Numerical Study on the Hydrodynamic Performance of a Flexible Caudal Fin with Different Trailing-Edge Shapes

This paper presents a three-dimensional fluid-structure-coupled simulation of a flexible caudal fin with different trailing-edge shapes. The influences of caudal-fin shape on hydrodynamic performance are investigated by comparing the results of a simplified model of a square caudal fin with forked and deeply forked caudal fins under a wider range of non-dimensional flapping frequency, 0.6 < f* < 1.5, where f* is the ratio of flapping frequency to the natural frequency of each caudal fin, i.e., f* = f/fn. The leading edge of each caudal fin is forced to oscillate vertically in a water tank with zero free-stream conditions. The numerical results show that the amount of forking in the geometry of the caudal fin has significant effects on its hydrodynamic performance. A comparison of thrust coefficients shows that the square caudal fin has a greater thrust coefficient in the non-dimensional frequency range of 0.6 < f* < 1.2, while the deeply forked caudal fin generates higher thrust when 1.2 < f* < 1.5. In terms of propulsive efficiency, the square caudal fin is more efficient when 0.6 < f* < 0.9, while the propulsive efficiency of a deeply forked caudal fin is significantly enhanced when 0.9 < f* < 1.5. Based on our results, the deeply forked caudal fin has greater thrust coefficients and a higher propulsive efficiency in a higher frequency range than the natural frequency of each caudal fin. The thrust characteristics and flow fields around each caudal fin are investigated in detail.

Three-Dimensional Printable Magnetic Microfibers: Development and Characterization for Four-Dimensional Printing

This study proposes a novel and simple fabrication method of magnetic microfibers, employing filament stretching three-dimensional (3D) printing, and demonstrates the capacity of four-dimensional (4D) printing of the proposed magnetic microfibers. A ferromagnetic 3D printing filament is prepared by the mixture of neodymium-iron-boron (NdFeB) and polylactic acid (PLA), and we investigate the characteristics of the ferromagnetic filament by mixing ratio, magnetic properties, mechanical properties, and rheological properties through experiments. By thermal extrusion of the ferromagnetic filament through a 3D printer nozzle, various thicknesses (80-500 μm) and lengths (less than ∼5 cm) of ferromagnetic microfibers are achieved with different printing setups, such as filament extrusion amount and printing speed. The printed ferromagnetic microfibers are magnetized to maintain a permanent magnetic dipole moment, and 4D printing can be achieved by the deformations of the permanently magnetized microfibers under magnetic fields. We observe that the mixing ratio, the thickness, and the length of the magnetized microfibers provide distinct deformation of the microfiber for customization of 4D printings. This study exhibits that the permanently magnetized microfibers have a great potential for smart sensors and actuators. Furthermore, we briefly present an application of our proposed magnetic microfibers for bionic motion actuators with various unique undulating and oscillating motions.

Effects of caudal fin stiffness on optimized forward swimming and turning maneuver in a robotic swimmer

In animal and robot swimmers of body and caudal fin (BCF) form, hydrodynamic thrust is mainly produced by their caudal fins, the stiffness of which has profound effects on both thrust and efficiency of swimming. Caudal fin stiffness also affects the motor control and resulting swimming gaits that correspond to optimal swimming performance; however, their relationship remains scarcely explored. Here using magnetic, modular, undulatory robots (μBots), we tested the effects of caudal fin stiffness on both forward swimming and turning maneuver. We developed six caudal fins with stiffness of more than three orders of difference. For aμBot equipped with each caudal fin (andμBot absent of caudal fin), we applied reinforcement learning in experiments to optimize the motor control for maximizing forward swimming speed or final heading change. The motor control ofμBot was generated by a central pattern generator for forward swimming or by a series of parameterized square waves for turning maneuver. In forward swimming, the variations in caudal fin stiffness gave rise to three modes of optimized motor frequencies and swimming gaits including no caudal fin (4.6 Hz), stiffness <10-4Pa m4(∼10.6 Hz) and stiffness >10-4Pa m4(∼8.4 Hz). Swimming speed, however, varied independently with the modes of swimming gaits, and reached maximal at stiffness of 0.23 × 10-4Pa m4, with theμBot without caudal fin achieving the lowest speed. In turning maneuver, caudal fin stiffness had considerable effects on the amplitudes of both initial head steering and subsequent recoil, as well as the final heading change. It had relatively minor effect on the turning motor program except for theμBots without caudal fin. Optimized forward swimming and turning maneuver shared an identical caudal fin stiffness and similar patterns of peduncle and caudal fin motion, suggesting simplicity in the form and function relationship inμBot swimming.

Fish robotics: multi-fin propulsion and the coupling of fin phase, spacing, and compliance

Fish coordinate the motion of their fins and body to create the time-varying forces required for swimming and agile maneuvers. To effectively adapt this biological strategy for underwater robots, it is necessary to understand how the location and coordination of interacting fish-like fins affect the production of propulsive forces. In this study, the impact that phase difference, horizontal and vertical spacing, and compliance of paired fins had on net thrust and lateral forces was investigated using two fish-like robotic swimmers and a series of computational fluid dynamic simulations. The results demonstrated that the propulsive forces created by pairs of fins that interact through wake flows are highly dependent on the fins' spacing and compliance. Changes to fin separation of less than one fin length had a dramatic effect on forces, and on the phase difference at which desired forces would occur. These findings have clear implications when designing multi-finned swimming robots. Well-designed, interacting fins can potentially produce several times more propulsive force than a poorly tuned robot with seemingly small differences in the kinematic, geometric, and mechanical properties.

A new exceptionally well-preserved basal actinopterygian fish in the juvenile stage from the Upper Triassic Amisan Formation of South Korea

The study of the large paraphyletic group of extinct 'palaeoniscoid' fishes has shed light on the diversity and evolutionary history of basal actinopterygians. However, only a little ontogenetic information about 'palaeoniscoids' is known because their records in the early stages of development are scarce. Here, we report on a growth series of 'palaeoniscoids' in the juvenile stage from the Upper Triassic Amisan Formation of South Korea. Fourteen specimens, including five counterpart specimens, represent a new taxon, Megalomatia minima gen. et sp. nov., exhibiting ontogeny and exceptional preservation with the eyes possibly containing the crystalline lens, the otoliths, and the lateral line canals without covering scales. This discovery allows us to discuss the adaptations and evolution of basal actinopterygians in more detail than before. The otoliths in situ of Megalomatia support the previous interpretation that basal actinopterygians have a sagitta as the largest otolith. The trunk lateral line canal, which runs under the scales instead of passing through them, represents a plesiomorphic gnathostome trait. Notably, the large protruded eyes suggest that Megalomatia probably has binocular vision, which would have played a significant role in targeting and catching prey with the primitive jaw structure. In addition, the firstly formed skeletal elements such as the jaws, pectoral girdle, and opercular series, and the posteroanterior pattern of squamation development are likely linked to the adaptation of young individuals to increase their viability for feeding, respiration, and swimming.

