Swimming Mechanism Research Articles

Ups and downs: copepods reverse the near-body flow to cruise in the water column

Copepods are negatively buoyant organisms actively participating in large-scale vertical migrations as primary consumers in marine ecosystems. As such, these organisms need to overcome their own weight to swim upwards, incurring extra energy costs that are not offset by any mechanism intrinsic to drag-based propulsion. While copepod vertical migrations are well documented, it is still unclear how they achieve extensive upward cruising despite this limitation. In this study, we found suction to be a compensatory mechanism enhancing thrust in upward-swimming copepods. Using experimentally derived velocity and pressure fields, we observed that copepods pull water in front of them to generate sub-ambient pressure gradients when cruising upward, thereby inducing an upstream suction force to complement the thrust produced by the legs. Contrary to expectations that drag always dominates the leg recovery phase, we found that the upstream suction generates net thrust for about a third of the recovery stroke. In contrast, downward-swimming copepods push rather than pull on water and do not benefit from thrust-enhancing suction effects during the recovery stroke. Differences in the induced flows are associated with contrasting leg kinematics, indicating a response to the body orientation rather than a fixed effect. These results offer insights into an important swimming mechanism that can inform the role mesozooplankton play in biogenic hydrodynamic transport and its impact on marine biogeochemistry.

Numerical simulation on the interaction of median fins for enhancing vortex dynamics and propulsion performance in fish self-propelled swimming

Studies have shown that fish can enhance propulsion performance by utilizing the interaction between median fins (dorsal, anal, and caudal fins), compared to fish with only caudal fin. However, most of the current studies are based on the fish oscillating in-place, and the analysis of median fins interaction to improve swimming propulsion performance is still insufficient, and the mechanism needs further study. This study applied three-dimensional numerical simulation methods to solve the process of grass carp accelerating from a stationary state to cruising state under different body and median fins combination, as well as different motion parameter models. A comparative quantitative analysis of different models was conducted to assess the impact of median fins interactions on enhancing swimming performance, with a detailed analysis of the hydrodynamic mechanisms and their relationship with vortex dynamics. The results indicated that interactions between median fins could generate significant hydrodynamic benefits, with the fish's average swimming speed increasing up to 4.6 times, thrust up to 33.47%, and swimming efficiency up to 25.48%. This study found that the enhancement of propulsion performance was due to the formation of high-intensity and persistent posterior body vortices by the movements of the dorsal and anal fins, which were captured by the leading-edge of the caudal fin, greatly enhancing the strength of the leading-edge vortex. This study elucidates the hydrodynamic mechanisms of the interaction between median fins and could provide new insights into the efficient swimming mechanism of fish in nature.

Hydrodynamic Simulation and Experiment of a Self-Adaptive Amphibious Robot Driven by Tracks and Bionic Fins.

Amphibious robots have broad prospects in the fields of industry, defense, and transportation. To improve the propulsion performance and reduce operation complexity, a novel bionic amphibious robot, namely AmphiFinbot-II, is presented in this paper. The swimming and walking components adopt a compound drive mechanism, enabling simultaneous control for the rotation of the track and the wave-like motion of the undulating fin. The robot employs different propulsion methods but utilizes the same operation strategy, eliminating the need for mode switching. The structure and the locomotion principle are introduced. The performance of the robot in different motion patterns was analyzed via computational fluid dynamics simulation. The simulation results verified the feasibility of the wave-like swimming mechanism. Physical experiments were conducted for both land and underwater motion, and the results were consistent with the simulation regulation. Both the underwater linear and angular velocity were proportional to the undulating frequency. The robot's maximum linear speed and steering speed on land were 2.26 m/s (2.79 BL/s) and 442°/s, respectively, while the maximum speeds underwater were 0.54 m/s (0.67 BL/s) and 84°/s, respectively. The research findings indicate that the robot possesses outstanding amphibious motion capabilities and a simplistic yet unified control approach, thereby validating the feasibility of the robot's design scheme, and offering a novel concept for the development of high-performance and self-contained amphibious robots.

