Fish Locomotion Research Articles

The influence of text modality on learning with static and dynamic visualizations

In this study we investigated the influence of text modality on learning with static and dynamic visualizations in a dynamic domain, namely the physical principles underlying fish locomotion. A 2 × 2-design with type of visualization (static vs. dynamic) and text modality (spoken vs. written) as independent variables was used. Concerning learning outcomes, it was hypothesized that (1) learners presented with dynamic visualizations would outperform learners presented with static visualizations, (2) learners presented with spoken text would outperform learners presented with written text, and (3) an interaction between type of visualization and modality would occur: the superiority of dynamic over static visualizations was expected to be more pronounced for spoken compared to written text. Subjective cognitive load measures were assessed and expected to mirror the aforementioned pattern of learning outcomes in accordance with Cognitive Load Theory (i.e., higher extraneous cognitive load (ECL) related to lower learning outcomes). For transfer tasks, the first two hypotheses could be confirmed. However, there was no interaction. Moreover, ECL was rated higher by subjects when learning with static compared to dynamic visualizations, but there were no differences for ECL with respect to the text modality. The results are discussed within the framework of Cognitive Load Theory.

Chronic exposure of 2,2′,4,4′-tetrabromodiphenyl ether (PBDE-47) alters locomotion behavior in juvenile zebrafish ( Danio rerio)

In the present study, we used zebrafish ( Danio rerio) as a model to address possible effects of chronic exposure of polybrominated diphenyl ether (PBDE) flame retardants on locomotion behavior, body size, and gonad development in fish. Zebrafish were fed food dosed with PBDE-47 (control, solvent control, low, medium, and high dose groups) from 21 days post hatch (dph) to 90 dph. Fish locomotion parameters, including maximum swimming speed, total distance moved, and percent time active, were assessed using a video-based animal movement analysis system. At the end of the exposure, all fish were euthanized for length and weight measurement, and then subjected to either whole fish histological analysis or tissue PBDE-47 measurement. Survival, body size, and gonad histology were similar between the five groups. However, both total swimming distance and percent time active were negatively correlated with tissue PBDE-47 concentration and were significantly lower in the high dose group. Tissue levels of PBDE-47 in the exposed fish were comparable to that reported in previous field studies. In summary, this study showed that developmental exposure of PBDE-47 at an ecologically relevant level altered locomotion behavior without affecting body size or gonad development of zebrafish.

Source Seeking for Two Nonholonomic Models of Fish Locomotion

In this paper, we present a method of locomotion control for underwater vehicles that are propelled by a periodic deformation of the vehicle body, which is similar to the way a fish moves. We have developed control laws employing ldquoextremum seekingrdquo for two different ldquofishrdquo models. The first model consists of three rigid body links and relies on a 2-degree-of-freedom (DOF) movement that propels the fish without relying on vortices. The second fish model uses a Joukowski airfoil that has only 1 DOF in its movement and, thus, relies on vortex shedding for propulsion. We achieve model-free and position-free ldquosource seeking,rdquo and, if position is available, navigation along a predetermined path.

Cilia-like structures anchor the amphioxus notochord to its sheath

Body stiffness is important during undulatory locomotion in fish. In amphioxus, the myosepta play an important role in transmission of muscular forces to the notochord. In order to define the specific supporting role of the notochord in amphioxus during locomotion, the ultrastructure of 10 adult amphioxus specimens was analyzed using transmission electron microscopy. Numerous cilia-like structures were found on the surface of each notochordal cell at the sites of their attachment to the notochordal sheath. Ultrastructurally, these structures consisted of the characteristic arrangement of peripheral and central microtubular doublets and were anchored to the inner layer of the notochordal sheath. Immunohistochemically, a positive reaction to applied dynein and β-tubulin antibodies characterized the area of the cilia-like structures. We propose that reduced back-and-forth movements of the cilia-like structures might contribute to the flow of the fluid content inside the notochord, thus modulating the stiffness of the amphioxus body during its undulatory locomotion.