Nonbiomorphic Passively Adaptive Swimming Robot Enables Agile Propulsion in Cluttered Aquatic Environments

Aquatic swimmers, whether natural or artificial, leverage their maneuverability and morphological adaptability to operate successfully in diverse, complex underwater environments. Maneuverability allows swimmers the agility to change speed and direction within a constrained operating space, while morphological adaptability allows their bodies to deform as they avoid obstacles and pass through narrow gaps. In this work, we design a soft, modular, nonbiomorphic swimming robot that emulates the maneuverability and adaptability of biological swimmers. This tethered swimming robot is actuated by a two degree-of-freedom (2-DOF) cable-driven mechanism that enables not only common maneuvers, such as undulatory surging and pitch/yaw rotations, but also a roll rotation maneuver that is steady and controllable. This simple 2-DOF system demonstrates full 3D swimming abilities in a space-constrained underwater test bed. The soft compliant body and passive foldable fins of the swimming robot lend to its morphological adaptability, allowing it to move through narrow gaps, channels, and tunnels and to avoid obstacles without the need for a low-level feedback control strategy. The passive adaptability and maneuvering capabilities of our swimming robot offer a new approach to achieving underwater navigation in complex real-world settings.

Mechanics and properties of fish fin rays in nonlinear regimes of large deformations

Fins from ray-finned fishes do not contain muscles, yet fish can change the shape of their fins with high precision and speed, while producing large hydrodynamics forces without collapsing. This remarkable performance has been intriguing researchers for decades, but experiments have so far focused on homogenized properties, and models were developed only for small deformations and small rotations. Here we present fully instrumented micromechanical tests on individual rays from Rainbow trout in both morphing and flexural deflection mode and at large deflections. We then present a nonlinear mechanical model of the ray that captures the key structural elements controlling the mechanical behavior of rays under large deformations, which we successfully fit onto the experiments for property identification. We found that the flexural stiffness of the mineralized layers in the rays (hemitrichs) is 5-6 times lower than their axial stiffness, an advantageous combination to produce stiff morphing. In addition, the collagenous core region can be modeled with spring elements which are 3-4 orders of magnitude more compliant than the hemitrichs. This fibrillar structure provides negligible resistance to shearing from the initial position, but it prevents buckling and collapse of the structure at large deformations. These insights from the experiments and nonlinear models can serve as new guidelines for the design of efficient bioinspired stiff morphing materials and structures at large deformations. STATEMENT OF SIGNIFICANCE: Fins from ray-finned fishes do not contain muscles, yet fish can change the shape of their fins with high precision and speed, while producing large hydrodynamics forces without collapsing. Experiments have so far focused on homogenized properties, and models were developed only for small deformations and small rotations providing limited insight into the rich nonlinear mechanics of natural rays. We present micromechanical tests in both morphing and flexural deflection mode on individual rays, a nonlinear model of the ray that captures the mechanical behavior of rays under large deformations and combine microCT measurements to generate new insights into the nonlinear mechanics of rays. These insights can serve as new guidelines for the design of efficient bioinspired stiff morphing materials and structures at large deformations.

Pleobot: a modular robotic solution for metachronal swimming

Metachronal propulsion is widespread in aquatic swarming organisms to achieve performance and maneuverability at intermediate Reynolds numbers. Studying only live organisms limits our understanding of the mechanisms driving these abilities. Thus, we present the design, manufacture, and validation of the Pleobot-a unique krill-inspired robotic swimming appendage constituting the first platform to study metachronal propulsion comprehensively. We combine a multi-link 3D printed mechanism with active and passive actuation of the joints to generate natural kinematics. Using force and fluid flow measurements in parallel with biological data, we show the link between the flow around the appendage and thrust. Further, we provide the first account of a leading-edge suction effect contributing to lift during the power stroke. The repeatability and modularity of the Pleobot enable the independent manipulation of particular motions and traits to test hypotheses central to understanding the relationship between form and function. Lastly, we outline future directions for the Pleobot, including adapting morphological features. We foresee a broad appeal to a wide array of scientific disciplines, from fundamental studies in ecology, biology, and engineering, to developing new bio-inspired platforms for studying oceans across the solar system.

Soft dorsal/anal fins pairs for roll and yaw motion in robotic fish

Fish has primarily served as a model for many bio-inspired underwater robots. However, most of the work on fish-inspired robots is focused on propulsion and turning in the horizontal plane. In this paper, we present our work on the 3D motion of bio-inspired underwater robots. A pair of actuated soft fins, mimicking the soft dorsal and anal fins of a live fish, have been designed and tested to generate lateral thrusts that aim to produce both roll and yaw motions. Furthermore, they can be used to provide vertical stabilization of the forward motion in the robot. These fins comprise shape memory alloy wires embedded in silicone. We demonstrate that these fins can provide a means for 3D maneuvering. In this work, we focus on roll and yaw motions. A key feature of the proposed design is that it is lightweight, compact, and waterproof.

A tale of two fish tails: does a forked tail really perform better than a truncate tail when cruising?

Many fishes use their tail as the main thrust producer during swimming. This fin's diversity in shape and size influences its physical interactions with water as well as its ecological functions. Two distinct tail morphologies are common in bony fishes: flat, truncate tails which are best suited for fast accelerations via drag forces, and forked tails that promote economical, fast cruising by generating lift-based thrust. This assumption is based primarily on studies of the lunate caudal fin of Scombrids (i.e. tuna, mackerel), which is comparatively stiff and exhibits an airfoil-type cross-section. However, this is not representative of the more commonly observed and taxonomically widespread flexible forked tail, yet similar assumptions about economical cruising are widely accepted. Here, we present the first comparative experimental study of forked versus truncate tail shape and compare the fluid mechanical properties and energetics of two common nearshore fish species. We examined the hypothesis that forked tails provide a hydrodynamic advantage over truncate tails at typical cruising speeds. Using experimentally derived pressure fields, we show that the forked tail produces thrust via acceleration reaction forces like the truncate tail during cruising but at increased energetic costs. This reduced efficiency corresponds to differences in the performance of the two tail geometries and body kinematics to maintain similar overall thrust outputs. Our results offer insights into the benefits and tradeoffs of two common fish tail morphologies and shed light on the functional morphology of fish swimming to guide the development of bio-inspired underwater technologies.

Thrust and torque production of a squid-inspired swimmer with a bent nozzle for thrust vectoring

A three-dimensional pulsed-jet propulsion model consisting of a flexible body and a steerable bent nozzle in tethered mode is presented and studied numerically. By prescribing the body deformation and nozzle angle, we examine the flow evolution and propulsive/turning performance via thrust vectoring. Our results show that the vortex ring is no longer axis-symmetric when the jet is ejected at an angle with the incoming flow. A torque peak is observed during jetting, which is mainly sourced from the suction force (negative pressure) at the lower part of the internal nozzle surface when the flow is directed downward through an acute angle. After this crest, the torque is dominated by the positive pressure at the upper part of the internal nozzle surface, especially at a relatively low jet-based Reynolds number (O(10²)). The torque production increases with a larger nozzle bent angle as expected. Meanwhile, the thrust production remains almost unchanged, showing little trade-off between thrust and torque production which demonstrates the advantage of thrust vectoring via a bent nozzle. By decoupling the thrust at the internal and outer surfaces considering special characteristics of force generation by pulsed-jet propulsion, we find that variations in Reynolds number mostly affect the viscous friction at the outer surfaces. The influence of the maximum stroke ratio is also studied. Results show that both the time-averaged thrust and the torque decrease at a larger stroke ratio.