Numerical Simulation of Bionic Underwater Vehicle Morphology Drag Optimisation and Flow Field Noise Analysis

The study of aquatic organisms’ ectomorphology is important to understanding the mechanisms of efficient swimming and drag reduction in fish. The drag reduction mechanism in fish remains unknown yet is needed for optimising the efficiency of bionic fish. It is thus crucial to conduct drag tests and analyses. In this paper, an optimal dolphin morphological model is constructed taking the beakless porpoise as the research object. A numerical simulation of the dolphin body model is carried out for different combinations of pitch angle and speed adopting computational fluid dynamics, and the flow field noise of the dolphin body model is solved for different speeds using the FW-H equation. When the dolphin model is oriented horizontally, the differential pressure drag accounts for approximately 20–25% of the total drag as airspeed increases. As both the pitch angle and airspeed increase, the differential pressure drag and friction drag decrease with increasing airspeed. Moreover, the acoustic energy is mainly concentrated at low frequencies for both the dolphin and Bluefin-21 models. The dolphin body model has better noise performance than the Bluefin-21 model at the same speed. The optimisation of the external morphology of the bionic underwater submarine and the analysis of the shape drag are thus important for revealing the drag reduction mechanism, reducing noise in the flow field and provide guidance for research on bionic fish.

Investigating the Influence of Counterflow Regions on the Hydrodynamic Performance of Biomimetic Robotic Fish.

Biomimetic robotic fish are a novel approach to studying quiet, highly agile, and efficient underwater propulsion systems, attracting significant interest from experts in robotics and engineering. These versatile robots showcase their ability to operate effectively in various water conditions. Nevertheless, the comprehension of the swimming mechanics and the evolution of the flow field of flexible robots in counterflow regions is still unknown. This paper presents a framework for the self-propulsion of robotic fish that imitates biological characteristics. The method utilizes computational fluid dynamics to analyze the hydrodynamic efficiency of the organisms at different frequencies of tail movement, under both still and opposing flow circumstances. Moreover, this study clarifies the mechanisms that explain how changes in the aquatic environment affect the speed and efficiency of propulsion. It also examines the most effective swimming tactics for places with counterflow. The results suggest that the propulsion effectiveness of robotic fish in counterflow locations does not consistently correspond to various tail-beat frequencies. By utilizing vorticity maps, a comparative analysis can identify situations when counterflow zones improve the efficiency of propulsion.

Hydrodynamic performance analysis of swimming processes in self-propelled manta rays

To fill the research gap regarding the whole process (steady-state and nonsteady-state phases) of median and/or paired fin (MPF) mode swimming in underwater organisms, a two-degree-of-freedom self-propelled coupling method of motion and hydrodynamics based on user-defined functions of Fluent software was established, and numerical simulations were carried out for the startup, acceleration, and steady-state phases of manta rays. The interaction mechanism among the hydrodynamic characteristics, vortex evolution, and pressure distribution was investigated in the mentioned phases. We concluded that the negative pressure zone generated by the leading edge vortex and the shear layer contributes to thrust generation and changes in swimming velocity dominate the hydrodynamic characteristics by affecting the evolution of the shear layer and the leading edge vortex, with a 17.54% increase in forward average velocity in the fourth cycle compared to the third cycle and a consequent 9.5% increase in average thrust. In the end, the relationship between the formation of trailing edge vortex rings and changes in thrust was revealed. The vortex ring contributes to the increase in thrust, but the formation of the vortex ring comes at the cost of the loss of the leading edge vortex negative pressure zone, which greatly affects thrust, decreasing to 38.3% of its peak. The swimming mechanism revealed in this study provides a reference for the study of MPF-driven biodynamics and a new simulation strategy for the prediction of bionic navigator motions.