Development and target following of vision-based autonomous robotic fish

SUMMARYA novel ostraciiform swimming, vision-based autonomous robotic fish is developed in this paper. Its feasibility and capability are shown by implementing a dynamic target following task in a swimming pool. Inspired by boxfish that is highly stable and fairly maneuverable, the robotic fish is designed and constructed by locating multiple propulsors peripherally around a rigid body. Swimming locomotion of the robotic fish is achieved through harmonic oscillations of the tail and pectoral fins. The forces and moments acting on the fins and body are analyzed and the governing motion equations are derived. Through coordinating the movements of the propulsors, several typical swimming patters are empirical designed and realized. A digital camera is integrated in the robotic fish, and the visual information is processed with the embedded microcontroller. To treat the degradation of underwater image, a continuously adaptive mean shift (Camshift) algorithm is modified to keep visual lock on the moving target. A fuzzy logic controller is designed for motion regulation of a hybrid swimming pattern, which employs synchronized pectoral fins for thrust generation and tail fin for steering. A simple target following task is designed via an autonomous robotic fish swimming after a manually controlled robotic fish with fixed distance. The swimming performance of the robotic fish is tested and the effectiveness of the proposed target following method is verified experimentally.

Design and Implementation of Paired Pectoral Fins Locomotion of Labriform Fish Applied to a Fish Robot

In present, there are increasing interests in the research on mechanical and control system of underwater vehicles. These ongoing research efforts are motivated by more pervasive applications of such vehicles including seabed oil and gas explorations, scientific deep ocean surveys, military purposes, ecological and water environmental studies, and also entertainments. However, the performance of underwater vehicles with screw type propellers is not prospective in terms of its efficiency and maneuverability. The main weaknesses of this kind of propellers are the production of vortices and sudden generation of thrust forces which make the control of the position and motion difficult. On the other hand, fishes and other aquatic animals are efficient swimmers, posses high maneuverability, are able to follow trajectories, can efficiently stabilize themselves in currents and surges, create less wakes than currently used underwater vehicle, and also have a noiseless propulsion. The fish's locomotion mechanism is mainly controlled by its caudal fin and paired pectoral fins. They are classified into Body and/or Caudal Fin (BCF) and Median and/or paired Pectoral Fins (MPF). The study of highly efficient swimming mechanisms of fish can inspire a better underwater vehicles thruster design and its mechanism. There are few studies on underwater vehicles or fish robots using paired pectoral fins as thruster. The work presented in this paper represents a contribution in this area covering study, design and implementation of locomotion mechanisms of paired pectoral fins in a fish robot. The performance and viability of the biomimetic method for underwater vehicles are highlighted through in-water experiment of a robotic fish.

Dynamic reconstruction of the fish locomotor wave

The inverse hydrodynamic task of the synthesis of a wave driver for aquatic organisms, in particular of fishes, has been solved. A multilink model of bending oscillations and the optimum phasings of transverse-rotary vibrations of parts was considered, which provides a maximum driving force of each link for two cases of the hydrodynamic interaction of the parts with water: the force of viscous resistance for a longitudinal and a transverse component of the vector of movement of a segment is proportional to (1) the speed of movement (linear friction) and (2) the square of speed (square-law friction). It was shown that the optimum phasings of link vibrations for transverse and rotary modes are strictly orthogonal for the variant of linear friction or are close to orthogonal in the case of square-law friction. The theoretical forms of the bending waves satisfying the dynamic optimization are compared to experimental data obtained earlier on the basis of filmregistration.

Optimal movement in the prey strikes of weakly electric fish: a case study of the interplay of body plan and movement capability

Animal behaviour arises through a complex mixture of biomechanical, neuronal, sensory and control constraints. By focusing on a simple, stereotyped movement, the prey capture strike of a weakly electric fish, we show that the trajectory of a strike is one which minimizes effort. Specifically, we model the fish as a rigid ellipsoid moving through a fluid with no viscosity, governed by Kirchhoff's equations. This formulation allows us to exploit methods of discrete mechanics and optimal control to compute idealized fish trajectories that minimize a cost function. We compare these with the measured prey capture strikes of weakly electric fish from a previous study. The fish has certain movement limitations that are not incorporated in the mathematical model, such as not being able to move sideways. Nonetheless, we show quantitatively that the computed least-cost trajectories are remarkably similar to the measured trajectories. Since, in this simplified model, the basic geometry of the idealized fish determines the favourable modes of movement, this suggests a high degree of influence between body shape and movement capability. Simplified minimal models and optimization methods can give significant insight into how body morphology and movement capability are closely attuned in fish locomotion.