Bioinspired Design in Research: Evolution as Beta-Testing

Modern fishes represent over 400 million years of evolutionary processes that, in many cases, resulted in selection for phenotypes with particular performance advantages. While this certainly occurred without a trajectory for optimization, it cannot be denied that some morphologies allow organisms to be more effective than others at tasks like evading predation, securing food, and ultimately passing on their genes. In this way, evolution generates a series of iterative prototypes with varying but measurable success in accomplishing objectives. Therefore, careful analysis of fundamental properties underlying biological phenomena allow us to fast-track development of bioinspired technologies aiming to accomplish similar objectives. At the same time, bioinspired designs can be a way to explore evolutionary processes, by better understanding the performance space within which a given morphology operates. Through strong interdisciplinary collaborations, we can develop novel bioinspired technologies that not only excel as robotic devices but that teach us something about biology and the rules of life in the process.

Coordinated patterning of zebrafish caudal fin symmetry by a central and two peripheral organizers

BACKGROUND

Caudal fin symmetry characterizes teleosts and likely contributes to their evolutionary success. However, the coordinated development and patterning of skeletal elements establishing external symmetry remains incompletely understood. We explore the spatiotemporal emergence of caudal skeletal elements in zebrafish to consider evolutionary and developmental origins of caudal fin symmetry.

RESULTS

Transgenic reporters and skeletal staining reveal that the hypural diastema-defining gap between hypurals 2 and 3 forms early and separates progenitors of two plates of connective tissue. Two sets of central principal rays (CPRs) synchronously, sequentially, and symmetrically emerge around the diastema. The two dorsal- and ventral-most rays (peripheral principal rays, PPRs) arise independently and earlier than adjacent CPRs. Muscle and tendon markers reveal that different muscles attach to CPR and PPR sets.

CONCLUSIONS

We propose that caudal fin symmetry originates from a central organizer that establishes the hypural diastema and bidirectionally patterns surrounding tissue into two plates of connective tissue and two mirrored sets of CPRs. Further, two peripheral organizers unidirectionally specify PPRs, forming a symmetric "composite" fin derived from three fields. Distinct CPR and PPR ontogenies may represent developmental modules conferring ray identities, muscle connections, and biomechanical properties. Our model contextualizes mechanistic studies of teleost fin morphological variation.

Robotics as a Comparative Method in Ecology and Evolutionary Biology

Comparative biologists have typically used one or more of the following methods to assist in evaluating the proposed functional and performance significance of individual traits: comparative phylogenetic analysis, direct interspecific comparison among species, genetic modification, experimental alteration of morphology (for example by surgically modifying traits), and ecological manipulation where individual organisms are transplanted to a different environment. But comparing organisms as the endpoints of an evolutionary process involves the ceteris paribus assumption: that all traits other than the one(s) of interest are held constant. In a properly controlled experimental study, only the variable of interest changes among the groups being compared. The theme of this paper is that the use of robotic or mechanical models offers an additional tool in comparative biology that helps to minimize the effect of uncontrolled variables by allowing direct manipulation of the trait of interest against a constant background. The structure and movement pattern of mechanical devices can be altered in ways not possible in studies of living animals, facilitating testing hypotheses of the functional and performance significant of individual traits. Robotic models of organismal design are particularly useful in three arenas: (1) controlling variation to allow modification only of the trait of interest, (2) the direct measurement of energetic costs of individual traits, and (3) quantification of the performance landscape. Obtaining data in these three areas is extremely difficult through the study of living organisms alone, and the use of robotic models can reveal unexpected effects. Controlling for all variables except for the length of a swimming flexible object reveals substantial non-linear effects that vary with stiffness. Quantification of the swimming performance surface reveals that there are two peaks with comparable efficiency, greatly complicating the inference of performance from morphology alone. Organisms and their ecological interactions are complex, and dissecting this complexity to understand the effects of individual traits is a grand challenge in ecology and evolutionary biology. Robotics has great promise as a "comparative method," allowing better-controlled comparative studies to analyze the many interacting elements that make up complex behaviors, ecological interactions, and evolutionary histories.

Tunable stiffness in fish robotics: mechanisms and advantages

One of the emerging themes of fish-inspired robotics is flexibility. Adding flexibility to the body, joints, or fins of fish-inspired robots can significantly improve thrust and/or efficiency during locomotion. However, the optimal stiffness depends on variables such as swimming speed, so there is no one 'best' stiffness that maximizes efficiency in all conditions. Fish are thought to solve this problem by using muscular activity to tune their body and fin stiffness in real-time. Inspired by fish, some recent robots sport polymer actuators, adjustable leaf springs, or artificial tendons that tune stiffness mechanically. Models and water channel tests are providing a theoretical framework for stiffness-tuning strategies that devices can implement. The strategies can be thought of as analogous to car transmissions, which allow users to improve efficiency by tuning gear ratio with driving speed. We provide an overview of the latest discoveries about (1) the propulsive benefits of flexibility, particularlytunableflexibility, and (2) the mechanisms and strategies that fish and fish-inspired robots use to tune stiffness while swimming.

Velocity Field Measurements of the California Sea Lion Propulsive Stroke Using Bubble PIV

California sea lions are among the most agile of swimming mammals. Most marine mammals swim with their hind appendages—flippers or flukes, depending on the species—whereas sea lions use their foreflippers for propulsion and maneuvering. The sea lion’s propulsive stroke generates thrust by forming a jet between the flippers and the body and by dragging a starting vortex along the suction side of the flipper. Prior experiments using robotic flippers have shown these mechanisms to be possible, but no flow measurements around live sea lions previously existed with which to compare. In this study, the flow structures around swimming sea lions were observed using an adaptation of particle imaging velocimetry. To accommodate the animals, it was necessary to use bubbles as seed particles and sunlight for illumination. Three trained adult California sea lions were guided to swim through an approximately planar sheet of bubbles in a total of 173 repetitions. The captured videos were used to calculate bubble velocities, which were processed to isolate and inspect the flow velocities caused by the swimming sea lion. The methodology will be discussed, and measured flow velocities will be presented.

A magnetically controlled soft miniature robotic fish with a flexible skeleton inspired by zebrafish

The untethered miniature swimming robot actuation and control is difficult as the robot size becomes smaller, due to limitations of feasible miniaturized on-board components. Nature provides much inspiration for developing miniature robot. Here, a new artificial untethered miniature robotic fish with a flexible magnetic skeleton and soft body that achieve controlled locomotion under the water through an external magnetic field is presented. The soft body of the shuttle-shaped structure microrobot was manufactured from pure Ecoflex, while the skeleton for magnetic actuation was manufactured from Ecoflex and NdFeB composites in a certain ratio and was endowed with a special magnetization profile. Microrobots that experience external magnetic fields are able to swim underwater and have environmental adaptations that include the flexibility to traverse aquatic plants area and crushed stone terrain. The robot also exhibits friendly interactivity and camouflage ability to get close to the zebrafish without scaring them. Moreover, the soft miniature robotic fish could be used to study the impacts of the morphology and kinematics changing in zebrafish populations.

