Hydrodynamic Advantages Research Articles

Enhancing nickel grade and recovery with counter-current washing of the concentrated bubbly-zone of a single stage REFLUX™ Flotation Cell

The recovery and concentration of the nickel sulphide mineral, pentlandite, present several challenges due to its relatively slow flotation, leading to excessive hydrophilic gangue minerals in the concentrate. The REFLUX™ Flotation Cell (RFC™) offers the potential for a significant hydrodynamic advantage over conventional flotation. Much of this advantage is due to the replacement of the pulp and froth phases with a concentrated bubbly zone, which in turn supports more intense counter-current washing by permitting a powerful and effective positive bias flux. Thus, the aim of this study was to investigate the nickel recovery and silica rejection in the RFC™, by applying a wide range of positive bias fluxes. The focus was on a single stage of separation in the RFC™ using a feed flux of 0.63 cm/s at a feed nickel grade of 2.1%. At the lowest bias flux of 0.1 cm/s, a nickel grade of 7.5% was obtained at a single stage recovery of 70.2%. By increasing the bias flux to 0.42 cm/s, the grade increased to 9.7% but the recovery fell to 64.9%. With an extreme bias flux of 1.04 cm/s, the grade reached 12.3%, while the recovery fell to 54.7%. The selectivity, given by the nickel recovery relative to the silica recovery, was estimated to be 121 at the highest bias flux, declining sharply with a reduction in the bias flux. The performance ratio proposed by Parkes et al (2022) was quantified by comparing the RFC™ performance with the batch kinetic results from a mechanical cell, the product grade being ∼7%. The performance ratio was based on the experiment at the lowest bias flux used in the RFC™, and found to be at least 6, meaning the RFC™ footprint would be reduced by a factor of ∼6 for a similar product grade. Based on the higher product grades achieved in the RFC™ using the higher positive bias fluxes, the performance ratio would likely exceed 10-fold given the need for the mechanical cell concentrate to undergo at least one further stage of flotation.

Effects of Leading-Edge Tubercles on Three-Dimensional Flapping Foils

Recently, inspired by the flippers of humpback whales, researchers have been widely studying leading-edge tubercles for use as passive flow control devices. In this research, we numerically investigated the effects of leading-edge tubercles on a three-dimensional flapping foil coupled with rolling and pitching motions. Appropriate spanwise flexibility is considered to mimic the real flapping motion of humpback whales, and the profile of the angle of attack was analyzed in a representative section under the effects of spanwise flexibility. The motion of flexible foils was decomposed into rigid motion and flexible deflection by using the sliding mesh and dynamic mesh methods, respectively. Then, the hydrodynamic performance of the flexible flapping foils was estimated by solving the unsteady Reynolds Averaged Navier–Stokes equations. The effects of the shape and kinematic parameters on thrust, power consumption, and propulsive efficiency were studied and the mechanism behind these effects was investigated. A maximum efficiency loss of 19.4% was observed for the sharpest tubercle shape. Although the hydrodynamic advantages of leading-edge tubercles were not observed in the present study, the tendency of flow separation over peaking sections was suppressed under low angles of attacks. The results suggest that leading-edge tubercles are more suitable for foils with steady or quasi-steady motions, such as propellers or turbines.

Epidermal modifications in a hill stream catfish, Hara hara in relation to its natural habitat: A scanning electron microscope and histochemical investigation.

