Does a rigid body limit maneuverability?

2000 ◽  
Vol 203 (22) ◽  
pp. 3391-3396 ◽  
Author(s):  
J.A. Walker
Keyword(s):  
Rigid Body ◽  
The Body ◽  
Alternative Measure ◽  
Pectoral Fin ◽  
Caudal Fin ◽  
Minimum Radius ◽  
Current Definition ◽  
Theoretical Minimum

Whether a rigid body limits maneuverability depends on how maneuverability is defined. By the current definition, the minimum radius of the turn, a rigid-bodied, spotted boxfish Ostracion meleagris approaches maximum maneuverability, i.e. it can spin around with minimum turning radii near zero. The radius of the minimum space required to turn is an alternative measure of maneuverability. By this definition, O. meleagris is not very maneuverable. The observed space required by O. meleagris to turn is slightly greater than its theoretical minimum but much greater than that of highly flexible fish. Agility, the rate of turning, is related to maneuverability. The median- and pectoral-fin-powered turns of O. meleagris are slow relative to the body- and caudal-fin-powered turns of more flexible fish.

Five new species of Parapercis (Perciformes: Pinguipedidae) from southeast Asia and northwest Australia

Zootaxa ◽  
2017 ◽  
Vol 4320 (1) ◽  
pp. 121
Author(s):  
JEFFREY W. JOHNSON ◽  
HIROYUKI MOTOMURA
Keyword(s):  
New Species ◽  
Southeast Asia ◽  
Western Australia ◽  
The Philippines ◽  
The Body ◽  
Andaman Sea ◽  
Single Specimen ◽  
Pectoral Fin ◽  
Caudal Fin ◽  
Northwest Australia

Five new species of sandperch (Pinguipedidae: Parapercis) from southeast Asia and northwest Australia are described. Parapercis soliorta sp. nov., known from a single specimen acquired from the Iloilo Central Market, taken off Iloilo, Panay Island, Philippines, is readily distinguished by a unique colour pattern including a series of nine brilliant yellow-ringed red spots along the body and caudal fin. Parapercis rubricaudalis sp. nov. is described from 15 specimens trawled between Dampier and Cape Leveque, Western Australia in 70–119 m and a single specimen taken by aquarium fish collectors off Zambales, Luzon, Philippines. It has the posterior end of the opercular ridge armed with two or three strong spines, the margin of the preopercle, subopercle and interopercle strongly serrated, and colouration including six broad irregular orange to reddish bands across the body, and the pelvic fins and lower third of the caudal fin crimson-red. A complex of three closely related species, Parapercis flavipinna sp. nov. from the Philippines, Parapercis caudopellucida sp. nov. from Myanmar and Parapercis hoi sp. nov. from northwest Australia and the Philippines, share a series of six or seven irregular dusky double blotches along the sides, a series of small black spots along the base of the soft dorsal-fin, a pair of dusky blotches on the caudal-fin base, and mostly similar meristic values. Parapercis hoi sp. nov. is known from four specimens trawled off Broome, Western Australia, in 97–109 m and one specimen trawled in the Sibuyan Sea, Philippines, in 73–84 m. It may be distinguished from its two closest congeners by cycloid cheek scales, a distinctive anal-fin colouration, and lower pectoral-fin ray, gill raker and lateral-line scale counts. Parapercis caudopellucida sp. nov., trawled in 125–129 m in the Andaman Sea off southern Myanmar, is described from two specimens. It differs from its two closest congeners most obviously by cycloid cheek scales, caudal-fin colouration, and the presence of a dusky bar extending posteroventrally from the tip of the maxilla to the anteroventral edge of the preopercle. Parapercis flavipinna sp. nov. is described from two specimens acquired from the Iloilo Central Market, taken off Iloilo, Panay Island, in the Philippines. It is distinguished most readily by the presence of ctenoid cheek scales and colouration including rows of bright yellow spots on the anal and caudal fins, a yellow upper lip, a series of yellow streaks and spots on the head, and fleshy pectoral-fin base with a large dark purplish grey blotch followed by a distinct white-edged black bar. 