Computations of Insect and Fish Locomotion with Applications to Unconventional Unmanned Vehicles

Living creatures such as insects, birds, and fish generate lift and thrust most often by executing large-amplitude wing flapping, possibly with substantial shape deformation from root to tip. The flow for these motions is unsteady, and conventional steady-state aerodynamics is unable to correctly compute the time history of their flapping-force generation. Three-dimensional unsteady computations of flapping about the deforming wing or fin surface are necessary to correctly predict the lift and thrust throughout the flapping cycle. It is only by executing such computations for creatures or vehicles with moving and deforming surfaces that we can gain insights into the time-varying pressure distribution on all surfaces and how that results in flapping-force generation. This can be coupled with visualization of the origination and evolution of body, wing, and wake vorticity. Three-dimensional unsteady flow computations of the flapping flights of the fruit fly, a pectoral-fin swimmer (the bird wrasse), and a variety of unmanned air vehicles were carried out in pursuit of this information. The performance of these flapping wings under gust conditions was also investigated. The effect of fin deformation on the force production was studied. Novel biomimetic vehicles, incorporating information gained from these computations, were designed and built and their performance is described.

FLOW PATTERN AROUND THE RIGID CEPHALIC SHIELD OF THE DEVONIAN AGNATHANERRIVASPIS WAYNENSIS(PTERASPIDIFORMES: HETEROSTRACI)

Abstract: Palaeozoic armoured agnathans (or ostracoderms) are characterised by having an external, bone shield enclosing the anterior part of their bodies, which demonstrate great diversity of both forms and sizes. The functional significance of these cephalic shields remains unclear (they may have been a functional analogue of the vertebral column, or merely afforded protection). Here we assess the importance of the cephalic shield in terms of locomotion. In order to do this, we have studied flow patterns of the Devonian heterostracanErrivaspis waynensis(White, 1935), using an anatomically correct model ofE.waynensispositioned at different pitching angles. The fluid flow was visualised in a wind tunnel, using planar light sheet techniques, adding vaporised propylene glycol to the fluid. The flow pattern over the cephalic shield ofErrivaspisis dominated by the formation of leading‐edge vortices (LEVs). When the model was positioned at angles of attack of ‐2 degrees or higher a pair of nearly symmetrical, counter‐rotating primary vortices were produced, which flowed downstream over the upper surface of the cephalic shield. At moderate angles of attack, LEVs remained attached to the dorsal surface, but, as the angle of attack increased above 7 degrees, vortices began to separate from the surface at posterior locations. At a high angles of attack (around 12 degrees or 13 degrees), vortex breakdown (or vortex burst) occured. The body‐induced vortical flow around the cephalic shield is very similar to the that described over delta wing aircraft. This strategy generates lift forces through vortex generation (vortex lift). Based on this analogue and knowing thatErrivaspislacked pectoral fins or any other obvious control surfaces, vortex lift forces added through this mechanism may have played a major role in the locomotion of these primitive fishes, not only to counteract the negative buoyancy of the fish, but also as a means of manoeuvring.

The systematics of fish metabolic response to changes in hydrogen ion concentrations in the pH gradient field

It has been revealed that a change in water pH during free swimming of fish in the pH gradient field optimizes fish growth and their physiological state. Fish locomotor activity rises. However, despite additional activity, the fish energy budget improves, energy consumption decreases weight gain, and the efficiency of food utilization for growth increases. The changes in growth parameters and in energy caused by swimming in the pH gradient field are closely correlated. This is evidence of the systemic character of fish response to changes in the pH of water. The changes in one metabolic parameter can be used to assess other parameters. The results of this study should be considered for the improvement of juvenile fish farming techniques.

Escaping Flatland: three-dimensional kinematics and hydrodynamics of median fins in fishes

Fish swimming has often been simplified into the motions of a two-dimensional slice through the horizontal midline, as though fishes live in a flat world devoid of a third dimension. While fish bodies do undulate primarily horizontally, this motion has important three-dimensional components, and fish fins can move in a complex three-dimensional manner. Recent results suggest that an understanding of the three-dimensional body shape and fin motions is vital for explaining the mechanics of swimming, and that two-dimensional representations of fish locomotion are misleading. In this study, we first examine axial swimming from the two-dimensional viewpoint, detailing the limitations of this view. Then we present data on the kinematics and hydrodynamics of the dorsal fin, the anal fin and the caudal fin during steady swimming and maneuvering in brook trout, Salvelinus fontinalis, bluegill sunfish, Lepomis macrochirus, and yellow perch, Perca flavescens. These fishes actively move the dorsal and anal fins during swimming, resulting in curvature along both anterio-posterior and dorso-ventral axes. The momentum imparted to the fluid by these fins comprises a substantial portion of total swimming force, adding to thrust and contributing to roll stability. While swimming, the caudal fin also actively curves dorso-ventrally, producing vortices separately from both its upper and lower lobes. This functional separation of the lobes may allow additional control of three-dimensional orientation, but probably reduces swimming efficiency. In contrast, fish may boost the caudal fin's efficiency by taking advantage of the flow from the dorsal and anal fins as it interacts with the flow around the caudal fin itself. During maneuvering, fish readily use their fins outside of the normal planes of motion. For example, the dorsal fin can flick laterally, orienting its surface perpendicular to the body, to help in turning and braking. These data demonstrate that, while fish do move primarily in the horizontal plane, neither their bodies nor their motions can accurately be simplified in a two-dimensional representation. To begin to appreciate the functional consequences of the diversity of fish body shapes and locomotor strategies, one must escape Flatland to examine all three dimensions.