Future Tail Tales: A Forward-Looking, Integrative Perspective on Tail Research

Synopsis Tails are a defining characteristic of chordates and show enormous diversity in function and shape. Although chordate tails share a common evolutionary and genetic-developmental origin, tails are extremely versatile in morphology and function. For example, tails can be short or long, thin or thick, and feathered or spiked, and they can be used for propulsion, communication, or balancing, and they mediate in predator-prey outcomes. Depending on the species of animal the tail is attached to, it can have extraordinarily multi-functional purposes. Despite its morphological diversity and broad functional roles, tails have not received similar scientific attention as, for example, the paired appendages such as legs or fins. This forward-looking review article is a first step toward interdisciplinary scientific synthesis in tail research. We discuss the importance of tail research in relation to five topics: (1) evolution and development, (2) regeneration, (3) functional morphology, (4) sensorimotor control, and (5) computational and physical models. Within each of these areas, we highlight areas of research and combinations of long-standing and new experimental approaches to move the field of tail research forward. To best advance a holistic understanding of tail evolution and function, it is imperative to embrace an interdisciplinary approach, re-integrating traditionally siloed fields around discussions on tail-related research.

Segmentations in fins enable large morphing amplitudes combined with high flexural stiffness for fish-inspired robotic materials

Fish fins do not contain muscles, yet fish can change their shape with high precision and speed to produce large and complex hydrodynamic forces-a combination of high morphing efficiency and high flexural stiffness that is rare in modern morphing and robotic materials. These "flexo-morphing" capabilities are rare in modern morphing and robotic materials. The thin rays that stiffen the fins and transmit actuation include mineral segments, a prominent feature whose mechanics and function are not fully understood. Here, we use mechanical modeling and mechanical testing on 3D-printed ray models to show that the function of the segmentation is to provide combinations of high flexural stiffness and high morphing amplitude that are critical to the performance of the fins and would not be possible with rays made of a continuous material. Fish fin-inspired designs that combine very soft materials and very stiff segments can provide robotic materials with large morphing amplitudes and strong grasping forces.

Tunable stiffness enables fast and efficient swimming in fish-like robots

Fish maintain high swimming efficiencies over a wide range of speeds. A key to this achievement is their flexibility, yet even flexible robotic fish trail real fish in terms of performance. Here, we explore how fish leverage tunable flexibility by using their muscles to modulate the stiffness of their tails to achieve efficient swimming. We derived a model that explains how and why tuning stiffness affects performance. We show that to maximize efficiency, muscle tension should scale with swimming speed squared, offering a simple tuning strategy for fish-like robots. Tuning stiffness can double swimming efficiency at tuna-like frequencies and speeds (0 to 6 hertz; 0 to 2 body lengths per second). Energy savings increase with frequency, suggesting that high-frequency fish-like robots have the most to gain from tuning stiffness.

Hydrodynamic stress and phenotypic plasticity of the zebrafish regenerating fin

Understanding how extrinsic factors modulate genetically encoded information to produce a specific phenotype is of prime scientific interest. In particular, the feedback mechanism between abiotic forces and locomotory organs during morphogenesis to achieve efficient movement is a highly relevant example of such modulation. The study of this developmental process can provide unique insights on the transduction of cues at the interface between physics and biology. Here, we take advantage of the natural ability of adult zebrafish to regenerate their amputated fins to assess its morphogenic plasticity upon external modulations. Using a variety of surgical and chemical treatments, we could induce phenotypic responses to the structure of the fin. Through the ablation of specific rays in regenerating caudal fins, we generated artificially narrowed appendages in which the fin cleft depth and the positioning of rays bifurcations were perturbed compared with normal regenerates. To dissect the role of mechanotransduction in this process, we investigated the patterns of hydrodynamic forces acting on the surface of a zebrafish fin during regeneration by using particle tracking velocimetry on a range of biomimetic hydrofoils. This experimental approach enabled us to quantitatively compare hydrodynamic stress distributions over flapping fins of varying sizes and shapes. As a result, viscous shear stress acting on the distal margin of regenerating fins and the resulting internal tension are proposed as suitable signals for guiding the regulation of ray growth dynamics and branching pattern. Our findings suggest that mechanical forces are involved in the fine-tuning of the locomotory organ during fin morphogenesis.

Research and experiments on electromagnetic-driven multi-joint bionic fish

Based on the characteristics of high-frequency swing during fast swimming of fish, this paper designs a bionic fish-driven joint based on electromagnetic drive to achieve high-frequency swing. Aiming at the characteristic parameters of high-frequency swing control, the Fourier transform is used to separate the characteristic parameters and then compared the driving accuracy of the joints in open-loop and closed-loop. The comparison results show that the closed-loop control is performed after Fourier transform. Under the same driving conditions, the closed-loop control method can improve the joint driving accuracy. Then a bionic fish robot composed of three joints is designed according to this method and Kane method is used to model it dynamically and combined with the central pattern generator control method to complete model simulation and related experiments. The experimental results show that the bionic fish prototype can swim faster under high-frequency swing under electromagnetically driven joints.

Trout-like multifunctional piezoelectric robotic fish and energy harvester

This work presents our experimental studies on a trout-inspired multifunctional robotic fish as an underwater swimmer and energy harvester. Fiber-based flexible piezoelectric composites with interdigitated electrodes, specifically macro-fiber composite (MFC) structures, strike a balance between the deformation and actuation force capabilities to generate hydrodynamic propulsion without requiring additional mechanisms for motion amplification. A pair of MFC laminates bracketing a passive fin functions like artificial muscle when driven out of phase to expand and contract on each side to create bending. The trout-like robotic fish design explored in this work was tested for both unconstrained swimming in a quiescent water tank and under imposed flow in a water tunnel to estimate the maximum swimming speed, which exceeded 0.25 m s^-1, i.e., 0.8 body lengths per second. Hydrodynamic thrust characterization was also performed in a quiescent water setting, revealing that the fin can easily produce tens of mN of thrust, similar to its biological counterpart for comparable swimming speeds. Overall, the prototype presented here generates thrust levels higher than other smart material-based concepts (such as soft polymeric material-based actuators which provide large deformation but low force), while offering simple design, geometric scalability, and silent operation unlike motor-based robotic fish (which often use bulky actuators and complex mechanisms). Additionally, energy harvesting experiments were performed to convert flow-induced vibrations in the wake of a cylindrical bluff body (for different diameters) in a water tunnel. The shed vortex frequency range for a set of bluff body diameters covered the first vibration mode of the tail, yielding an average electrical power of 120 μW at resonance for a flow speed around 0.3 m s^-1and a bluff body diameter of 28.6 mm. Such low-power electricity can find applications to power small sensors of the robotic fish in scenarios such as ecological monitoring, among others.