Hydrodynamic Performance Research of Underwater Oscillating Fin With the Compound Locomotion of Two Modes

Abstract The fish-like propulsion robot is becoming a profound intelligent equipment due to its excellent swimming ability and good environmental adaptability. In this paper, we propose the oscillating fin based on the fish swimming mechanism, which is compounded with the locomotion modes of sway and yaw. The kinematic and dynamic models are established to study the locomotion mechanism of the oscillating fin. The hydrodynamic performance of underwater locomotion is investigated to analyze the velocity, the propulsive force, the pressure, the propulsive efficiency, and the vortices property. Finally, the experimental measurements of the robot with oscillating fin propulsion are carried out to analyze the underwater propulsion of the oscillating fin and the unsteady fluid flow with Strouhal number. The results illustrate that the propulsive force is fluctuating, and the velocity is increasing to the maximum value. The underwater propulsion velocity could reach 1.2 m/s in a period of 0.4 s. Besides, the high- and low-pressure regions change alternatively, and the fin deforming process illustrates the vortices property and the locomotion mechanism analyses. The propulsive efficiency of the oscillating fin with compound waves is increased by 11% compared with that of the one without deformation. The experiments of the robot prototype verify the numerical simulation, and the propulsive velocity with a period of 0.4 s is two times larger than that of a period of 0.8 s. The Strouhal number of each motion mode is obtained through theoretical and experimental analyses.

Fast-Swimming Soft Robotic Fish Actuated by Bionic Muscle.

Soft underwater swimming robots actuated by smart materials have unique advantages in exploring the ocean, such as low noise, high flexibility, and friendly environment interaction ability. However, most of them typically exhibit limited swimming speed and flexibility due to the inherent characteristics of soft actuation materials. The actuation method and structural design of soft robots are key elements to improve their motion performance. Inspired by the muscle actuation and swimming mechanism of natural fish, a fast-swimming soft robotic fish actuated by a bionic muscle actuator made of dielectric elastomer is presented. The results show that by controlling the two independent actuating units of a biomimetic actuator, the robotic fish can not only achieve continuous C-shaped body motion similar to natural fish but also have a large bending angle (maximum unidirectional angle is about 40°) and thrust force (peak thrust is about 14 mN). In addition, the coupling relationship between the swimming speed and actuating parameters of the robotic fish is established through experiments and theoretical analysis. By optimizing the control strategy, the robotic fish can demonstrate a fast swimming speed of 76 mm/s (0.76 body length/s), which is much faster than most of the reported soft robotic fish driven by nonbiological soft materials that swim in body and/or caudal fin propulsion mode. What's more, by applying programmed voltage excitation to the actuating units of the bionic muscle, the robotic fish can be steered along specific trajectories, such as continuous turning motions and an S-shaped routine. This study is beneficial for promoting the design and development of high-performance soft underwater robots, and the adopted biomimetic mechanisms, as well as actuating methods, can be extended to other various flexible devices and soft robots.

Swimming Anatomy and Lower Back Injuries in Competitive Swimmers: A Narrative Review.