In the present study, the epidermis of the hill stream fish Hara hara has been investigated employing scanning electron microscope, histology, histochemistry and immunofluorescence techniques. The epidermis is characteristically differentiated into plaques separated from each other by deep furrows. In plaques, the epidermis is keratinized. In contrast, in furrows, it is mucogenic. Surface epithelial cells in plaques get modified into characteristic spine-like unculi. At the distal ends of these unculi, we find tree-like branched dendritic structures. The keratinized epithelial cells in plaques together with unculi frequently exfoliate at the surface. The epidermis in furrows is equipped with secretory glandular cells, that is, mucous goblet cells, sacciform cells and club cells; and sensory structures, that is, the taste buds. These glandular cells are involved in the elaboration of different types of carbohydrate and protein moieties. Further, in the epidermis of both, plaques and furrows, melanophores are frequently interspersed between the epithelial cells. In the plaque epidermis, in addition to melanophores, melanin granules are observed in epithelial cells undergoing keratinization as well as in those sloughing at the surface. Sloughing of keratinized epithelial cells together with spine-like unculi at the surface of the plaques; the secretions of the glandular cells, the distribution of melanophore and the taste buds interspersed between the epithelial cells and the presence of melanin granules in the keratinized epithelial cells have been associated with different functional roles. These include hydrodynamic advantage, protection from mechanical stress, pathogens, UV radiation, localization of food accurately and so on in relation to the natural habitat of the fish.

Hydrodynamic trade-offs in potential swimming efficiency of planispiral ammonoids

AbstractAmmonoid cephalopods were Earth's most abundant oceanic carnivores for hundreds of millions of years, yet their probable range of swimming capabilities is poorly constrained. We investigate potential hydrodynamic costs and advantages provided by different conch geometries using computational fluid dynamics simulations. Simulations of raw drag demonstrate expected increases with velocity and conch inflation, consistent with published experimental data. Analysis at different scales of water turbulence (via Reynolds number) reveals dynamic trade-offs between conch shape, size, and velocity. Among compressed shells, the cost of umbilical exposure makes little difference at small sizes (and/or low velocity) but is profound at large sizes (and/or high velocity). We estimate that small ammonoids could travel one to three diameters per second (i.e., a typical ammonoid with a 5-cm-diameter shell could travel 5–15 cm/s), but that large ammonoids faced greater discrepancies (a 10 cm serpenticone likely traveled <30 cm/s, while a 10 cm oxycone might achieve >40 cm/s). All of these velocities are proposed only for short bursts of jet propulsion, lasting only a few seconds, in the service of dodging a predator or conspecific rival. These analyses do not include phylogeny, taxonomy, second-order conch architecture (ribs, ornament, etc.), or hydrostatic consequences of internal anatomy (soft body, suture complexity). For specific paleoecological context, we consider how these results inform our reconstruction of Jurassic ammonite recovery from the end-Triassic mass extinction. Greater refinements will come with additional simulations that measure how added mass is influenced by individual shape-trait variations, ornament, and subtle body extensions during a single jet motion.

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.

Biomimetic Research of Fish Mucus and Cargo Ships

The goal of this research was to determine if one could increase the efficiency of drag and energy loss on containership hulls in the water by utilizing the principles of biomimetics. All species of fish contain a coat of mucus which makes the surface of the fish slippery and reduces drag, adds external protection and many additional advantages. The mucus layer fills the gaps of a body to make a smooth and slippery surface for minimum drag while also providing hydrodynamic advantages by increasing velocity from which the surrounding fluid hits the surface of the fish. Increase in efficiency during movement on water was determined by the different travel speeds using 2 cargo ship model boats (one was coated with fish mucus on the hull and the other one was left uncoated). It was observed that the ship with fish mucus on its hull increased in speed and decreased the drag force, thus making the travel more efficient. The data obtained in this experiment supports the hypothesis that cargo ships would use less fuel and waste less energy with a fish mucus-like synthetic on their hulls.

