Exploring vortex enhancement and manipulation mechanisms in jellyfish that contributes to energetically efficient propulsion

Cooperative hydrodynamics accompany multicellular-like colonial organization in the unicellular ciliate Stentor

Evolution of multicellularity from early unicellular ancestors is arguably one of the most important transitions since the origin of life1,2. Multicellularity is often associated with higher nutrient uptake3, better defense against predation, cell specialization and better division of labor4. While many single-celled organisms exhibit both solitary and colonial existence3,5,6, the organizing principles governing the transition and the benefits endowed are less clear. Using the suspension-feeding unicellular protist Stentor coeruleus, we show that hydrodynamic coupling between proximal neighbors results in faster feeding flows that depend on the separation between individuals. Moreover, we find that the accrued benefits in feeding current enhancement are typically asymmetric- individuals with slower solitary currents gain more from partnering than those with faster currents. We find that colony-formation is ephemeral in Stentor and individuals in colonies are highly dynamic unlike other colony-forming organisms like Volvox carteri 3. Our results demonstrate benefits endowed by the colonial organization in a simple unicellular organism and can potentially provide fundamental insights into the selective forces favoring early evolution of multicellular organization.

Exploring the sensitivity in jellyfish locomotion under variations in scale, frequency, and duty cycle

Jellyfish have been called one of the most energy-efficient animals in the world due to the ease in which they move through their fluid environment, by product of their bell kinematics coupled with their morphological, muscular, material properties. We investigated jellyfish locomotion by conducting in silico comparative studies and explored swimming performance across different fluid scales (i.e., Reynolds Number), bell contraction frequencies, and contraction phase kinematics (duty cycle) for a jellyfish with a fineness ratio of 1 (ratio of bell height to bell diameter). To study these relationships, an open source implementation of the immersed boundary method was used (IB2d) to solve the fully coupled fluid-structure interaction problem of a flexible jellyfish bell in a viscous fluid. Thorough 2D parameter subspace explorations illustrated optimal parameter combinations in which give rise to enhanced swimming performance. All performance metrics indicated a higher sensitivity to bell actuation frequency than fluid scale or duty cycle, via Sobol sensitivity analysis, on a higher performance parameter subspace. Moreover, Pareto-like fronts were identified in the overall performance space involving the cost of transport and forward swimming speed. Patterns emerged within these performance spaces when highlighting different parameter regions, which complemented the global sensitivity results. Lastly, an open source computational model for jellyfish locomotion is offered to the science community that can be used as a starting place for future numerical experimentation.

Cool your jets: biological jet propulsion in marine invertebrates

Pulsatile jet propulsion is a common swimming mode used by a diverse array of aquatic taxa from chordates to cnidarians. This mode of locomotion has interested both biologists and engineers for over a century. A central issue to understanding the important features of jet-propelling animals is to determine how the animal interacts with the surrounding fluid. Much of our knowledge of aquatic jet propulsion has come from simple theoretical approximations of both propulsive and resistive forces. Although these models and basic kinematic measurements have contributed greatly, they alone cannot provide the detailed information needed for a comprehensive, mechanistic overview of how jet propulsion functions across multiple taxa, size scales and through development. However, more recently, novel experimental tools such as high-speed 2D and 3D particle image velocimetry have permitted detailed quantification of the fluid dynamics of aquatic jet propulsion. Here, we provide a comparative analysis of a variety of parameters such as efficiency, kinematics and jet parameters, and review how they can aid our understanding of the principles of aquatic jet propulsion. Research on disparate taxa allows comparison of the similarities and differences between them and contributes to a more robust understanding of aquatic jet propulsion.

