubercles.

Control surfaces of aquatic vertebrates: active and passive design and function

Aquatic vertebrates display a variety of control surfaces that are used for propulsion, stabilization, trim and maneuvering. Control surfaces include paired and median fins in fishes, and flippers and flukes in secondarily aquatic tetrapods. These structures initially evolved from embryonic fin folds in fishes and have been modified into complex control surfaces in derived aquatic tetrapods. Control surfaces function both actively and passively to produce torque about the center of mass by the generation of either lift or drag, or both, and thus produce vector forces to effect rectilinear locomotion, trim control and maneuvers. In addition to fins and flippers, there are other structures that act as control surfaces and enhance functionality. The entire body can act as a control surface and generate lift for stability in destabilizing flow regimes. Furthermore, control surfaces can undergo active shape change to enhance their performance, and a number of features act as secondary control structures: leading edge tubercles, wing-like canards, multiple fins in series, finlets, keels and trailing edge structures. These modifications to control surface design can alter flow to increase lift, reduce drag and enhance thrust in the case of propulsive fin-based systems in fishes and marine mammals, and are particularly interesting subjects for future research and application to engineered systems. Here, we review how modifications to control surfaces can alter flow and increase hydrodynamic performance.

Artificial lateral line based local sensing between two adjacent robotic fish

The lateral line system (LLS) is a mechanoreceptive organ system with which fish and aquatic amphibians can effectively sense the surrounding flow field. The reverse Kármán vortex street (KVS), known to be a typical thrust-producing wake, is commonly observed in fish-like locomotion and is known to be generated by fish's tails. The vortex street generally reflects the motion information of the fish. A fish can use LLS to detect such vortex streets generated by its neighboring fish, thus sensing its own state and the states of its neighbors in a school of fish. Inspired by this typical biological phenomenon, we design a robotic fish with an onboard artificial lateral line system (ALLS) composed of pressure sensor arrays and use it to detect the reverse KVS-like vortex wake generated by its adjacent robotic fish. Specifically, the vortex wake results in hydrodynamic pressure variations (HPVs) in the flow field. By measuring the HPV using the ALLS and extracting meaningful information from the pressure sensor readings, the oscillating frequency/amplitude/offset of the adjacent robotic fish, the relative vertical distance and the relative yaw/pitch/roll angle between the robotic fish and its neighbor are sensed efficiently. This work investigates the hydrodynamic characteristics of the reverse KVS-like vortex wake using an ALLS. Furthermore, this work demonstrates the effectiveness and practicability of an artificial lateral line in local sensing for adjacent underwater robots, indicating the potential to improve close-range interaction and cooperation within a group of underwater vehicles through the application of ALLSs in the near future.

The armored carapace of the boxfish

The boxfish (Lactoria cornuta) has a carapace consisting of dermal scutes with a highly mineralized surface plate and a compliant collagen base. This carapace must provide effective protection against predators as it comes at the high cost of reduced mobility and speed. The mineralized hydroxyapatite plates, predominantly hexagonal in shape, are reinforced with raised struts that extend from the center toward the edges of each scute. Below the mineralized plates are non-mineralized collagen fibers arranged in through-the-thickness layers of ladder-like formations. At the interfaces between scutes, the mineralized plates form suture-like teeth structures below which the collagen fibers bridge the gap between neighboring scutes. These sutures are unlike most others as they have no bridging Sharpey's fibers and appear to add little mechanical strength to the overall carapace. It is proposed that the sutured interface either allows for accommodation of the changing pressures of the boxfish's ocean habitat or growth, which occurs without molting or shedding. In both tension and punch testing the mineralized sutures remain relatively intact while most failures occur within the collagen fibers, allowing for the individual scutes to maintain their integrity. This complex structure allows for elevated strength of the carapace through an increase in the stressed area when attacked by predators in both penetrating and crushing modes.