Competitive swimmers are at high risk of overuse musculoskeletal injuries due to their high training volumes. Spine injuries are the second most common musculoskeletal injury in swimmers and are often a result of the combination of improper technique, high loads on the spine in strokes that require hyperextension, and repetitive overuse leading to fatigue of the supporting trunk muscles. The purpose of this review is to summarize the current evidence regarding swimming biomechanics, stroke techniques, and common injuries in the lumbar spine to promote a discussion on the prevention and rehabilitation of lower back injuries in competitive swimmers. From a PUBMED/MEDLINE search, 16 articles were identified for inclusion using the search terms "swimming," "low back" or "lumbar," and "injury" or "injuries." Narrative review. Levels 4 and 5. The trunk muscles are integral to swimming stroke biomechanics. In freestyle and backstroke, the body roll generated by the paraspinal and abdominal muscles is integral to efficient stroke mechanics by allowing synergistic movements of the upper and lower extremities. In butterfly and breaststroke, the undulating wave like motion of the dolphin kick requires dynamic engagement of the core to generate repetitive flexion and extension of the spine and is a common mechanism for hyperextension injuries. The most common lower back injuries in swimming were determined to be lumbar strain, spondylolysis and spondylolisthesis, facet joint pain, and disc disease. Most overuse swimming injuries can be treated conservatively with physical therapy and training adjustments. Managing swimmers with low back pain requires a basic knowledge of swimming technique and a focus on prevention-based care. Since most swimming injuries are secondary to overuse, it is important for providers to understand the mechanisms underlying the swimming injury, including an understanding of the biomechanics involved in swimming and the role of spine involvement in the 4 strokes that assist in stabilization and force generation in the water. Knowledge of the biomechanics involved in swimming and the significant demands placed on the spinal musculoskeletal system will aid the clinician in the diagnosis and management of injuries and assist in the development of a proper rehabilitation program aimed at correction of any abnormal swimming mechanics, treatment of pain, and future injury prevention. B. Recommendation based on limited quality or inconsistent patient-oriented evidence.

AI-aided geometric design of anti-infection catheters.

Bacteria can swim upstream in a narrow tube and pose a clinical threat of urinary tract infection to patients implanted with catheters. Coatings and structured surfaces have been proposed to repel bacteria, but no such approach thoroughly addresses the contamination problem in catheters. Here, on the basis of the physical mechanism of upstream swimming, we propose a novel geometric design, optimized by an artificial intelligence model. Using Escherichia coli, we demonstrate the anti-infection mechanism in microfluidic experiments and evaluate the effectiveness of the design in three-dimensionally printed prototype catheters under clinical flow rates. Our catheter design shows that one to two orders of magnitude improved suppression of bacterial contamination at the upstream end, potentially prolonging the in-dwelling time for catheter use and reducing the overall risk of catheter-associated urinary tract infection.

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.

Bacterial surface swimming states revealed by TIRF microscopy.

Motility near solid surfaces plays a key role in the life cycle of bacteria and is essential for biofilm formation, biofilm dispersal, and virulence. The alignment of the cell body with the surface during surface swimming impacts bacterial surface sensing. Here, we developed a high-throughput method for characterizing the orientation of the cell body relative to the surface using total internal reflection fluorescence (TIRF) microscopy. The angle between the cell body and the surface was determined by maximizing image cross-correlations between the TIRF image of the cell and a reference library. Utilizing this technique, we surprisingly identified six distinct surface swimming states of Pseudomonas aeruginosa according to the body alignment and the flagellar position. Furthermore, we observed that the near-surface swimming speed is greater in the pull state than in the push state, attributed to hydrodynamic effects near the liquid-solid interface. Hydrodynamic force analysis of the swimming states provided rich insights into the mechanics of bacterial surface swimming. Our technique is readily applicable to the study of surface motility across a wide spectrum of bacterial species.

Acoustically Powered Nano- and Microswimmers: From Individual to Collective Behavior.

Micro- and nanoscopic particles that swim autonomously and self-assemble under the influence of chemical fuels and external fields show promise for realizing systems capable of carrying out large-scale, predetermined tasks. Different behaviors can be realized by tuning swimmer interactions at the individual level in a manner analogous to the emergent collective behavior of bacteria and mammalian cells. However, the limited toolbox of weak forces with which to drive these systems has made it difficult to achieve useful collective functions. Here, we review recent research on driving swimming and particle self-organization using acoustic fields, which offers capabilities complementary to those of the other methods used to power microswimmers. With either chemical or acoustic propulsion (or a combination of the two), understanding individual swimming mechanisms and the forces that arise between individual particles is a prerequisite to harnessing their interactions to realize collective phenomena and macroscopic functionality. We discuss here the ingredients necessary to drive the motion of microscopic particles using ultrasound, the theory that describes that behavior, and the gaps in our understanding. We then cover the combination of acoustically powered systems with other cross-compatible driving forces and the use of ultrasound in generating collective behavior. Finally, we highlight the demonstrated applications of acoustically powered microswimmers, and we offer a perspective on the state of the field, open questions, and opportunities. We hope that this review will serve as a guide to students beginning their work in this area and motivate others to consider research in microswimmers and acoustic fields.