Kinematics of Pectoral Fin Propulsion in Cymatogaster Aggregata

1973 ◽  
Vol 59 (3) ◽  
pp. 697-710 ◽  
Author(s):  
P. W. WEBB
Keyword(s):  
Swimming Speed ◽  
Performance Test ◽  
Beat Frequency ◽  
The Body ◽  
Fish Swimming ◽  
Pectoral Fin ◽  
Caudal Fin ◽  
Lift Forces ◽  
Time Of Year ◽  
Refractory Phase

1. The kinematics of pectoral-fin propulsion have been measured for Cymatogaster aggregata, 14·3 cm in length, during an increasing-velocity performance test. Acclimation and test temperature was 15 °C, similar to the fishes' normal environmental temperature for the time of year of the tests. 2. Locomotion was in the labriform mode. Within this mode two pectoral-fin patterns were observed, differing only in the details of fin kinematics. These differences resulted from the length of the propagated wave passed over the fin. At low swimming speeds, up to about 2 L/sec, the wavelength was relatively short, approximately twice the length of the trailing edge of the fin. At higher speeds, a wave of very much longer wavelength was passed over the fin. 3. The pectoral fin-beat cycle was divisible into abduction, adduction and refractory phases. Abduction and adduction phases were of equal duration, and the proportion of time occupied by these phases increased with swimming speed. The duration of the refractory phase decreased with increasing speed. 4. The kinematics indicated that thrust was generated throughout abduction and adduction phases, together with lift forces that cancelled out over a complete cycle. As a result of lift forces and the refractory phase the body moved in a figure-8 motion relative to the flow. 5. Pectoral fin-beat frequency and amplitude increased with swimming speed, and the product of frequencyxamplitude was linearly related to swimming speed. 6. Interactions between pectoral fin-beat frequency, amplitude, refractory phase and kinematic patterns were interpreted as a mechanism to permit the propulsive muscles to operate at optimum efficiency and power output over a wider range of swimming speeds than would otherwise be possible. 7. Pectoral-fin propulsion was augmented by caudal-fin propulsion only at swimming speeds greater than 3·4 L/sec. 8. The mean 45 min critical swimming speed was 3·94 L/sec, and compares favourably with similar levels of activity for fish swimming by means of body and caudal-fin movements.

scholarly journals Gephyrocharax torresi (Characiformes: Characidae: Stevardiinae), a new species from the río Cascajales basin, río Magdalena system, Colombia

2013 ◽  
Vol 11 (2) ◽  
pp. 275-284 ◽  
Author(s):  
James Anyelo Vanegas-Ríos ◽  
María de las Mercedes Azpelicueta ◽  
Juan Marcos Mirande ◽  
María Dolly García Gonzales
Keyword(s):  
New Species ◽  
The Body ◽  
Pectoral Fin ◽  
Caudal Peduncle ◽  
Caudal Fin ◽  
Fin Ray ◽  
Fin Rays ◽  
Adipose Fin ◽  
Black Pigmentation ◽  
A New Species

A new species of Gephyrocharax is described from the río Cascajales basin, a tributary of the río La Colorada, río Magdalena system, Colombia. The new species is distinguished from its congeners, exceptG. melanocheir, by the absence of an adipose fin in most specimens and by the possession of a lateral branched pectoral-fin ray in males with a distal fan-shaped structure with minute bony hooks and a dark blotch or a few scattered dark brown chromatophores along its branches. The new species differs from G.melanocheir by the absence of an intense black pigmentation at the base of the anterior five dorsal-fin rays, the number of vertebrae (40-41vs. 38-39), the frontals contacting each other anterior to the epiphyseal bar in adults (vs. the absence of contact), the posterior margin of the mesethmoid straight in its central portion (vs. strongly concave at this point), the pouch scale of mature males reaching caudal-fin ray 11 or the area between caudal-fin rays 11 and 12 (vs. reaching only to caudal-fin ray 10 or the area between caudal-fin rays 9 and 10), the number of minute terminal branches of the lateral branched pectoral-fin ray of mature males (60-88 vs. 28-54), a longer black lateral stripe along the body in males (reaching to the base of the caudal-fin rays vs. reaching the middle of the length of the caudal peduncle), and the snout length (28.3-31.8% HLvs. 22.2-28.0% HL). The diagnosis ofGephyrocharax is modified to include species with the adipose fin variably present