Neuromechanical wave resonance in jellyfish swimming

For organisms to have robust locomotion, their neuromuscular organization must adapt to constantly changing environments. In jellyfish, swimming robustness emerges when marginal pacemakers fire action potentials throughout the bell's motor nerve net, which signals the musculature to contract. The speed of the muscle activation wave is dictated by the passage times of the action potentials. However, passive elastic material properties also influence the emergent kinematics, with time scales independent of neuromuscular organization. In this multimodal study, we examine the interplay between these two time scales during turning. A three-dimensional computational fluid-structure interaction model of a jellyfish was developed to determine the resulting emergent kinematics, using bidirectional muscular activation waves to actuate the bell rim. Activation wave speeds near the material wave speed yielded successful turns, with a 76-fold difference in turning rate between the best and worst performers. Hyperextension of the margin occurred only at activation wave speeds near the material wave speed, suggesting resonance. This hyperextension resulted in a 34-fold asymmetry in the circulation of the vortex ring between the inside and outside of the turn. Experimental recording of the activation speed confirmed that jellyfish actuate within this range, and flow visualization using particle image velocimetry validated the corresponding fluid dynamics of the numerical model. This suggests that neuromechanical wave resonance plays an important role in the robustness of an organism's locomotory system and presents an undiscovered constraint on the evolution of flexible organisms. Understanding these dynamics is essential for developing actuators in soft body robotics and bioengineered pumps.

The most efficient metazoan swimmer creates a 'virtual wall' to enhance performance

It has been well documented that animals (and machines) swimming or flying near a solid boundary get a boost in performance. This ground effect is often modelled as an interaction between a mirrored pair of vortices represented by a true vortex and an opposite sign 'virtual vortex' on the other side of the wall. However, most animals do not swim near solid surfaces and thus near body vortex-vortex interactions in open-water swimmers have been poorly investigated. In this study, we examine the most energetically efficient metazoan swimmer known to date, the jellyfish Aurelia aurita, to elucidate the role that vortex interactions can play in animals that swim away from solid boundaries. We used high-speed video tracking, laser-based digital particle image velocimetry (dPIV) and an algorithm for extracting pressure fields from flow velocity vectors to quantify swimming performance and the effect of near body vortex-vortex interactions. Here, we show that a vortex ring (stopping vortex), created underneath the animal during the previous swim cycle, is critical for increasing propulsive performance. This well-positioned stopping vortex acts in the same way as a virtual vortex during wall-effect performance enhancement, by helping converge fluid at the underside of the propulsive surface and generating significantly higher pressures which result in greater thrust. These findings advocate that jellyfish can generate a wall-effect boost in open water by creating what amounts to a 'virtual wall' between two real, opposite sign vortex rings. This explains the significant propulsive advantage jellyfish possess over other metazoans and represents important implications for bio-engineered propulsion systems.

Intermittent sliding locomotion of a two-link body

We study the possibility of efficient intermittent locomotion for two-link bodies that slide by changing their interlink angle periodically in time. We find that the anisotropy ratio of the sliding friction coefficients is a key parameter, while solutions have a simple scaling dependence on the friction coefficients' magnitudes. With very anisotropic friction, efficient motions involve coasting in low-drag states, with rapid and asymmetric power and recovery strokes. As the anisotropy decreases, burst-and-coast motions change to motions with long power strokes and short recovery strokes, and roughly constant interlink angle velocity on each. These motions are seen in the spaces of sinusoidal and power-law motions described by two and five parameters, respectively. Allowing the duty cycle to vary greatly increases the motions' efficiency compared to the case of symmetric power and recovery strokes. Allowing further variations in the concavity of the power and recovery strokes improves the efficiency further only when friction is very anisotropic. Near isotropic friction, a variety of optimally efficient motions are found with more complex waveforms. Many of the optimal sinusoidal and power-law motions are similar to those that we find with an optimization search in the space of more general periodic functions (truncated Fourier series). When we increase the resistive force's power-law dependence on velocity, the optimal motions become smoother, slower, and less efficient, particularly near isotropic friction.

The Levantine jellyfish Rhopilema nomadica and Rhizostoma pulmo swim faster against the flow than with the flow

Jellyfish locomotion and orientation have been studied in the past both in the laboratory, testing mostly small jellyfish, and in the field, where it was impossible to control the seawater currents. Utilizing an outdoor water flume, we tested the locomotion of jellyfish when swimming against and with currents of up to 4.5 cm s⁻¹. We used adult jellyfish from two of the most abundant species in the eastern Mediterranean, Rhopilema nomadica and Rhizostoma pulmo, and measured their pulsation frequency and swimming speed relative to the water. While pulsation frequency was not affected by the water velocity, jellyfish swam faster against the current than with it. This finding suggests that jellyfish possess a sensory ability, whose mechanism is currently unknown, enabling them to gauge the flow and react to it, possibly in order to reduce the risk of stranding.