Numerical investigation on the swimming mode and stable spacing with two self-propelled fish arranged in tandem

It is a long-held perception that fish may obtain a hydrodynamic advantage from clustering. This study attempts to determine whether all the fish in school gain the same energy advantage in different swimming modes. The numerical investigation based on two self-propelled fish arranged in tandem in carangiform, anguilliform, and sine curve swimming modes was conducted. It was found that fish could spontaneously form different steadily spaced queues, and discrete points of stable spacing were classified as proximity and wake interference points according to their swimming speed. The stable points were the result of the combined effect of wake impact and vortex modulation. From the carangiform to anguilliform to sine curve swimming modes, as the head amplitude increased, the vortex modulation of the rear fish gradually decreased, while the wake impact gradually increased. Therefore, the rear fish in carangiform swimming mode had lower energy consumption than that of the front, whereas the opposite was true in sine curve swimming mode. In addition, some interesting phenomena related to the vortex core arrangement were introduced at different stable points in these three swimming modes. The present results may enrich the scope of research on the hydrodynamic dominance of aquatic organisms in collective behaviour.

Collective behavior and hydrodynamic advantage of side-by-side self-propelled flapping foils.

Fish schools and their potential hydrodynamic advantages are intriguing problems and many underlying mechanisms are unclear due to the complexity of the system, especially for large schools. Here large schools containing four, six, and eight self-propelled foils in a side-by-side configuration are numerically studied. The effect of different combinations out of phase and in phase between two neighboring foils is studied. The results show that the multiple abreast self-propelled foils driven by synchronized harmonic flapping motions can spontaneously form stable side-by-side configurations. When compared with a single foil flapping alone, for cases in which any two neighboring foils are in an out-of-phase state, foils consume more energy with a specific cruising speed. For cases where any two neighboring foils are in an in-phase state, foils propel at a lower speed for a specific flapping frequency. Interestingly, the foils in hybrid states in which both out of phase and in phase coexist are preferred to enhance speed and save power. Further analysis indicates that the stability of the configuration and the lower cost of transport are attributed to the synchronized collaborative wake vortex structure and bow configuration formed by any three neighboring foils in a hybrid state. The collaborative vortices in the wake help the foils move forward alternatively during one flapping cycle. The bow configuration prevents the wake from spreading laterally and enhances the performance. Our paper sheds some light on understanding the self-organized collective behavior and hydrodynamic advantages of large schools.

Deep-reinforcement-learning-based self-organization of freely undulatory swimmers.

It is fascinating that fish groups spontaneously form different formations. The collective locomotions of two and multiple undulatory self-propelled foils swimming in a fluid are numerically studied and the deep reinforcement learning (DRL) is applied to control the locomotion. We explored whether typical patterns emerge spontaneously under the driven two DRL strategies. One strategy is that only the following fish gets hydrodynamic advantages. The other is that all individuals in the group take advantage of the interaction. In the DRL strategy, we use swimming efficiency as the reward function, and the visual information is included. We also investigated the effect of involving hydrodynamic force information, which is an analogy to that detected by the lateral line of fish. Each fish can adjust its undulatory phase to achieve the goal. Under the two strategies, collective patterns with different characteristics, i.e., the staggered-following, tandem-following phalanx and compact modes emerge. They are consistent with the results in the literature. The hydrodynamic mechanism of the above high-efficiency collective traveling modes is analyzed by the vortex-body interaction and thrust. We also found that the time sequence feature and hydrodynamic information in the DRL are essential to improve the performance of collective swimming. Our research can reasonably explain the controversial issue observed in the relevant experiments. The paper may be helpful for the design of bionic fish.