Design and Analysis of a Wire-Driven Robot Tadpole

2012 ◽  
Author(s):  
Zheng Li ◽  
Wenqi Gao ◽  
Ruxu Du ◽  
Baofeng Liao
Keyword(s):  
Control System ◽  
Body Length ◽  
Power Supply ◽  
The Body ◽  
Pectoral Fin ◽  
Caudal Fin ◽  
Moving Direction ◽  
And Control ◽  
System Power ◽  
Pelvic Fin

Besides fish there are a lot of animals can swim effectively in the water, such as tadpole. Different from fishes using multiple fins to swim, tadpole has only one tail. It is well known that most fish employ the caudal fin to generate thrust, and use the pectoral fin, pelvic fin, etc. to balance the body and control its moving direction. However, the tadpole fulfilled all these tasks by the tail only. Hence, it is interesting to build a robot tadpole and study its motion. In this paper, a robot tadpole is designed. It has a blunt head and a tail. The control system, power supply and actuator are inside the head. The tail is a novel wire driven flapping propeller. The tail has a serpentine backbone with 7 joints, which are controlled by just one actuator. A prototype is built. The overall length of the robot tadpole is 328cm. Experiment results show that the robot tadpole can swim freely in the water. Its speed is affected by the flapping amplitude and frequency. In the experiments, the tadpole’s speed can reach 0.413 body length per second (BL/s), which matches the prediction from the propulsion model.

Tail shapes lead to different propulsive mechanisms in the body/caudal fin undulation of fish

2020 ◽  
pp. 095440622096768
Author(s):  
Jialei Song ◽  
Yong Zhong ◽  
Ruxu Du ◽  
Ling Yin ◽  
Yang Ding
Keyword(s):  
Numerical Simulation ◽  
Aspect Ratio ◽  
High Efficiency ◽  
The Body ◽  
Caudal Fin ◽  
Fish Model ◽  
Swimming Efficiency ◽  
Simulation Results ◽  
Propulsive Mechanism ◽  
High Depth

In this paper, we investigate the hydrodynamics of swimmers with three caudal fins: a round one corresponding to snakehead fish ( Channidae), an indented one corresponding to saithe ( Pollachius virens), and a lunate one corresponding to tuna ( Thunnus thynnus). A direct numerical simulation (DNS) approach with a self-propelled fish model was adopted. The simulation results show that the caudal fin transitions from a pushing/suction combined propulsive mechanism to a suction-dominated propulsive mechanism with increasing aspect ratio ( AR). Interestingly, different from a previous finding that suction-based propulsion leads to high efficiency in animal swimming, this study shows that the utilization of suction-based propulsion by a high- AR caudal fin reduces swimming efficiency. Therefore, the suction-based propulsive mechanism does not necessarily lead to high efficiency, while other factors might play a role. Further analysis shows that the large lateral momentum transferred to the flow due to the high depth of the high- AR caudal fin leads to the lowest efficiency despite the most significant suction.

scholarly journals Resurrection of the genus Homalopteroides (Teleostei: Balitoridae) with a redescription of H. modestus (Vinciguerra 1890)