Integrated diversification of locomotion and feeding in labrid fishes

An organism's performance of any ecological task involves coordination of multiple functional systems. Feeding performance is influenced by locomotor abilities which are used during search and capture of prey, as well as cranial mechanics, which affect prey capture and processing. But, does this integration of functional systems manifest itself during evolution? We asked whether the locomotor and feeding systems evolved in association in one of the most prominent and diverse reef fish radiations, the Labridae. We examined features of the pectoral fins that affect swimming performance and aspects of the skull that describe force and motion of the jaws. We applied a recent phylogeny, calculated independent contrasts for 60 nodes and performed principal components analyses separately on contrasts for fin and skull traits. The major axes of fin and skull diversification are highly correlated; modifications of the skull to amplify the speed of jaw movements are correlated with changes in the pectoral fins that increase swimming speed, and increases in force capacity of the skull are associated with changes towards fins that produce high thrust at slow speeds. These results indicate that the labrid radiation involved a strong connection between locomotion and feeding abilities.

Design of an artificial bionic neural network to control fish-robot's locomotion

An artificial bionic neural network to control fish-robot locomotion is presented. The fish-robot, which is inspired from “ Gymnarchus niloticus”, is modeled as a multi-joint dynamic system with parallel connections and composed of several motors. The principle of the central pattern generators (CPGs) governing the locomotion of fish is analyzed. An artificial neural network which has many comparability with the biological CPGs is designed to control the fish-robot. Experimental results of startup, stop, forward swimming and backward swimming show its validity and efficiency.

Physics in context—a means to encourage student interest in physics

Physics instruction that is student oriented will generate a long-term individual interestand therefore a lifelong openness to science. Phenomena of nature are part ofthe fields of interest which provide context leading to greater student interest.In this paper we present the locomotion of fish and sperm in a way which can be used toteach in physics classes. For the development of the topic, a free computer simulation canbe downloaded, which illustrates the different kinds of movement pertaining to fish:paddling, oscillation and undulation. The physics of the three different kinds of movementis explained in the simulation by demonstrating the force vectors that are relevant.

Fish locomotion: kinematics and hydrodynamics of flexible foil-like fins

The fins of fishes are remarkable propulsive devices that appear at the origin of fishes about 500 million years ago and have been a key feature of fish evolutionary diversification. Most fish species possess both median (midline) dorsal, anal, and caudal fins as well as paired pectoral and pelvic fins. Fish fins are supported by jointed skeletal elements, fin rays, that in turn support a thin collagenous membrane. Muscles at the base of the fin attach to and actuate each fin ray, and fish fins thus generate their own hydrodynamic wake during locomotion, in addition to fluid motion induced by undulation of the body. In bony fishes, the jointed fin rays can be actively deformed and the fin surface can thus actively resist hydrodynamic loading. Fish fins are highly flexible, exhibit considerable deformation during locomotion, and can interact hydrodynamically during both propulsion and maneuvering. For example, the dorsal and anal fins shed a vortex wake that greatly modifies the flow environment experienced by the tail fin. New experimental kinematic and hydrodynamic data are presented for pectoral fin function in bluegill sunfish. The highly flexible sunfish pectoral fin moves in a complex manner with two leading edges, a spanwise wave of bending, and substantial changes in area through the fin beat cycle. Data from scanning particle image velocimetry (PIV) and time-resolved stereo PIV show that the pectoral fin generates thrust throughout the fin beat cycle, and that there is no time of net drag. Continuous thrust production is due to fin flexibility which enables some part of the fin to generate thrust at all times and to smooth out oscillations that might arise at the transition from outstroke to instroke during the movement cycle. Computational fluid dynamic analyses of sunfish pectoral fin function corroborate this conclusion. Future research on fish fin function will benefit considerably from close integration with studies of robotic model fins.