Automatic segmentation of fish midlines for optimizing robot design

While fish use continuous and flexible bodies to propel themselves, fish robots are often made from interconnected segments. How many segments do robots need to represent fish movements accurately? We propose a new method to automatically determine parsimonious robot models from actual fish data. We first identify key bending points (i.e., joint positions) along the body and then study the concerted movement of the segments so that the difference between actual fish and modelled bending kinematics is minimized. To demonstrate the utility of our method, we analyse the steady swimming kinematics of 10 morphologically distinct fish species. Broadly classified as sub-carangiform (e.g., rainbow trout) and carangiform (e.g., crevalle jack) swimmers, these species exhibit variations in the way they undulate when traditional parameters (including head and tail beat amplitudes, body wavelength and maximum curvature along the body) are considered. We show that five segments are sufficient to describe the kinematics with at least 99% accuracy. For optimal performance, segments should progressively get shorter towards the tail. We also show that locations where bending moments are applied vary among species, possibly because of differences in morphology. More specifically, we find that wider fish have shorter head segments. We discover that once bending points are factored in, the kinematics differences observed in these species collapse into a single undulatory pattern. The amplitude and timing of how body segments move entirely depend on their respective joint positions along the body. Head and body segments are also coupled in a timely manner, which depends on the position of the most anterior joint. Our findings provide a mechanistic understanding of how morphology relates to kinematics and highlight the importance of head control, which is often overlooked in current robot designs.

Fish-like three-dimensional swimming with an autonomous, multi-fin, and biomimetic robot

Fish migrate across considerable distances and exhibit remarkable agility to avoid predators and feed. Fish swimming performance and maneuverability remain unparalleled when compared to robotic systems, partly because previous work has focused on robots and flapping foil systems that are either big and complex, or tethered to external actuators and power sources. By contrast, we present a robot-the Finbot-that combines high degrees of autonomy, maneuverability, and biomimicry with miniature size (160 cm³). Thus, it is well-suited for controlled three-dimensional experiments on fish swimming in confined laboratory test beds. Finbot uses four independently controllable fins and sensory feedback for precise closed-loop underwater locomotion. Different caudal fins can be attached magnetically to reconfigure Finbot for swimming at top speed (122 mm s^-1≡ 1 BL s^-1) or minimal cost of transport (CoT = 8.2) at Strouhal numbers as low as 0.53. We conducted more than 150 experiments with 12 different caudal fins to measure three key characteristics of swimming fish: (i) linear speed-frequency relationships, (ii) U-shaped CoT, and (iii) reverse Kármán wakes (visualized with particle image velocimetry). More fish-like wakes appeared where the CoT was low. By replicating autonomous multi-fin fish-like swimming, Finbot narrows the gap between fish and fish-like robots and can address open questions in aquatic locomotion, such as optimized propulsion for new fish robots, or the hydrodynamic principles governing the energy savings in fish schools.

Hydrodynamic stress maps on the surface of a flexible fin-like foil

We determine the time dependence of pressure and shear stress distributions on the surface of a pitching and deforming hydrofoil from measurements of the three dimensional flow field. Period-averaged stress maps are obtained both in the presence and absence of steady flow around the foil. The velocity vector field is determined via volumetric three-component particle tracking velocimetry and subsequently inserted into the Navier-Stokes equation to calculate the total hydrodynamic stress tensor. In addition, we also present a careful error analysis of such measurements, showing that local evaluations of stress distributions are possible. The consistency of the force time-dependence is verified using a control volume analysis. The flapping foil used in the experiments is designed to allow comparison with a small trapezoidal fish fin, in terms of the scaling laws that govern the oscillatory flow regime. As a complementary approach, unsteady Euler-Bernoulli beam theory is employed to derive instantaneous transversal force distributions on the flexible hydrofoil from its deflection and the results are compared to the spatial distributions of hydrodynamic stresses obtained from the fluid velocity field.

The effect of variable stiffness of tuna-like fish body and fin on swimming performance

The work in this paper focuses on the examination of the effect of variable stiffness distributions on the kinematics and propulsion performance of a tuna-like swimmer. This is performed with the use of a recently developed fully coupled fluid-structure interaction solver. The two different scenarios considered in the present study are the stiffness varied along the fish body and the caudal fin, respectively. Our results show that it is feasible to replicate the similar kinematics and propulsive capability to that of the real fish via purely passive structural deformations. In addition, propulsion performance improvement is mainly dependent on the better orientation of the force near the posterior part of swimmers towards the thrust direction. Specifically, when a variable body stiffness scenario is considered, the bionic body stiffness profile results in better performance in most cases studied herein compared with a uniform stiffness commonly investigated in previous studies. Given the second scenario, where the stiffness is varied only in the spanwise direction of the tail, similar tail kinematics to that of the live scombrid fish only occurs in association with the heterocercal flexural rigidity profile. The resulting asymmetric tail conformation also yields performance improvement at intermediate stiffness in comparison to the cupping and uniform stiffness.

Morphology, performance and fluid dynamics of the crayfish escape response

Sexual selection can result in an exaggerated morphology that constrains locomotor performance. We studied the relationship between morphology and the tail-flip escape response in male and female rusty crayfish (Faxonius rusticus), a species in which males have enlarged claws (chelae). We found that females had wider abdomens and longer uropods (terminal appendage of the tail fan) than males, while males possessed deeper abdomens and larger chelae, relative to total length. Chelae size was negatively associated with escape velocity, whereas longer abdomens and uropods were positively associated with escape velocity. We found no sex-specific differences in maximum force generated during the tail flip, but uropod length was strongly, positively correlated with tail-flip force in males. Particle image velocimetry (PIV) revealed that the formation of a vortex, rather than the expulsion of fluid between two closing body surfaces, generates propulsion in rusty crayfish. PIV also revealed that the pleopods (ventral abdominal appendages) contribute to the momentum generated by the tail. To our knowledge, this is the first confirmation of vortex formation in a decapod crustacean.

A Biomimetic Fish Fin-Like Robot Based on Textile Reinforced Silicone

The concept of merging pre-processed textile materials with tailored mechanical properties into soft matrices is so far rarely used in the field of soft robotics. The herein presented work takes the advantages of textile materials in elastomer matrices to another level by integrating a material with highly anisotropic bending properties. A pre-fabricated textile material consisting of oriented carbon fibers is used as a stiff component to precisely control the mechanical behavior of the robotic setup. The presented robotic concept uses a multi-layer stack for the robot’s body and dielectric elastomer actuators (DEAs) on both outer sides of it. The bending motion of the whole structure results from the combination of its mechanically adjusted properties and the force generation of the DEAs. We present an antagonistic switching setup for the DEAs that leads to deflections to both sides of the robot, following a biomimetic principle. To investigate the bending behavior of the robot, we show a simulation model utilizing electromechanical coupling to estimate the quasi-static deflection of the structure. Based on this model, a statement about the bending behavior of the structure in general is made, leading to an expected maximum deflection of 10 mm at the end of the fin for a static activation. Furthermore, we present an electromechanical network model to evaluate the frequency dependent behavior of the robot’s movement, predicting a resonance frequency of 6.385 Hz for the dynamic switching case. Both models in combination lead to a prediction about the acting behavior of the robot. These theoretical predictions are underpinned by dynamic performance measurements in air for different switching frequencies of the DEAs, leading to a maximum deflection of 9.3 mm located at the end of the actuators. The herein presented work places special focus on the mechanical resonance frequency of the robotic setup with regard to maximum deflections.