Zootaxa ◽  
2012 ◽  
Vol 3586 (1) ◽  
pp. 329 ◽  
Author(s):  
ZACHARY S. RANDALL ◽  
LAWRENCE M. PAGE
Keyword(s):  
Lateral Line ◽  
Head Length ◽  
Pectoral Fin ◽  
Caudal Fin ◽  
Dorsal Fin ◽  
Interorbital Width ◽  
Fin Rays ◽  
Orbital Rim ◽  
Pectoral Fin Rays ◽  
Pelvic Fin

The genus Homalopteroides Fowler 1905 is resurrected and distinguished from the genus Homaloptera van Hasselt 1823based on a combination of characters including a unique mouth morphology, dorsal-fin origin over pelvic fin,≤60 lateral-line scales, and≤30 predorsal scales. Species included in Homalopteroides are H. wassinkii (Bleeker 1853), H. modestus(Vinciguerra 1890), H. rupicola (Prashad & Mukerji 1929), H. smithi (Hora 1932), H. stephensoni (Hora 1932), H. weberi(Hora 1932), H. tweediei (Herre 1940), H. indochinensis (Silas 1953), H. nebulosus (Alfred 1969), H. yuwonoi (Kottelat1998), and possibly H. manipurensis (Arunkumar 1999). Homalopteroides modestus (Vinciguerra 1890) is a poorlyknown species that was originally described from the Meekalan and Meetan rivers of southern Myanmar. It occurs in theSalween, Mae Khlong, and Tenasserim basins, and can be distinguished from all other species of Homalopteroides by thecombination of caudal-fin pattern (black proximal and distal bars, median blotch), 15 pectoral-fin rays, pectoral-fin lengthgreater than head length, 5½–6½ scales above and 5–6 scales below the lateral line (to the pelvic fin), 39–44 total lateral-line pores, no axillary pelvic-fin lobe, pelvic fin not reaching anus, orbital length less than interorbital width in adult, and maxillary barbel reaching to or slightly past the anterior orbital rim.

The Global Motion of a Rigid Body Subject to Periodic Body-Fixed Torques

1995 ◽  
Author(s):  
X. Tong ◽  
B. Tabarrok
Keyword(s):  
Rigid Body ◽  
Equations Of Motion ◽  
Melnikov Method ◽  
The Body ◽  
Body Motion ◽  
Heteroclinic Orbits ◽  
Coordinate Frame ◽  
Global Motion ◽  
Stable And Unstable Manifolds ◽  
Body Subject

Abstract In this paper the global motion of a rigid body subject to small periodic torques, which has a fixed direction in the body-fixed coordinate frame, is investigated by means of Melnikov’s method. Deprit’s variables are introduced to transform the equations of motion into a form describing a slowly varying oscillator. Then the Melnikov method developed for the slowly varying oscillator is used to predict the transversal intersections of stable and unstable manifolds for the perturbed rigid body motion. It is shown that there exist transversal intersections of heteroclinic orbits for certain ranges of parameter values.

Caudal Fin and Body Movement in the Propulsion of some Fish

1963 ◽  
Vol 40 (1) ◽  
pp. 23-56 ◽  
Author(s):  
RICHARD BAINBRIDGE
Keyword(s):  
Body Movement ◽  
Wave Length ◽  
The Body ◽  
Whole Body ◽  
Tail Region ◽  
Caudal Fin ◽  
A Value ◽  
Total Thrust ◽  
Transverse Movement ◽  
Relationship Of