Skeletal convergence in thunniform sharks, ichthyosaurs, whales, and tunas, and its possible ecological links through the marine ecosystem evolution

Tunas, lamnid sharks, modern whales, and derived ichthyosaurs converged on the thunniform body plan, with a fusiform body, lunate caudal fin, compressed peduncle, and peduncle joint. This evolutionary convergence has been studied for a long time but little is known about whether all four clades share any skeletal characteristics. Comparisons of vertebral centrum dimensions along the body reveal that the four clades indeed share three skeletal characteristics (e.g., thick vertebral column for its length), while an additional feature is shared by cetaceans, lamnid sharks, and ichthyosaurs and two more by lamnid sharks and ichthyosaurs alone. These vertebral features are all related to the mechanics of thunniform swimming through contributions to posterior concentration of tail-stem oscillation, tail stem stabilization, peduncle joint flexibility, and caudal fin angle fixation. Quantitative identifications of these features in fossil vertebrates would allow an inference of whether they were a thunniform swimmer. Based on measurements in the literature, mosasaurs lacked these features and were probably not thunniform swimmers, whereas a Cretaceous lamniform shark had a mosaic of thunniform and non-thunniform features. The evolution of thunniform swimming appears to be linked with the evolution of prey types and, in part, niche availability through geologic time.

Numerical investigation on self-propelled hydrodynamics of squid-like multiple tentacles with synergistic expansion

Cephalopods, such as squids, have versatile swimming mechanisms that allow them to adapt to complex underwater environments. Their primary means of propulsion are funnel jets, whereas coordinating soft wrists are often overlooked. The purpose of this study is to provide tentacles at the end of a squid-like robot with a circular symmetric expansion based on the traveling wave motion law and analyze the effects of the number, frequency and expansion amplitude of tentacles on its self-propelled performance. The geometry of the aquatic squid and flexible posterior segment including three joints are considered to be the key features. Overlapping grids of hole cutting technique are applied to manipulate virtual swimmers and simulate incompressible viscous flow. The results indicate that the three-tentacled squid has the best propulsion performance, and excessive tentacles cannot unilaterally enhance propulsion. The increase in frequency can be effectively mapped as an increase in the steady-state velocity coefficient and propulsion efficiency, whereas the maximum amplitude of the tentacle bending could only be raised within a certain range, and excessive bending may be counterproductive. The corresponding flow structure can indirectly reveal the evolution process of the multi-tentacled expansion performance.

Genetic basis of ecologically relevant body shape variation among four genera of cichlid fishes.

Divergence in body shape is one of the most widespread and repeated patterns of morphological variation in fishes and is associated with habitat specification and swimming mechanics. Such ecological diversification is the first stage of the explosive adaptive radiation of cichlid fishes in the East African Rift Lakes. We use two hybrid crosses of cichlids (Metriaclima sp. × Aulonocara sp. and Labidochromis sp. × Labeotropheus sp., >975 animals total) to determine the genetic basis of body shape diversification that is similar to benthic-pelagic divergence across fishes. Using a series of both linear and geometric shape measurements, we identified 34 quantitative trait loci (QTL) that underlie various aspects of body shape variation. These QTL are spread throughout the genome, each explaining 3.2-8.6% of phenotypic variation, and are largely modular. Further, QTL are distinct both between these two crosses of Lake Malawi cichlids and compared to previously identified QTL for body shape in fishes such as sticklebacks. We find that body shape is controlled by many genes of small effect. In all, we find that convergent body shape phenotypes commonly observed across fish clades are most likely due to distinct genetic and molecular mechanisms.