Pectoral fin kinematics and motor patterns are shaped by fin ray mechanosensation during steady swimming in Scarus quoyi

For many fish species, rhythmic movement of the pectoral fins, or forelimbs, drives locomotion. In terrestrial vertebrates, normal limb-based rhythmic gaits require ongoing modulation with limb mechanosensors. Given the complexity of the fluid environment and dexterity of fish swimming through it, we hypothesize that mechanosensory modulation is also critical to normal fin-based swimming. Here, we examined the role of sensory feedback from the pectoral fin rays and membrane on the neuromuscular control and kinematics of pectoral fin-based locomotion. Pectoral fin kinematics and electromyograms of the six major fin muscles of the parrotfish, Scarus quoyi, a high-performance pectoral fin swimmer, were recorded during steady swimming before and after bilateral transection of the sensory nerves extending into the rays and surrounding membrane. Alternating activity of antagonistic muscles was observed and drove the fin in a figure-of-eight fin stroke trajectory before and after nerve transection. After bilateral transections, pectoral fin rhythmicity remained the same or increased. Differences in fin kinematics with the loss of sensory feedback also included fin kinematics with a significantly more inclined stroke plane angle, an increased angular velocity and fin beat frequency, and a transition to the body-caudal fin gait at lower speeds. After transection, muscles were active over a larger proportion of the fin stroke, with overlapping activation of antagonistic muscles rarely observed in the trials of intact fish. The increased overlap of antagonistic muscle activity might stiffen the fin system in order to enhance control and stability in the absence of sensory feedback from the fin rays. These results indicate that fin ray sensation is not necessary to generate the underlying rhythm of fin movement, but contributes to the specification of pectoral fin motor pattern and movement during rhythmic swimming.

Tuna robotics: A high-frequency experimental platform exploring the performance space of swimming fishes

Tuna and related scombrid fishes are high-performance swimmers that often operate at high frequencies, especially during behaviors such as escaping from predators or catching prey. This contrasts with most fish-like robotic systems that typically operate at low frequencies (< 2 hertz). To explore the high-frequency fish swimming performance space, we designed and tested a new platform based on yellowfin tuna (Thunnus albacares) and Atlantic mackerel (Scomber scombrus). Body kinematics, speed, and power were measured at increasing tail beat frequencies to quantify swimming performance and to study flow fields generated by the tail. Experimental analyses of freely swimming tuna and mackerel allow comparison with the tuna-like robotic system. The Tunabot (255 millimeters long) can achieve a maximum tail beat frequency of 15 hertz, which corresponds to a swimming speed of 4.0 body lengths per second. Comparison of midline kinematics between scombrid fish and the Tunabot shows good agreement over a wide range of frequencies, with the biggest discrepancy occurring at the caudal fin, primarily due to the rigid propulsor used in the robotic model. As frequency increases, cost of transport (COT) follows a fish-like U-shaped response with a minimum at ~1.6 body lengths per second. The Tunabot has a range of ~9.1 kilometers if it swims at 0.4 meter per second or ~4.2 kilometers at 1.0 meter per second, assuming a 10-watt-hour battery pack. These results highlight the capabilities of high-frequency biological swimming and lay the foundation to explore a fish-like performance space for bio-inspired underwater vehicles.

Effects of fish caudal fin sweep angle and kinematics on thrust production during low-speed thunniform swimming

Scombrid fish lunate caudal fins are characterized by a wide range of sweep angles. Scombrid that have small sweep-angle caudal fins move at higher swimming speeds, suggesting that smaller angles produce more thrust. Furthermore, scombrids occasionally use high angles of attack (AoA) suggesting this also has some thrust benefit. This work examined the hypothesis that a smaller sweep angle and higher AoA improved thrust in swimmers by experimentally analyzing a robophysical model. The robophysical model was tested in a water tunnel at speeds between 0.35 and 0.7 body lengths per second. Three swept caudal fins were analyzed at three different AoA, three different freestream velocities, and four different Strouhal numbers, for a total of 108 cases. Results demonstrated that the fin with the largest sweep angle of 50° resulted in lower thrust production than the 40° and 30° fins, especially at higher Strouhal numbers. Larger AoA up to 25° increased thrust production at the higher Strouhal numbers, but at lower Strouhal numbers, produced less thrust. Differences in thrust production due to fin sweep angle and AoA were attributed to the variation in spanwise flow and leading edge vortex dynamics.

Summary: The study examines the impact of scombrid fish caudal fin sweep angle and angle of attack on thrust production across a range of Strouhal numbers using a robophysical model.

Fluid-structure interaction modeling on a 3D ray-strengthened caudal fin

In this paper, we present a numerical model capable of solving the fluid-structure interaction problems involved in the dynamics of skeleton-reinforced fish fins. In this model, the fluid dynamics is simulated by solving the Navier-Stokes equations using a finite-volume method based on an overset, multi-block structured grid system. The bony rays embedded in the fin are modeled as nonlinear Euler-Bernoulli beams. To demonstrate the capability of this model, we numerically investigate the effect of various ray stiffness distributions on the deformation and propulsion performance of a 3D caudal fin. Our numerical results show that with specific ray stiffness distributions, certain caudal fin deformation patterns observed in real fish (e.g. the cupping deformation) can be reproduced through passive structural deformations. Among the four different stiffness distributions (uniform, cupping, W-shape and heterocercal) considered here, we find that the cupping distribution requires the least power expenditure. The uniform distribution, on the other hand, performs the best in terms of thrust generation and efficiency. The uniform stiffness distribution, per se, also leads to 'cupping' deformation patterns with relatively smaller phase differences between various rays. The present model paves the way for future work on dynamics of skeleton-reinforced membranes.

Passing the Wake: Using Multiple Fins to Shape Forces for Swimming

Fish use coordinated motions of multiple fins and their body to swim and maneuver underwater with more agility than contemporary unmanned underwater vehicles (UUVs). The location, utilization and kinematics of fins vary for different locomotory tasks and fish species. The relative position and timing (phase) of fins affects how the downstream fins interact with the wake shed by the upstream fins and body, and change the magnitude and temporal profile of the net force vector. A multifin biorobotic experimental platform and a two-dimensional computational fluid dynamic simulation were used to understand how the propulsive forces produced by multiple fins were affected by the phase and geometric relationships between them. This investigation has revealed that forces produced by interacting fins are very different from the vector sum of forces from combinations of noninteracting fins, and that manipulating the phase and location of multiple interacting fins greatly affect the magnitude and shape of the produced propulsive forces. The changes in net forces are due, in large part, to time-varying wakes from dorsal and anal fins altering the flow experienced by the downstream body and caudal fin. These findings represent a potentially powerful means of manipulating the swimming forces produced by multifinned robotic systems.

Flexibility of Heterocercal Tails: What Can the Functional Morphology of Shark Tails Tell Us about Ichthyosaur Swimming?