Boxfish swimming paradox resolved: forces by the flow of water around the body promote manoeuvrability

The shape of the carapace protecting the body of boxfishes has been attributed an important hydrodynamic role in drag reduction and in providing automatic, flow-direction realignment and is therefore used in bioinspired design of cars. However, tight swimming-course stabilization is paradoxical given the frequent, high-performance manoeuvring that boxfishes display in their spatially complex, coral reef territories. Here, by performing flow-tank measurements of hydrodynamic drag and yaw moments together with computational fluid dynamics simulations, we reverse several assumptions about the hydrodynamic role of the boxfish carapace. Firstly, despite serving as a model system in aerodynamic design, drag-reduction performance was relatively low compared with more generalized fish morphologies. Secondly, the current theory of course stabilization owing to flow over the boxfish carapace was rejected, as destabilizing moments were found consistently. This solves the boxfish swimming paradox: destabilizing moments enhance manoeuvrability, which is in accordance with the ecological demands for efficient turning and tilting.

Introduction to the Symposium-Unsteady Aquatic Locomotion with Respect to Eco-Design and Mechanics

The importance of unsteadiness in the aquatic environment has come to the forefront in understanding locomotor mechanics in nature. The impact of unsteadiness, starting with control of posture and trajectories during aquatic locomotion, is ultimately expressed in energy costs, morphology, and fitness. Unsteadiness from both internal and external perturbations for aquatic animals is important at scales ranging from micro to macro to global.

Hydrodynamics of fossil fishes

From their earliest origins, fishes have developed a suite of adaptations for locomotion in water, which determine performance and ultimately fitness. Even without data from behaviour, soft tissue and extant relatives, it is possible to infer a wealth of palaeobiological and palaeoecological information. As in extant species, aspects of gross morphology such as streamlining, fin position and tail type are optimized even in the earliest fishes, indicating similar life strategies have been present throughout their evolutionary history. As hydrodynamical studies become more sophisticated, increasingly complex fluid movement can be modelled, including vortex formation and boundary layer control. Drag-reducing riblets ornamenting the scales of fast-moving sharks have been subjected to particularly intense research, but this has not been extended to extinct forms. Riblets are a convergent adaptation seen in many Palaeozoic fishes, and probably served a similar hydrodynamic purpose. Conversely, structures which appear to increase skin friction may act as turbulisors, reducing overall drag while serving a protective function. Here, we examine the diverse adaptions that contribute to drag reduction in modern fishes and review the few attempts to elucidate the hydrodynamics of extinct forms.

CPG-based Locomotion Controller Design for a Boxfish-like Robot

This paper focuses on a Central Pattern Generator (CPG)-based locomotion controller design for a boxfish-like robot. The bio-inspired controller is aimed at flexible switching in multiple 3D swimming patterns and exact attitude control of yaw and roll such that the robot will swim more like a real boxfish. The CPG network comprises two layers, the lower layer is the network of coupled linear oscillators and the upper is the transition layer where the lower-dimensional locomotion stimuli are transformed into the higher-dimensional control parameters serving for all the oscillators. Based on such a two-layer framework, flexible switching between multiple three-dimensional swimming patterns, such as swimming forwards/backwards, turning left/right, swimming upwards/downwards and rolling clockwise/counter-clockwise, can be simply realized by inputting different stimuli. Moreover, the stability of the CPG network is strictly proved to guarantee the intrinsic stability of the swimming patterns. As to exact attitude control, based on this open-loop CPG network and the sensory feedback from the Inertial Measurement Unit (IMU), a closed-loop CPG controller is advanced for yaw and roll control of the robotic fish for the first time. This CPG-based online attitude control for a robotic fish will greatly facilitate high-level practical underwater applications. A series of relevant experiments with the robotic fish are conducted systematically to validate the effectiveness and stability of the open-loop and closed-loop CPG controllers.