Kinematic and hydrodynamic mechanisms of Misgurnus anguillicaudatus during routine turning

Although traditional underwater thrusters are technologically advanced and widely used, they have limitations in propulsion efficiency, flexibility, and noise. Studying the swimming mechanisms of aquatic organisms can provide new insight into submarine propulsion. The kinematics and hydrodynamic mechanisms of Misgurnus anguillicaudatus in the turning process were explored experimentally through particle image velocimetry. Morphological characteristics of Misgurnus anguillicaudatus locomotion were analyzed using the swimming posture and extracted a body trunk curve. The kinematic characteristics of Misgurnus anguillicaudatus during turning maneuvers were further explored through quantified kinematic parameters. The hydrodynamic mechanism of the turning process was analyzed from the perspective of transient kinetic energy, vortex evolution, and pressure characteristics. The body trunk of Misgurnus anguillicaudatus maintained a fluctuating pattern from the beginning of the movement. Relying on periodic body undulations and periodic tail wagging enables the fish to maintain a continuous maneuvering state. The tail wagging in different directions generates a pair of positive and negative vortices and local high-kinetic-energy regions. The combination of pressure and viscous mechanisms creates vorticity. Jets are generated at the interface between converging vortices and opposite spins. The thrust jets provide thrust, and the side jets provide angular momentum to the fish body and the surrounding additional mass. The pull of the negative pressure area on the body along the trough is the main thrust mechanism that enables Misgurnus anguillicaudatus to swim.

Energy in Robotics: An Interdisciplinary Challenge

Energy in Robotics: An Interdisciplinary Challenge

Motility of Different Gastric Helicobacter spp.

Helicobacter spp., including the well-known human gastric pathogen H. pylori, can cause gastric diseases in humans and other mammals. They are Gram-negative bacteria that colonize the gastric epithelium and use their multiple flagella to move across the protective gastric mucus layer. The flagella of different Helicobacter spp. vary in their location and number. This review focuses on the swimming characteristics of different species with different flagellar architectures and cell shapes. All Helicobacter spp. use a run-reverse-reorient mechanism to swim in aqueous solutions, as well as in gastric mucin. Comparisons of different strains and mutants of H. pylori varying in cell shape and the number of flagella show that their swimming speed increases with an increasing number of flagella and is somewhat enhanced with a helical cell body shape. The swimming mechanism of H. suis, which has bipolar flagella, is more complex than that of unipolar H. pylori. H. suis exhibits multiple modes of flagellar orientation while swimming. The pH-dependent viscosity and gelation of gastric mucin significantly impact the motility of Helicobacter spp. In the absence of urea, these bacteria do not swim in mucin gel at pH < 4, even though their flagellar bundle rotates.

Utilizing passive elements to break time reversibility at low Reynolds number: a swimmer with one activated element.

In the realm of low Reynolds number, the shape-changing biological and artificial matters need to break time reversibility in the course of their strokes to achieve motility. This necessity is well described in the so-called scallop theorem. In this work, considering low Reynolds number, a novel and versatile swimmer is proposed as an example of a new scheme to break time reversibility kinematically and, in turn, produce net motion. The swimmer consists of one sphere as a cargo or carried body, joined by one activated link with time-varying length, to another perpendicular rigid link, as the support of two passively flapping disks, at its end. The disks are free to rotate between their fixed minimum and maximum angles. The system's motion in two dimensions is simulated, and the maneuverability of the swimmer is discussed. The minimal operating parameters for steering of the swimmer are studied, and the limits of the swimmer are identified. The introduced swimming mechanism can be employed as a simple model system for biological living matters as well as artificial microswimmers.