The similarities between ichthyosaurs and sharks are a text-book example of convergence, and similarities in tail morphology have led many to theorize that they had similar swimming styles. The variation of ichthyosaur tail shapes is encompassed within the diversity of shark families. In particular early ichthyosaurs have asymmetrical tails like the heterocercal tails of carcharhinid sharks, while later occurring ichthyosaurs have lunate tails similar to those of lamnid sharks. Because it is not possible to measure ichthyosaur tail function, the goal of this study is to measure and compare the flexibility and stiffness of lunate and heterocercal shark tails, and to measure skeletal and connective tissue features that may affect tail flexibility. We measured flexibility in 10 species and focused on five species in particular, for dissection: one pelagic and one bottom-associated individual from each order, plus the common thresher shark (Alopias vulpinus), a tail-slapping specialist. As expected, lunate tails were overall less flexible than heterocercal tails and had greater flexural stiffness. Our results suggest that the cross-sectional profile of the skeletally supported dorsal lobe dictates flexural stiffness, but that changing tissue composition dictates flexural stiffness in the ventral lobe. We also found structural differences that may enable the tail slapping behavior of the common thresher shark. Finally, we discuss how our morphological measurements compare to ichthyosaur measurements from the literature; noting that similarities in functional morphology suggest sharks may be a good analog for understanding ichthyosaur swimming biomechanics.

In vivo quantification of mechanical properties of caudal fins in adult zebrafish

The caudal fins of adult zebrafish are supported by multiple bony rays that are laterally interconnected by soft interray tissue. Little is known about the fin's mechanical properties that influence bending in response to hydrodynamic forces during swimming. Here, we developed an experimental setup to measure the elastic properties of caudal fins in vivo by applying micro-Newton forces to obtain bending stiffness and a tensional modulus. We detected overall bending moments of 1.5×10⁻⁹–4×10⁻⁹ N m² along the proximal–distal axis of the appendage showing a non-monotonous pattern that was not due to the geometry of the fin itself. Surgical disruption of the interray tissues along the proximal–distal axis revealed no significant changes to the overall bending stiffness, which we confirmed by determining a tensional modulus of the interray tissue. Thus, the biophysical values suggest that the flexibility of the fin during its hydrodynamic performance predominantly relies on the mechanical properties of the rays.

Summary: The quantitative in vivo determination of the zebrafish caudal fin's main constituents (bony rays and interray tissue) shows that flexibility is dominated by the elastic properties of the bony rays, whereas the elastic properties of the interray tissue co-define the fin's complex 3D deformation during swimming and will also be needed as a crucial input for hydrodynamic simulations.

Speciation through the lens of biomechanics: locomotion, prey capture and reproductive isolation

Speciation is a multifaceted process that involves numerous aspects of the biological sciences and occurs for multiple reasons. Ecology plays a major role, including both abiotic and biotic factors. Whether populations experience similar or divergent ecological environments, they often adapt to local conditions through divergence in biomechanical traits. We investigate the role of biomechanics in speciation using fish predator-prey interactions, a primary driver of fitness for both predators and prey. We highlight specific groups of fishes, or specific species, that have been particularly valuable for understanding these dynamic interactions and offer the best opportunities for future studies that link genetic architecture to biomechanics and reproductive isolation (RI). In addition to emphasizing the key biomechanical techniques that will be instrumental, we also propose that the movement towards linking biomechanics and speciation will include (i) establishing the genetic basis of biomechanical traits, (ii) testing whether similar and divergent selection lead to biomechanical divergence, and (iii) testing whether/how biomechanical traits affect RI. Future investigations that examine speciation through the lens of biomechanics will propel our understanding of this key process.

Curvature-induced stiffening of a fish fin

How fish modulate their fin stiffness during locomotive manoeuvres remains unknown. We show that changing the fin's curvature modulates its stiffness. Modelling the fin as bendable bony rays held together by a membrane, we deduce that fin curvature is manifested as a misalignment of the principal bending axes between neighbouring rays. An external force causes neighbouring rays to bend and splay apart, and thus stretches the membrane. This coupling between bending the rays and stretching the membrane underlies the increase in stiffness. Using three-dimensional reconstruction of a mackerel (Scomber japonicus) pectoral fin for illustration, we calculate the range of stiffnesses this fin is expected to span by changing curvature. The three-dimensional reconstruction shows that, even in its geometrically flat state, a functional curvature is embedded within the fin microstructure owing to the morphology of individual rays. As the ability of a propulsive surface to transmit force to the surrounding fluid is limited by its stiffness, the fin curvature controls the coupling between the fish and its surrounding fluid. Thereby, our results provide mechanical underpinnings and morphological predictions for the hypothesis that the spanned range of fin stiffnesses correlates with the behaviour and the ecological niche of the fish.

Effects of stiffness distribution and spanwise deformation on the dynamics of a ray-supported caudal fin

Using a fluid-structure interaction model, we study the effect of ray stiffness distribution on the deformation and performance of a caudal fin. By prescribing a simple swaying motion, our results show that through passive structural deformation alone it is possible to reproduce some complicated fin movements (e.g. the cup and 'W'-shape deformations) observed in real fish. Moreover, it has been numerically shown that, compared with a fin with uniform ray stiffness, at the same (average) ray stiffness fins with nonuniform stiffness distribution may achieve further performance enhancement, e.g. increase in propulsion efficiency and decrease in lateral force generation. This is attributed to spanwise deformations caused by phase differences between different rays.

A review on locomotion robophysics: the study of movement at the intersection of robotics, soft matter and dynamical systems

Discovery of fundamental principles which govern and limit effective locomotion (self-propulsion) is of intellectual interest and practical importance. Human technology has created robotic moving systems that excel in movement on and within environments of societal interest: paved roads, open air and water. However, such devices cannot yet robustly and efficiently navigate (as animals do) the enormous diversity of natural environments which might be of future interest for autonomous robots; examples include vertical surfaces like trees and cliffs, heterogeneous ground like desert rubble and brush, turbulent flows found near seashores, and deformable/flowable substrates like sand, mud and soil. In this review we argue for the creation of a physics of moving systems-a 'locomotion robophysics'-which we define as the pursuit of principles of self-generated motion. Robophysics can provide an important intellectual complement to the discipline of robotics, largely the domain of researchers from engineering and computer science. The essential idea is that we must complement the study of complex robots in complex situations with systematic study of simplified robotic devices in controlled laboratory settings and in simplified theoretical models. We must thus use the methods of physics to examine both locomotor successes and failures using parameter space exploration, systematic control, and techniques from dynamical systems. Using examples from our and others' research, we will discuss how such robophysical studies have begun to aid engineers in the creation of devices that have begun to achieve life-like locomotor abilities on and within complex environments, have inspired interesting physics questions in low dimensional dynamical systems, geometric mechanics and soft matter physics, and have been useful to develop models for biological locomotion in complex terrain. The rapidly decreasing cost of constructing robot models with easy access to significant computational power bodes well for scientists and engineers to engage in a discipline which can readily integrate experiment, theory and computation.