Regeneration of descending projections to the spinal motor neurons after spinal hemisection in the goldfish

Following spinal transection, descending spinal projections from goldfish brainstem neurons spontaneously regenerate beyond the lesion site. The nucleus of the medial longitudinal fasciculus (nFLM), which has a critical role in swimming, also sends regenerated axons over a long distance to the ipsilateral spinal cord. To examine whether regenerated axons re-innervate the appropriate targets, we injected rhodamine dextran amine (RDA) into the nFLM of spinally transected goldfish and examined anterogradely labeled axons in the spinal cord. In intact controls, there were many RDA-labeled boutons or varicosities in the spinal cord in close apposition to both neurons positive for calcitonin gene-related peptide (CGRP), and those negative for CGRP. This suggests that the nFLM neurons project axons directly to the motoneurons and interneurons in the spinal cord. Four days after hemisection 1 mm caudal to the rostral end of the spinal cord, the number of RDA-labeled boutons in close apposition to the spinal neurons was significantly decreased on the side ipsilateral to the injection. Six to twelve weeks after spinal hemisection, regenerated axons ran through the repaired lesion site, and the number of RDA-labeled boutons or varicosities in close apposition to the ipsilateral spinal neurons had returned to the control level.These findings suggest that the midbrain–spinal pathway, critical for locomotion in fish, spontaneously regenerates beyond the lesion site to re-innervate the appropriately innervated targets after spinal lesion.

Mathematical modeling and simulation of aquatic and aerial animal locomotion

In this paper, we investigate the locomotion of fish and birds by applying a new unsteady, flexible wing theory that takes into account the strong nonlinear dynamics semi-analytically. We also make extensive comparative study between the new approach and the modified vortex blob method inspired from Chorin’s and Krasny’s work. We first implement the modified vortex blob method for two examples and then discuss the numerical implementation of the nonlinear analytical mathematical model of Wu. We will demonstrate that Wu’s method can capture the nonlinear effects very well by applying it to some specific cases and by comparing with the experiments available. In particular, we apply Wu’s method to analyze Wagner’s result for a wing abruptly undergoing an increase in incidence angle. Moreover, we study the vorticity generated by a wing in heaving, pitching and bending motion. In both cases, we show that the new method can accurately represent the vortex structure behind a flying wing and its influence on the bound vortex sheet on the wing.

Swimming speed performance in coral reef fishes: field validations reveal distinct functional groups

Central to our understanding of locomotion in fishes are the performance implications of using different modes of swimming. Employing a unique combination of laboratory performance trials and field observations of swimming speed, this study investigated the comparative performance of pectoral and body-caudal fin swimming within an entire assemblage of coral reef fishes (117 species 10 families). Field observations of swimming behaviour identified three primary modes: labriform (pectoral 70 spp.), subcarangiform (body-caudal 29 spp.) and chaetodontiform (augmented body-caudal 18 spp.). While representative taxa from all three modes were capable of speeds exceeding 50 cm s−1 during laboratory trials, only pectoral-swimmers maintained such high speeds under field conditions. Direct comparisons revealed that pectoral-swimming species maintained field speeds at a remarkable 70% of their maximum (lab-tested) recorded speed; species using body-caudal fin propulsion maintained field speeds at around 50% of maximum. These findings highlight a profound influence of swimming mode on performance, with the relative mechanical and energetic efficiency of each swimming mode being of major importance. Combining attributes of efficiency, maneuverability and speed in one mode of propulsion, pectoral swimming appears to be a particularly versatile form of locomotion, well suited to a demersal lifestyle on coral reefs.

2A2-D04 導電性高分子を用いた帯状鰭型アクチュエータの開発(水中ロボット・メカトロニクス)

Generally, almost ships and underwater vehicles use screw propellers. However, it is not easy to employ screw propellers for precise control without generating mechanical noises. We focus attention on fish locomotion and have been developing a ribbon like fin actuator using electro conductive polymer for underwater vehicle. We aim at that this actuator takes the place of screw propeller for precise and silent control. An electro conductive polymer is used artificial muscles. In this paper, we introduce the imitating fish locomotion, concept of the developing actuator and the results of performance evaluation test of the developed electro conductive polymer.