Effects of vertical anisotropy on optimization of multilateral well geometry

Multilateral wells have been increasingly used in recent years by different industries such as the oil- and gas industry (incl. coal-bed methane (CBM)) and geothermal energy production. The common purpose of these wells in the oil industry and partially in the geothermal industry is to achieve a higher production rate per well without increasing the hydraulic gradient significantly. In geothermal systems the ultimate objective is to improve heat extraction performance by enhancing productivity but also by increasing the heat transfer area. Optimal design of multilateral wells has been the focus of numerous publications in CBM and unconventional oil- and gas production, but as a result of cross-fertilization and technology-transfer among different sectors in the energy industry in the last few years, the focus of research on multilateral wells has turned to enhanced geothermal systems (EGS). Recently, several papers have been published on the use of multilateral wells in deep geothermal reservoirs. Coaxial closed-loop geothermal systems with multilateral wells utilize only the increased heat transfer area due to the laterals while EGS's with multilateral injection and production wells also benefit from the hydrodynamic advantages of such well configurations. However, substantial emphasis is – understandably – placed on the effect of artificial and natural fracture networks of EGS reservoirs and less focus is devoted to the impact of vertical permeability anisotropy which can seriously influence the flow pattern of a given configuration. Similarly, in CBM-related studies, the effect of horizontal permeability anisotropy along the face cleats to the butt cleats on multilateral well-design was investigated and vertical permeability anisotropy was not considered. In the current work we present a generalized approach for evaluating the effects of vertical permeability anisotropy on multilateral well geometry by numerical hydrodynamic modelling in an idealized, homogeneous hydrogeological setting. Current paper proposes an alternative modelling approach for representing the non-horizontal branches of multilateral wells by introducing a thin layer for the laterals with the same inclination as the well branches. This approach is then is used to investigate the effect of anisotropy on the flow pattern and near-wellbore drawdown and hydraulic gradient in the case of different branch deviations. Results suggest that the benefits of highly deviated or horizontal laterals emerge when vertical anisotropy is high. Evaluation of branch deviation vs. anisotropy indicates that above approx. 60° there is no significant benefit in increasing deviation which implies that very highly deviated or horizontal laterals might not necessarily pay off the associated technical challenges and extra costs.

Hydrodynamic analysis of fish schools arranged in the vertical plane

Schools of fish can provide individuals with hydrodynamic advantages, thereby improving the swimming efficiency. Fish schools in nature are mostly spatial configurations, not just limited to the horizontal plane. Through three-dimensional numerical simulations, this paper discusses the hydrodynamic characteristics and flow field structure of fish schools in various vertical patterns. The results show that a school of fish arranged vertically can improve the thrust and swimming efficiency of individuals as well as those arranged horizontally. There are two ways to significantly enhance hydrodynamic advantages. One is to maximize the channeling effect in multiple planes. In a vertical circular pattern, the fish school forms multiple coupled channels, which hinder the free expansion of flow in both vertical and horizontal planes, thereby obtaining higher energy-saving benefits. The other is the combined exploitation of the channeling effect and wake energy, which is illustrated in the vertical rectangular pattern. The following fish can use the channeling effect to increase the thrust due to the presence of parallel companion. Meanwhile, the high speed region of the following fish can merge with the jet flows of the preceding fish, thereby capturing the wake energy and further improving swimming efficiency.

Hydrodynamic Characteristics of Different Undulatory Underwater Swimming Positions Based on Multi-Body Motion Numerical Simulation Method.

The study of hydrodynamic characteristics of swimming is the main way to optimize the swimming movement. The relationship between position, water depth, and swimming performance of undulatory underwater swimming are one of the main concerns of scholars. Therefore, the aim of this study is to analyze the swimming performance of three different undulatory underwater swimming positions under various swimming depths using a numerical simulation method based on multi-body motion. The simulation was conducted using 3D incompressible Navier–Stokes equations using the RNG k-ε turbulence closure equations, and in combination with the VOF method thus that we could include the water surface in our calculations. Different swimming depths based on the distance from the shoulder joint center to the initial water surface were considered. The velocity of the shoulder joint center was captured with a swimming motion monitoring system (KiSwim) and compared with the calculated results. The study found that there was a significant difference in the hydrodynamic characteristics of the three undulatory underwater swimming positions (i.e., the dorsal, lateral, and frontal positions) when swimming near the water surface, and the difference decreased as the swimming depth increased. There was a negative correlation (R(dorsal) = −0.928, R(frontal) = −0.937, R(lateral) = −0.930) between the swimming velocities of the three undulatory underwater swimming positions and the water depth (water depth = 0.2–0.7 m) and that the lateral position had the greatest average velocity. Therefore, it is recommended that swimmers travel at least 0.5 m below the water surface in any undulatory underwater swimming position in order to avoid excessive drag forces. As the swimmer approaches the water surface, the lateral position is worth considering, which has better velocity and hydrodynamic advantage than the other two undulatory underwater swimming positions.

