In-line swimming dynamics revealed by fish interacting with a robotic mechanism

Drafting behaviors in fish induced by a local pressure drop around a hydrofoil model

Fish schooling has the improvement in hydrodynamic propulsive efficiency through the interaction of flow field induced by fish bodies and tail beat. Such energy-saving behaviors due to flow interactions also occur with changes in the flow field caused by structures. We examined the differences between a live fish swimming around a streamlined hydrofoil model prepared to represent fish body and swimming alone in a flow tank. We observed that the fish can remain in the same place without tail beating. It called "drafting" behavior. The analysis of fish drafting showed that fish obtained thrust using a local pressure drop caused by the high velocity flow even in the vicinity of the hydrofoil model at an angle of attack α of 10° to 20°without flow separation, and fish balanced forces by using an α of fish body. This tendency was confirmed in the model experiment using a two-axis load cell, and the forces acting on the fish body was the smallest value when the fish model was placed in the same conditions as a live fish experiment. We also confirmed by simulation and found that the α of fish body generated lift force and counteract the suction force. Above results indicate that a fish can balance the anterior-posterior and lateral direction forces by using a local pressure drop around a hydrofoil model as suction force, and using angle of attack on its body, thereby realizing drafting.

Collective movement of schooling fish reduces the costs of locomotion in turbulent conditions

The ecological and evolutionary benefits of energy-saving in collective behaviors are rooted in the physical principles and physiological mechanisms underpinning animal locomotion. We propose a turbulence sheltering hypothesis that collective movements of fish schools in turbulent flow can reduce the total energetic cost of locomotion by shielding individuals from the perturbation of chaotic turbulent eddies. We test this hypothesis by quantifying energetics and kinematics in schools of giant danio (Devario aequipinnatus) and compared that to solitary individuals swimming under laminar and turbulent conditions over a wide speed range. We discovered that, when swimming at high speeds and high turbulence levels, fish schools reduced their total energy expenditure (TEE, both aerobic and anaerobic energy) by 63% to 79% compared to solitary fish (e.g., 228 versus 48 kj kg-1). Solitary individuals spend approximately 22% more kinematic effort (tail beat amplitude•frequency: 1.7 versus 1.4 BL s-1) to swim in turbulence at higher speeds than in laminar conditions. Fish schools swimming in turbulence reduced their three-dimensional group volume by 41% to 68% (at higher speeds, approximately 103 versus 33 cm3) and did not alter their kinematic effort compared to laminar conditions. This substantial energy saving highlights that schooling behaviors can mitigate turbulent disturbances by sheltering fish (within schools) from the eddies of sufficient kinetic energy that can disrupt locomotor gaits. Therefore, providing a more desirable internal hydrodynamic environment could be one of the ecological drivers underlying collective behaviors in a dense fluid environment.

Effect of schooling on flow generated sounds from carangiform swimmers

Computational models are used to examine the effect of schooling on flow generated noise from fish swimming using their caudal fins. We simulate the flow as well as the far-field hydrodynamic sound generated by the time-varying pressure loading on these carangiform swimmers. The effect of the number of swimmers in the school, the relative phase of fin flapping of the swimmers, and their spatial arrangement is examined. The simulations indicate that the phase of the fin flapping is a dominant factor in the total sound radiated into the far-field by a group of swimmers. For small schools, a suitable choice of relative phase between the swimmers can significantly reduce the overall intensity of the sound radiated to the far-field. The relative positioning of the swimmers is also shown to have an impact on the total radiated noise. For a larger school, even highly uncorrelated phases of fin movement between the swimmers in the school are very effective in significantly reducing the overall intensity of sound radiated into the far-field. The implications of these findings for fish ethology as well as the design and operation of bioinspired vehicles are discussed.

Alternation of social behaviors for zebrafish (Danio rerio) in response to acute cold stress

Low temperature is one of the most common abiotic stresses for aquatic ectotherms. Ambient low temperatures reduce the metabolic rate of teleosts, therefore, teleosts have developed strategies to modulate their physiological status for energy saving in response to cold stress, including behaviors, circulatory system, respiratory function, and metabolic adjustments. Many teleosts are social animals and they can live in large schools to serve a variety of functions, including predator avoidance, foraging efficiency, and reproduction. However, the impacts of acute cold stress on social behaviors of fish remain unclear. In the present study, we test the hypothesis that zebrafish alter their social behaviors for energy saving as a strategy in response to acute cold stress. We found that acute cold stress increased shoaling behavior that reflected a save-energy strategy for fish to forage and escape from the predators under cold stress. The aggressive levels measured by fighting behavior tests and mirror fighting tests were reduced by cold treatment. In addition, we also found that acute cold stress impaired the learning ability but did not affect memory. Our findings provided evidence that acute cold stress alters the social behaviors of aquatic ectotherms for energy saving; knowledge of their responses to cold is essential for their conservation and management.