Hydrodynamic characteristics of the sailfish (Istiophorus platypterus) and swordfish (Xiphias gladius) in gliding postures at their cruise speeds

The sailfish and swordfish are known as the fastest sea animals, reaching their maximum speeds of around 100 km/h. In the present study, we investigate the hydrodynamic characteristics of these fishes in their cruise speeds of about 1 body length per second. We install a taxidermy specimen of each fish in a wind tunnel, and measure the drag on its body and boundary-layer velocity above its body surface at the Reynolds number corresponding to its cruising condition. The drag coefficients of the sailfish and swordfish based on the free-stream velocity and their wetted areas are measured to be 0.0075 and 0.0091, respectively, at their cruising conditions. These drag coefficients are very low and comparable to those of tuna and pike and smaller than those of dogfish and small-size trout. On the other hand, the long bill is one of the most distinguished features of these fishes from other fishes, and we study its role on the ability of drag modification. The drag on the fish without the bill or with an artificially-made shorter one is slightly smaller than that with the original bill, indicating that the bill itself does not contribute to any drag reduction at its cruise speed. From the velocity measurement near the body surface, we find that at the cruise speed flow separation does not occur over the whole body even without the bill, and the boundary layer flow is affected only at the anterior part of the body by the bill.

Hydrodynamic stability of the painted turtle (Chrysemys picta): effects of four-limbed rowing versus forelimb flapping in rigid-bodied tetrapods

Hydrodynamic stability is the ability to resist recoil motions of the body produced by destabilizing forces. Previous studies have suggested that recoil motions can decrease locomotor performance, efficiency and sensory perception and that swimming animals might utilize kinematic strategies or possess morphological adaptations that reduce recoil motions and produce more stable trajectories. We used high-speed video to assess hydrodynamic stability during rectilinear swimming in the freshwater painted turtle (Chrysemys picta). Parameters of vertical stability (heave and pitch) were non-cyclic and variable, whereas measures of lateral stability (sideslip and yaw) showed repeatable cyclic patterns. In addition, because freshwater and marine turtles use different swimming styles, we tested the effects of propulsive mode on hydrodynamic stability during rectilinear swimming, by comparing our data from painted turtles with previously collected data from two species of marine turtle (Caretta caretta and Chelonia mydas). Painted turtles had higher levels of stability than both species of marine turtle for six of the eight parameters tested, highlighting potential disadvantages associated with 'aquatic flight'. Finally, available data on hydrodynamic stability of other rigid-bodied vertebrates indicate that turtles are less stable than boxfish and pufferfish.

The `upstream wake' of swimming and flying animals and its correlation with propulsive efficiency

The interaction between swimming and flying animals and their fluid environments generates downstream wake structures such as vortices. In most studies, the upstream flow in front of the animal is neglected. In this study,we demonstrate the existence of upstream fluid structures even though the upstream flow is quiescent or possesses a uniform incoming velocity. Using a computational model, the flow generated by a swimmer (an oscillating flexible plate) is simulated and a new fluid mechanical analysis is applied to the flow to identify the upstream fluid structures. These upstream structures show the exact portion of fluid that is going to interact with the swimmer. A mass flow rate is then defined based on the upstream structures, and a metric for propulsive efficiency is established using the mass flow rate and the kinematics of the swimmer. We propose that the unsteady mass flow rate defined by the upstream fluid structures can be used as a metric to measure and objectively compare the efficiency of locomotion in water and air.

Evidence of self-correcting spiral flows in swimming boxfishes

The marine boxfishes have rigid keeled exteriors (carapaces) unlike most fishes, yet exhibit high stability, high maneuverability and relatively low drag given their large cross-sectional area. These characteristics lend themselves well to bioinspired design. Based on previous stereolithographic boxfish model experiments, it was determined that vortical flows develop around the carapace keels, producing self-correcting forces that facilitate swimming in smooth trajectories. To determine if similar self-correcting flows occur in live, actively swimming boxfishes, two species of boxfishes (Ostracion meleagris and Lactophrys triqueter) were induced to swim against currents in a water tunnel, while flows around the fishes were quantified using digital particle image velocimetry. Significant pitch events were rare and short lived in the fishes examined. When these events were observed, spiral flows around the keels qualitatively similar to those observed around models were always present, with greater vortex circulation occurring as pitch angles deviated from 0 degrees . Vortex circulation was higher in live fishes than models presumably because of pectoral fin interaction with the keel-induced flows. The ability of boxfishes to modify their underlying self-correcting system with powered fin control is important for achieving high levels of both stability and maneuverability. Although the challenges of performing stability and maneuverability research on fishes are significant, the results of this study together with future studies employing innovative new approaches promise to provide valuable inspiration for the designers of bioinspired aquatic vehicles.