Effects of gradual flexibility and trailing edge shape on propulsive performance of pitching fins

This paper addresses hydrodynamic performance of fins regarding their trailing edge convexity–concavity and flexibility distribution. The effects of trailing edge convexity–concavity on propulsive performance and vortex dynamics were investigated experimentally utilizing time-resolved particle image velocimetry and force sensors. It was found that the convex trailing edge shape always outperforms the concave shape. Wake contracting by the bent shape of the trailing edge vortex of a convex trapezoidal form resulted in higher thrust and efficiency. The results also showed that the rounded edges of fish fins did not provide additional hydrodynamic advantages. Furthermore, we found that a gradually flexible fin delivered better propulsive performance over a uniformly flexible fin. The hydrodynamic performance of the flexible fins depended on the strength and relative positions of the trailing edge vortexes shed by each fin, which were affected by the flexible deformations of the fins. In the lower Reynolds number operation (approaching, but below the first resonant mode), the fins with larger camber produced a stronger momentum footprint especially considering the far wake elements, while in the higher Reynolds number range due to resonant deformation the extent of trailing edge excursion became dominant in affecting the propulsive performance. The results showed that gradually flexible fins can improve the performance of future watercraft.

Hydrodynamic advantages of in-line schooling

Fish benefit energetically when swimming in groups, which is reflected in lower tail-beat frequencies for maintaining a given speed. Recent studies further show that fish save the most energy when swimming behind their neighbor such that both the leader and the follower benefit. However, the mechanisms underlying such hydrodynamic advantages have thus far not been established conclusively. The long-standing drafting hypothesis—reduction of drag forces by judicious positioning in regions of reduced oncoming flow–fails to explain advantages of in-line schooling described in this work. We present an alternate hypothesis for the hydrodynamic benefits of in-line swimming based on enhancement of propulsive thrust. Specifically, we show that an idealized school consisting of in-line pitching foils gains hydrodynamic benefits via two mechanisms that are rooted in the undulatory jet leaving the leading foil and impinging on the trailing foil: (i) leading-edge suction on the trailer foil, and (ii) added-mass push on the leader foil. Our results demonstrate that the savings in power can reach as high as 70% for a school swimming in a compact arrangement. Informed by these findings, we designed a modification of the tail propulsor that yielded power savings of up to 56% in a self-propelled autonomous swimming robot. Our findings provide insights into hydrodynamic advantages of fish schooling, and also enable bioinspired designs for significantly more efficient propulsion systems that can harvest some of their energy left in the flow.

Collective locomotion of two uncoordinated undulatory self-propelled foils

Fish schooling with stable configurations is intriguing. How individuals benefit from hydrodynamic interactions is still an open question. Here, fish are modeled as undulatory self-propelled foils, which is more realistic. The collective locomotion of two foils in a tandem configuration with different amplitude ratios Ar and frequency ratios Fr is considered. Depending on Ar and Fr, the two foils without lateral or yaw motion may spontaneously form stable configurations, separate, or collide with each other. The phase diagram of the locomotion modes in the (Fr, Ar) plane is obtained, which is significantly different from that in Newbolt et al. [“Flow interactions between uncoordinated flapping swimmers give rise to group cohesion,” Proc. Natl. Acad. Sci. U. S. A. 116, 2419 (2019)]. For stable configurations, the gap spacing may be almost constant [stable position (SP) mode] or change dynamically and periodically [stable cycle (SC) mode]. In our diagram, the fast SP mode is found. Besides, the border between the separation and SP/SC modes is more realistic. In the fast SP cases, analyses of hydrodynamic force show the phenomenon of inverted drafting, in which the leader achieves hydrodynamic advantages. For the SC mode, the cruising speed increases piecewise linearly with FrAr. When Ar < 1, the linear slope is identical to that of the isolated leader, and the follower-control mechanism is revealed. Our result sheds some light on fish schooling and predating.