Tailoring Material Stiffness by Filler Particle Organization

In the context of emerging methods to control particle organization in particle-matrix composite materials, we explore, using finite element analysis, how to modulate the material bulk mechanical stiffness. Compared to a composite containing randomly distributed particles, material stiffness is enhanced 100-fold when filler particles are aligned into linear chains lying parallel to the loading direction. In contrast, chains aligned perpendicular to that direction produce negligible stiffness change. These outcomes reveal how zigzag chains, which provide intermediate results, can modulate stiffness. The stiffness decreases gradually with increasing zigzag angle θ over a range spanning 2 orders of magnitude.

Hydrodynamics of a Flexible Soft-Rayed Caudal Fin

The paper addresses hydrodynamic performance of a slender swimmer furnished with a flexible small-aspect-ratio soft-rayed caudal fin. The recoil of the fin is found by solving the coupled hydro-elastic problem, in which the structure of the fin is modeled by a cantilever of variable cross section and the hydrodynamic forces acting on it are modeled using the elongated body theory. It is shown that the recoil has practically no effect on the propulsion efficiency of anguilliform swimmers, but has a profound effect on the efficiency of carangiform swimmers, which can increase almost four-fold between low-speed (low-thrust) cruise and high-speed (high-thrust) burst. Whilst the magnitude of this effect furnishes a plausible argument in favor of burst-and-coast locomotion strategies, it also infers that carangiform swimmers cannot rely on elastic recoil of the caudal fin to be efficient throughout the usable speed range, and must actively flex it at low speeds.

Optimal chordwise stiffness profiles of self-propelled flapping fins

The versatility of fish to adapt to different swimming requirements is attributed to their complex muscular system. Fish modulate their fin stiffness and shape for maximized performance. In this paper, optimal chordwise stiffness profiles that maximize the propulsive performance have been predicted using theoretical studies. An experimental setup has been fabricated to measure the stiffness profiles of real fish caudal fins. Chordwise varying stiffness robotic fins fabricated using carbon fiber reinforced composites (CFRC) have been tested in the water tunnel to evaluate their performance over constant stiffness fins. It is observed that the varying stiffness fins produce larger thrusts and efficiencies compared to constant stiffness fins for all the operating conditions considered in this work. A comparison of the digital image correlation (DIC) measured deformations of the fins showed that the better performance of varying stiffness fins is due to their larger curvatures and trailing edge amplitudes. These theoretical and experimental studies provide a greater understanding of the role of stiffness in fish fins for locomotion.

Fluid Dynamics of Biomimetic Pectoral Fin Propulsion Using Immersed Boundary Method

Numerical simulations are carried out to study the fluid dynamics of a complex-shaped low-aspect-ratio pectoral fin that performs the labriform swimming. Simulations of flow around the fin are achieved by a developed immersed boundary (IB) method, in which we have proposed an efficient local flow reconstruction algorithm with enough robustness and a new numerical strategy with excellent adaptability to deal with complex moving boundaries involved in bionic flow simulations. The prescribed fin kinematics in each period consists of the power stroke and the recovery stroke, and the simulations indicate that the former is mainly used to provide the thrust while the latter is mainly used to provide the lift. The fin wake is dominated by a three-dimensional dual-ring vortex wake structure where the partial power-stroke vortex ring is linked to the recovery-stroke ring vertically. Moreover, the connection of force production with the fin kinematics and vortex dynamics is discussed in detail to explore the propulsion mechanism. We also conduct a parametric study to understand how the vortex topology and hydrodynamic characteristics change with key parameters. The results show that there is an optimal phase angle and Strouhal number for this complicated fin. Furthermore, the implications for the design of a bioinspired pectoral fin are discussed based on the quantitative hydrodynamic analysis.

A biorobotic model of the suction-feeding system in largemouth bass: the roles of motor program speed and hyoid kinematics

The vast majority of ray-finned fishes capture prey through suction feeding. The basis of this behavior is the generation of subambient pressure through rapid expansion of a highly kinetic skull. Over the last four decades, results from in vivo experiments have elucidated the general relationships between morphological parameters and subambient pressure generation. Until now, however, researchers have been unable to tease apart the discrete contributions of, and complex relationships among, the musculoskeletal elements that support buccal expansion. Fortunately, over the last decade, biorobotic models have gained a foothold in comparative research and show great promise in addressing long-standing questions in vertebrate biomechanics. In this paper, we present BassBot, a biorobotic model of the head of the largemouth bass (Micropterus salmoides). BassBot incorporates a 3D acrylic plastic armature of the neurocranium, maxillary apparatus, lower jaw, hyoid, suspensorium and opercular apparatus. Programming of linear motors permits precise reproduction of live kinematic behaviors including hyoid depression and rotation, premaxillary protrusion, and lateral expansion of the suspensoria. BassBot reproduced faithful kinematic and pressure dynamics relative to live bass. We show that motor program speed has a direct relationship to subambient pressure generation. Like vertebrate muscle, the linear motors that powered kinematics were able to produce larger magnitudes of force at slower velocities and, thus, were able to accelerate linkages more quickly and generate larger magnitudes of subambient pressure. In addition, we demonstrate that disrupting the kinematic behavior of the hyoid interferes with the anterior-to-posterior expansion gradient. This resulted in a significant reduction in subambient pressure generation and pressure impulse of 51% and 64%, respectively. These results reveal the promise biorobotic models have for isolating individual parameters and assessing their role in suction feeding.

Functional morphology and hydrodynamics of backward swimming in bluegill sunfish, Lepomis macrochirus

Most teleost fishes, like the bluegill sunfish Lepomis macrochirus, have multiple flexible fins that are used as modifiable control surfaces. This helps to make fish highly maneuverable, permitting behaviors like reversing direction of motion and swimming backwards without having to rotate body position. To answer the question of how fish swim backwards we used high-speed videography and electromyography to determine the kinematics and muscle activity necessary to produce reverse-direction propulsion in four bluegill sunfish. We found that, in contrast to slow forward swimming, low-speed backward swimming is a multi-fin behavior, utilizing the pectoral, dorsal, anal, and caudal fins. The pectoral fins alternate beats, each fin broadly flaring on the outstroke and feathered on the instroke. The dorsal fin and dorsal portion of the caudal fin move out of phase as do the anal fin and ventral portion of the caudal fin. Electromyography of muscles in the pectoral, dorsal, anal, and caudal fins demonstrated bilateral activation when these fins changed direction, suggesting that fins are stiffened at this time. In addition to backward propulsion by the pectoral fins, particle image velocimetry revealed that the dorsal and anal fins are capable of producing reverse momentum jets to propel the fish backward. Because teleost fishes are statically unstable, locomotion at slow speeds requires precise fin control to adequately balance torques produced about the center of mass. Therefore, the kinematics of backward swimming may be the result of compensation for rolling, pitching, and yawning instability. We suggest that asymmetric pectoral fin activity with feathering during adduction balances rolling instability. The ventral to dorsal undulatory wave on the caudal fin controls pitch instability and yaw instability encountered from pectoral-driven backward locomotion. Thrust generation from the dorsal and anal fins decreases the destabilizing effect of the long moment arm of the tail in backward swimming. Thus, backward locomotion at slow speed is not simply the reverse of slow forward swimming.