An overview of a Lagrangian method for analysis of animal wake dynamics

The fluid dynamic analysis of animal wakes is becoming increasingly popular in studies of animal swimming and flying, due in part to the development of quantitative flow visualization techniques such as digital particle imaging velocimetry (DPIV). In most studies, quasi-steady flow is assumed and the flow analysis is based on velocity and/or vorticity fields measured at a single time instant during the stroke cycle. The assumption of quasi-steady flow leads to neglect of unsteady (time-dependent) wake vortex added-mass effects,which can contribute significantly to the instantaneous locomotive forces. In this paper we review a Lagrangian approach recently introduced to determine unsteady wake vortex structure by tracking the trajectories of individual fluid particles in the flow, rather than by analyzing the velocity/vorticity fields at fixed locations and single instants in time as in the Eulerian perspective. Once the momentum of the wake vortex and its added mass are determined, the corresponding unsteady locomotive forces can be quantified. Unlike previous studies that estimated the time-averaged forces over the stroke cycle, this approach enables study of how instantaneous locomotive forces evolve over time. The utility of this method for analyses of DPIV velocity measurements is explored, with the goal of demonstrating its applicability to data that are typically available to investigators studying animal swimming and flying. The methods are equally applicable to computational fluid dynamics studies where velocity field calculations are available.

Aquatic turning performance of painted turtles (Chrysemys picta)and functional consequences of a rigid body design

The ability to capture prey and avoid predation in aquatic habitats depends strongly on the ability to perform unsteady maneuvers (e.g. turns), which itself depends strongly on body flexibility. Two previous studies of turning performance in rigid-bodied taxa have found either high maneuverability or high agility, but not both. However, examinations of aquatic turning performance in rigid-bodied animals have had limited taxonomic scope and, as such, the effects of many body shapes and designs on aquatic maneuverability and agility have yet to be examined. Turtles represent the oldest extant lineage of rigid-bodied vertebrates and the only aquatic rigid-bodied tetrapods. We evaluated the aquatic turning performance of painted turtles, Chrysemys picta (Schneider, 1783) using the minimum length-specific radius of the turning path (R/L) and the average turning rate(ωavg) as measures of maneuverability and agility,respectively. We filmed turtles conducting forward and backward turns in an aquatic arena. Each type of turn was executed using a different pattern of limb movements. During forward turns, turtles consistently protracted the inboard forelimb and held it stationary into the flow, while continuing to move the outboard forelimb and both hindlimbs as in rectilinear swimming. The limb movements of backward turns were more complex than those of forward turns, but involved near simultaneous retraction and protraction of contralateral fore- and hindlimbs, respectively. Forward turns had a minimum R/L of 0.0018 (the second single lowest value reported from any animal) and a maximum ωavg of 247.1°. Values of R/L for backward turns (0.0091-0.0950 L) were much less variable than that of forward turns (0.0018-1.0442 L). The maneuverability of turtles is similar to that recorded previously for rigidbodied boxfish. However, several morphological features of turtles (e.g. shell morphology and limb position) appear to increase agility relative to the body design of boxfish.

Biomimetics: its practice and theory

Biomimetics, a name coined by Otto Schmitt in the 1950s for the transfer of ideas and analogues from biology to technology, has produced some significant and successful devices and concepts in the past 50 years, but is still empirical. We show that TRIZ, the Russian system of problem solving, can be adapted to illuminate and manipulate this process of transfer. Analysis using TRIZ shows that there is only 12% similarity between biology and technology in the principles which solutions to problems illustrate, and while technology solves problems largely by manipulating usage of energy, biology uses information and structure, two factors largely ignored by technology.