Investigation of Variable Spanwise Waviness Wavelength Effect on Wing Aerodynamic Performance

Tubercles on flippers of a humpback whale offer a hydrodynamic advantage. Previously, multiple attempts were made to employ them on airplane wings to get an aerodynamic advantage. The effects of the airfoil thickness, the wing planform, the Reynolds number Re, and the wavelength and amplitude are actively investigated to understand their impact on the wavy wing aerodynamic performance and the flow mechanism. However, the effect of varying wavelength along the span of the finite wing and its flow physics is yet to be explored. This research work aims at investigating the effect of varying waviness wavelength along the finite wingspan and its underlying flow mechanism in the pre-stall and post-stall regimes. The wavy wing models are designed using the NACA0021 airfoil and the simulation results are compared with the smooth leading edge (named as baseline model) at Reynolds number Re = 1.2 × 105. The simulation results were validated against experimental results from the literature. Two different wavy wing models, i.e., with increasing wavelength from root to tip of the wing (λ0305h1) and decreasing wavelength from root to tip of the wing (λ0503h1) were simulated. From the aerodynamic force behavior it is estimated that in the pre-stall regime the maximum reduction in the lift-to-drag (L/D) ratio is 16.89% and 4.22% for λ0503h1 and λ0305h1, respectively. However, in the post-stall regime the maximum increase in the L/D ratio is estimated as 2.97% and 19.18% for λ0503h1 and λ0305h1, respectively, at 20o angle of attack. It is observed that the λ0503h1 model has a lower L/D ratio in the post-stall regime due to the vortices produced on the wing surface. These vortices create a flow recirculation zone over the wing which causes an increase in the pressure at the upper surface of the wing. On the basis of the obtained results, it is concluded that the spanwise waviness on aircraft wing is only beneficial in the post-stall regime. It is also concluded that an increase in the waviness wavelength from the root to the tip provides higher aerodynamic advantage than for the case with decreasing waviness wavelength toward the tip.

Collective Pulsing in Xeniid Corals: Part II-Using Computational Fluid Dynamics to Determine if There are Benefits to Coordinated Pulsing.

Coordinated movements have been shown to enhance the speed or efficiency of swimming, flying, and pumping in many organisms. Coordinated pulsing has not been observed in many cnidarians (jellyfish, anemones, corals), as is the case for the xeniid corals considered in our corresponding paper. This observation opens the question as to whether xeniid corals, and cnidarians in general, do not coordinate their pulsing behavior for lack of a hydrodynamic advantage or for other reasons. For example, a diffuse nervous system with lack of substantial sensory input may not be capable of such coordination. Similarly, grouping may serve a defensive role rather than a fluid dynamic role. In this paper, the immersed boundary method is used to quantify the volumetric flux of fluid generated by an individual xeniid coral polyp in comparison with a pair of polyps. Both the distances between the polyps and the phase difference between each polyp are considered. More specifically, the fully coupled fluid-structure interaction problem of a coral polyp driving fluid flow is solved using a hybrid version of the immersed boundary method where the Navier-Stokes equations are solved using a finite differences and the elasticity equations describing the coral are solved using finite elements. We explore three possible hypotheses: (1) pulsing in pairs increases upward flow above the polyps and is thus beneficial, (2) these benefits vary with the polyps' pulsing phase difference, and (3) these benefits vary with the distance between the polyps. We find that there is no substantial hydrodynamic advantage to pulsing in a pair for any phase difference. The volumetric flux of fluid generated by each coral also decreases as the distance between polyps is decreased. This surprising result is consistent with measurements taken from another cnidarian with similar behavior, the upside down jellyfish, in which each medusa drives less flow when in a group.