Target-Following Control of a Biomimetic Autonomous System Based on Predictive Reinforcement Learning

Biological fish often swim in a schooling manner, the mechanism of which comes from the fact that these schooling movements can improve the fishes' hydrodynamic efficiency. Inspired by this phenomenon, a target-following control framework for a biomimetic autonomous system is proposed in this paper. Firstly, a following motion model is established based on the mechanism of fish schooling swimming, in which the follower robotic fish keeps a certain distance and orientation from the leader robotic fish. Second, by incorporating a predictive concept into reinforcement learning, a predictive deep deterministic policy gradient-following controller is provided with the normalized state space, action space, reward, and prediction design. It can avoid overshoot to a certain extent. A nonlinear model predictive controller is designed and can be selected for the follower robotic fish, together with the predictive reinforcement learning. Finally, extensive simulations are conducted, including the fix point and dynamic target following for single robotic fish, as well as cooperative following with the leader robotic fish. The obtained results indicate the effectiveness of the proposed methods, providing a valuable sight for the cooperative control of underwater robots to explore the ocean.

A comprehensive review of hydrodynamic studies on fish schooling

Collective motion of organisms is a widespread phenomenon exhibited by many species, most commonly associated with colonial birds and schools of fish. The benefits of schooling behavior vary from defense against predators, increased feeding efficiency, and improved endurance. Schooling motions can be energetically beneficial as schools allow for channeling and vortex-based interactions, creating a less demanding stroke rate to sustain high swimming velocities and increased movement efficiency. Biomimetics is a fast-growing field, and there have been several attempts to quantify the hydrodynamics behind group dynamics and the subsequent benefits of increased maneuverability, which can be applied to unmanned vehicles and devices traveling in a group or swarm-like scenarios. Earlier efforts to understand these phenomena have been composed of physical experimentation and numerical simulations. This literature review examines the existing studies performed to understand the hydrodynamics of group collective motion inspired by schooling habits. Both numerical simulation and physical experimentation are discussed, and the benefits and drawbacks of the two approaches are compared to help future researchers and engineers expand on these models and concepts. This paper also identifies some of the limitations associated with different approaches to studies on fish schooling and suggests potential directions for future work.

Energetics of collective movement in vertebrates

The collective directional movement of animals occurs over both short distances and longer migrations, and is a critical aspect of feeding, reproduction and the ecology of many species. Despite the implications of collective motion for lifetime fitness, we know remarkably little about its energetics. It is commonly thought that collective animal motion saves energy: moving alone against fluid flow is expected to be more energetically expensive than moving in a group. Energetic conservation resulting from collective movement is most often inferred from kinematic metrics or from computational models. However, the direct measurement of total metabolic energy savings during collective motion compared with solitary movement over a range of speeds has yet to be documented. In particular, longer duration and higher speed collective motion must involve both aerobic and non-aerobic (high-energy phosphate stores and substrate-level phosphorylation) metabolic energy contributions, and yet no study to date has quantified both types of metabolic contribution in comparison to locomotion by solitary individuals. There are multiple challenging questions regarding the energetics of collective motion in aquatic, aerial and terrestrial environments that remain to be answered. We focus on aquatic locomotion as a model system to demonstrate that understanding the energetics and total cost of collective movement requires the integration of biomechanics, fluid dynamics and bioenergetics to unveil the hydrodynamic and physiological phenomena involved and their underlying mechanisms.

The role of hydrodynamics in collective motions of fish schools and bioinspired underwater robots

Collective behaviour defines the lives of many animal species on the Earth. Underwater swarms span several orders of magnitude in size, from coral larvae and krill to tunas and dolphins. Agent-based algorithms have modelled collective movements of animal groups by use of social forces, which approximate the behaviour of individual animals. But details of how swarming individuals interact with the fluid environment are often under-examined. How do fluid forces shape aquatic swarms? How do fish use their flow-sensing capabilities to coordinate with their schooling mates? We propose viewing underwater collective behaviour from the framework of fluid stigmergy, which considers both physical interactions and information transfer in fluid environments. Understanding the role of hydrodynamics in aquatic collectives requires multi-disciplinary efforts across fluid mechanics, biology and biomimetic robotics. To facilitate future collaborations, we synthesize key studies in these fields.

Experiment for Effect of Attack Angle and Environmental Condition on Hydrodynamics of Near-Surface Swimming Fish-Like Robot

Fish-like robot is a special autonomous underwater vehicle with broad application prospects. Some previous studies concentrated on the hydrodynamics of free-swimming fish-like robots. But the hydrodynamic performance of fish-like robot swimming with a tilt angle in constrained space has not been well studied, and the influence of environmental wave and current on its is also still unclear. In this paper, the experiment devices, including a physical fish-like robot, a hydrodynamics measurement platform, and a six-axis force sensor, are used to study the effect of attack angle and environmental condition on the hydrodynamics of near-surface swimming fish-like robot. Nine attack angles, five oscillating amplitudes, and three environmental conditions are analyzed in the experiments. It shows that thrust force decreases when caudal fin passes above water surface, but the increased difference between gravity force and buoyancy force will compensate the decreased force generated by caudal fin when fish-like robot swims with certain dive angle. The extra reaction force generated by solid bottom boundary will promote the thrust force and vertical force. The surface water wave condition or surface water current condition also has obvious effects on hydrodynamic performance. This paper provides a new perspective to the research on the hydrodynamic performance of fish-like robot and will do favor in the development of fish-like robot.

The benefits of swimming together

When a fish beats its tail, it produces vortices in the water that other fish could take advantage of to save energy while swimming.