1. Observations made on bream, goldfish and dace swimming in the ‘Fish Wheel’ apparatus are described. These include: 2. An account of the complex changes in curvature of the caudal fin during different phases of the normal locomotory cycle. Measurements of this curvature and of the angles of attack associated with it are given. 3. An account of changes in area of the caudal fin during the cycle of lateral oscillation. Detailed measurements of these changes, which may involve a 30 % increase in height or a 20 % increase in area, are given. 4. An account of the varying speed of transverse movement of the caudal fin under various conditions and the relationship of this to the changes in area and amount of bending. Details of the way this transverse speed may be asymmetrically distributed relative to the axis of progression of the fish are given. 5. An account of the extent of the lateral propulsive movements in other parts of the body. These are markedly different in the different species studied. Measurements of the wave length of this movement and of the rate of progression of the wave down the body are given. 6. It is concluded that the fish has active control over the speed, the amount of bending and the area of the caudal fin during transverse movement. 7. The bending of the fin and its changes in area are considered to be directed to the end of smoothing out and making more uniform what would otherwise be an intermittent thrust from the oscillating tail region. 8. Some assessment is made of the proportion of the total thrust contributed by the caudal fin. This is found to vary considerably, according to the form of the lateral propulsive movements of the whole body, from a value of 45% for the bream to 84% for the dace.

MULTIBODY DYNAMIC MODELING AND FLUTTER ANALYSIS OF A FLEXIBLE SLENDER VEHICLE

2012 ◽  
Vol 12 (06) ◽  
pp. 1250049 ◽  
Author(s):  
A. RASTI ◽  
S. A. FAZELZADEH
Keyword(s):  
Differential Equations ◽  
Rigid Body ◽  
Dynamic Modeling ◽  
Equations Of Motion ◽  
The Body ◽  
Elastic Deformations ◽  
Strip Theory ◽  
Multibody Dynamic ◽  
Flutter Analysis ◽  
Rigid Body Motions

In this paper, multibody dynamic modeling and flutter analysis of a flexible slender vehicle are investigated. The method is a comprehensive procedure based on the hybrid equations of motion in terms of quasi-coordinates. The equations consist of ordinary differential equations for the rigid body motions of the vehicle and partial differential equations for the elastic deformations of the flexible components of the vehicle. These equations are naturally nonlinear, but to avoid high nonlinearity of equations the elastic displacements are assumed to be small so that the equations of motion can be linearized. For the aeroelastic analysis a perturbation approach is used, by which the problem is divided into a nonlinear flight dynamics problem for quasi-rigid flight vehicle and a linear extended aeroelasticity problem for the elastic deformations and perturbations in the rigid body motions. In this manner, the trim values that are obtained from the first problem are used as an input to the second problem. The body of the vehicle is modeled with a uniform free–free beam and the aeroelastic forces are derived from the strip theory. The effect of some crucial geometric and physical parameters and the acting forces on the flutter speed and frequency of the vehicle are investigated.

Quebecius quebecensis (Whiteaves), a porolepiform crossopterygian (Pisces) from the Late Devonian of Quebec, Canada

1987 ◽  
Vol 24 (12) ◽  
pp. 2351-2361 ◽  
Author(s):  
Hans-Peter Schultze ◽  
Marius Arsenault
Keyword(s):  
Ventral Side ◽  
The Body ◽  
Late Devonian ◽  
Pectoral Fin ◽  
Pectoral Fins ◽  
Median Fins ◽  
Pelvic Fin

Quebecius quebecensis (Whiteaves 1889) is a porolepiform crossopterygian related to Glyptolepis. A large nariodal, a large tabular, a separate intertemporal, and a large fused nasosupraorbital are features of Quebecius that characterize it as a porolepiform. The small size of the operculum, median extrascapular larger than the lateral one, small lower squamosals, and deep maxilla are additional features separating Quebecius from Glyptolepis. As in Glyptolepis, the median fins are not lobed. The pectoral fin possesses a long fleshy lobe. The internal, ventral side of the broadly based pelvic fin suggests that the internal axis has shifted towards the body. Pectoral fins with a long fleshy lobe are a common feature of porolepiforms, but lobed bases in the pelvic and unpaired fins are a feature found in Holoptychius, and not in Glyptolepis and Quebecius. Quebecius quebecensis is conspecific with Quebecius williamsi Schultze 1973, mistakenly described as an onychodont crossopterygian.

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