What's in the Hump of the Humpback Chub?

The function of the nuchal hump on adult humpback chub (Gila cypha) has been the subject of longtime conjecture. Hypotheses about the purpose of the hump range from it being a feature that confers hydrodynamic advantages in swift water to speculation about how the hump may have reduced predation vulnerability to Colorado pikeminnows (Ptychocheilus lucius). We used comparative histology of the head region of captive-reared and wild specimens of humpback chub to evaluate whether histological examination could give insight into the function of the hump. Tissues were sectioned, stained, and photographed under a microscope at 2×, 4×, and 40× magnification. The hump is composed almost entirely of skeletal muscle, with little nervous system innervation or fatty tissue. Hump muscle and dorsal muscle appear very similar in terms of muscle cell size, fat content, and connective tissue content. No apparent differences exist between the hump tissues of wild-caught and captive-reared individuals. Histological analysis and study of the anatomical structure of the head through dissection, along with evidence from other species, suggest that the hump evolved to reduce predation vulnerability. Although the reason for the evolution of the hump in humpback chub remains uncertain, additional information about the composition of the hump can help to support or refute hypotheses related to its function.

Bio-inspired robotic dog paddling: kinematic and hydro-dynamic analysis

Research on quadrupedal robots inspired by canids or felids have been widely reported and demonstrated. However, none of these legged robots can deal with difficult environments that include water, such as small lakes, streams, rain, mud, flooded terrain, etc. In this paper, we present for the first time a kinematic analysis and a hydrodynamic model of dog paddling motion in a robotic system. The quadrupedal paddling gait of dogs was first analyzed based on underwater video recording. Hydrodynamic drag force analysis in a paddling gait cycle was conducted for a prototype robotic dog. The prototype robotic dog was developed using four pre-charged pneumatics soft actuators with consideration of relative positions of CG (center of gravity) and CB (center of buoyancy) and their dynamic variation in paddling. It was found that such soft actuators have great potential in developing amphibious legged robots, because they are inherently water-tight, anti-rusty, simple in structural design, and have large hydrodynamic advantage due to their mostly hemi-cylindrical shape design. Trotting and paddling of the prototype robotic dog was also demonstrated. It is believed that our findings reported in this research will provide useful guidance in future development of amphibious robotic dogs.

The three-dimensional hydrodynamics of tadpole model’s solitary swimming and parallel schooling

Tadpole swimming, including a solitary tadpole swimming and schooling side-by-side in an in-phase mode, is investigated numerically in the present paper. The three-dimensional Navier-Stokes equations for the unsteady incompressible viscous flow are solved. A dynamic mesh fitting the tadpole’s deforming body surface is adopted. The results showed that for a solitary tadpole swimming, two vortex rings are shed in each undulating period. However, as the resultant force on the tadpole is drag, the vortex rings are obviously asymmetric, shaped like “C”. When the resultant force in the swimming direction approaches zero, the axes of the vortex rings are nearly vertical to the swimming direction. Distorted vortex rings are found when the resultant force on the tadpole is thrust. When the tadpole model obtains the optimum propulsive efficiency, its swimming speed and undulating frequency are close to the values observed in nature. For tadpoles swimming side-by-side in an in-phase mode, the vortex structures in the wake may merge, split and recombine. Compared with a solitary tadpole swimming, only a small hydrodynamic advantage occur with schooling in parallel, which may be one of the reasons why tadpoles rarely, if ever swim, side by side for any amount of time or distance in nature. The effect of the undulating frequency on the tadpoles schooling is similar to that on a solitary tadpole. In addition, with an increase in the Reynolds number, the thrust force and the propulsive efficiency both increase, while the power consumption decreases. We also found that the tadpole benefits from the vortex pair shedding from its blunt snout, which can strengthen the vortex intensity in the wake and improve the pressure distribution.