Naut Your Everyday Jellyfish Model: Exploring How Tentacles and Oral Arms Impact Locomotion

Jellyfish are majestic, energy-efficient, and one of the oldest species that inhabit the oceans. It is perhaps the second item, their efficiency, that has captivated scientists for decades into investigating their locomotive behavior. Yet, no one has specifically explored the role that their tentacles and oral arms may have on their potential swimming performance. We perform comparative in silico experiments to study how tentacle/oral arm number, length, placement, and density affect forward swimming speeds, cost of transport, and fluid mixing. An open source implementation of the immersed boundary method was used (IB2d) to solve the fully coupled fluid–structure interaction problem of an idealized flexible jellyfish bell with poroelastic tentacles/oral arms in a viscous, incompressible fluid. Overall tentacles/oral arms inhibit forward swimming speeds, by appearing to suppress vortex formation. Nonlinear relationships between length and fluid scale (Reynolds Number) as well as tentacle/oral arm number, density, and placement are observed, illustrating that small changes in morphology could result in significant decreases in swimming speeds, in some cases by upwards of 80–90% between cases with or without tentacles/oral arms.

A ctenophore (comb jelly) employs vortex rebound dynamics and outperforms other gelatinous swimmers

Gelatinous zooplankton exhibit a wide range of propulsive swimming modes. One of the most energetically efficient is the rowing behaviour exhibited by many species of schyphomedusae, which employ vortex interactions to achieve this result. Ctenophores (comb jellies) typically use a slow swimming, cilia-based mode of propulsion. However, species within the genus Ocyropsis have developed an additional propulsive strategy of rowing the lobes, which are normally used for feeding, in order to rapidly escape from predators. In this study, we used high-speed digital particle image velocimetry to examine the kinematics and fluid dynamics of this rarely studied propulsive mechanism. This mechanism allows Ocyropsis to achieve size-adjusted speeds that are nearly double those of other large gelatinous swimmers. The investigation of the fluid dynamic basis of this escape mode reveals novel vortex interactions that have not previously been described for other biological propulsion systems. The arrangement of vortices during escape swimming produces a similar configuration and impact as that of the well-studied 'vortex rebound' phenomenon which occurs when a vortex ring approaches a solid wall. These results extend our understanding of how animals use vortex-vortex interactions and provide important insights that can inform the bioinspired engineering of propulsion systems.

Widespread utilization of passive energy recapture in swimming medusae

Recently, it has been shown that some medusae are capable of swimming very efficiently, i.e.; with a low cost of transport, and that this is in part due to passive energy recapture (PER) which occurs during bell relaxation. We compared the swimming kinematics among a diverse array of medusae, varying in taxonomy, morphology and propulsive and foraging modes, in order to evaluate the prevalence of PER in medusae. We found that while PER is commonly observed among taxa, the magnitude of the contribution to overall swimming varied greatly. The ability of medusae to utilize PER was not related to morphology and swimming performance but was controlled by their swimming kinematics. Utilizing PER required the medusae to pause after bell expansion and individuals could modulate their PER by changing their pause duration. Passive energy recapture can greatly enhance swimming efficiency but there appear to be trade-offs associated with utilizing PER.

Control of vortex rings for manoeuvrability

Manoeuvrability is critical to the success of many species. Selective forces acting over millions of years have resulted in a range of capabilities currently unmatched by machines. Thus, understanding animal control of fluids for manoeuvring has both biological and engineering applications. Within inertial fluid regimes, propulsion involves the formation and interaction of vortices to generate thrust. We use both volumetric and planar imaging techniques to quantify how jellyfish (Aurelia aurita) modulate vortex rings during turning behaviour. Our results show that these animals distort individual vortex rings during turns to alter the force balance across the animal, primarily through kinematic modulation of the bell margin. We find that only a portion of the vortex ring separates from the body during turns, which may increase torque. Using a fluorescent actin staining method, we demonstrate the presence of radial muscle fibres lining the bell along the margin. The presence of radial muscles provides a mechanistic explanation for the ability of scyphomedusae to alter their bell kinematics to generate non-symmetric thrust for manoeuvring. These results illustrate the advantage of combining imaging methods and provide new insights into the modulation and control of vorticity for low-speed animal manoeuvring.