Mechanics of Escape Responses in Crayfish (Orconectes Virilis)

1979 ◽  
Vol 79 (1) ◽  
pp. 245-263 ◽  
Author(s):  
P. W. WEBB
Keyword(s):  
Muscle Power ◽  
Total Duration ◽  
Power Stroke ◽  
Pressure Drag ◽  
Drag Forces ◽  
Added Water ◽  
Recovery Stroke ◽  
Low Efficiency ◽  
Lift Off ◽  
Tail Flip

Measurements of acceleration performance of crayfish (mean mass 0.018 kg) were made during lateral giant mediated tail flips (LG tail flips) and truncated tail flips at 15°C. The LG tail flip power stroke was composed of a lift-off phase, when crayfish accelerated vertically from the substrate, and a free swimming phase. The total duration of the power stroke was 44 ms, followed by a recovery stroke lasting 173 ms. Truncated tail flips were used in acceleration and swimming by crayfish free of the substrate. Power strokes had a mean duration of 36 ms, and recovery strokes 92 ms. Net velocities, acceleration rates, and distances travelled by the centre of mass were similar for both types of tail flips. Thrust was generated almost entirely by the uropods and telson. Velocities and angles of orientation to the horizontal of abdominal segments were similar for both types of tail flip. Angles of attack were large, varying from 30° to 90°. Pressure (drag) forces were considered negligible compared to inertial forces associated with the acceleration of added water mass. Thrust forces, energy and power were determined for exemplary tail flips. Thrust was 0.92 and 0.42 N for LG tail flip lift-off and swimming phases respectively, and 0.29 N for the swimming truncated tail flip. Rates of working were 0.39, 0.19, and 0.18 W respectively. The efficiency of converting muscle power to backward motion was estimated to be 0.5 for power strokes and 0.68 for complete swimming cycles. Comparisons with fish performance suggested fish would be less efficient (0.1-0.2). The low efficiency is attributed to energy lost in lateral recoil movements.

Design and Dynamic Modeling of a Flexible Feathering Joint for Robotic Fish Pectoral Fins

2014 ◽  
Author(s):  
Sanaz Bazaz Behbahani ◽  
Xiaobo Tan
Keyword(s):  
Dynamic Model ◽  
Robotic Fish ◽  
Power Stroke ◽  
Hydrodynamic Drag ◽  
Pectoral Fin ◽  
Flexible Joint ◽  
Blade Element Theory ◽  
Pectoral Fins ◽  
Flexible Part ◽  
Recovery Stroke

In this paper, we propose a novel design for a pectoral fin joint of a robotic fish. This joint uses a flexible part to enable the rowing pectoral fin to feather passively and thus reduce the hydrodynamic drag in the recovery stroke. On the other hand, a mechanical stopper allows the fin to maintain its motion prescribed by the servomotor in the power stroke. The design results in net thrust even when the fin is actuated symmetrically for the power and recovery strokes. A dynamic model for this joint and for a pectoral fin-actuated robotic fish involving such joints is presented. The pectoral fin is modeled as a rigid plate connected to the servo arm through a pair of torsional spring and damper that describes the flexible joint. The hydrodynamic force on the fin is evaluated with blade element theory, where all three components of the force are considered due to the feathering degree of freedom of the fin. Experimental results on robotic fish prototype are provided to support the effectiveness of the design and the presented dynamic model. We utilize three different joints (with different sizes and different flexible materials), produced with a multi-material 3D printer, and measure the feathering angles of the joints and the forward swimming velocities of the robotic fish. Good match between the model predictions and experimental data is achieved, and the advantage of the proposed flexible joint over a rigid joint, where the power and recovery strokes have to be actuated at different speeds to produce thrust, is demonstrated.

The Swimming of Nymphon Gracile (Pyconogonida)

1971 ◽  
Vol 55 (1) ◽  
pp. 273-287
Author(s):  
ELFED MORGAN
Keyword(s):  
Angular Velocity ◽  
Hydrodynamic Force ◽  
Beat Frequency ◽  
High Elevation ◽  
Dorsal Side ◽  
Constant Angular Velocity ◽  
Power Stroke ◽  
Lateral Thrust ◽  
Constant Depth ◽  
Recovery Stroke

1. The organization of the swimming legs of N. gracile has been described. The legs beat ventrally so the animal swims with the dorsal side foremost. The joints between the major segments of the leg are extended for most of the power stroke, but the distal segments articulate sequentially later in the beat, commencing with the flexion of the femoro-tibial joint at the end of the power stroke. Continued flexion reduces the leg radius considerably during the recovery stroke. 2. Animals swimming at constant depth were found to have a leg-beat frequency of about 1 beat/s. Above this the rate of ascent increased rapidly with increasing frequency of beat. Abduction or adduction of the leg usually occurred prior to the start of the power stroke with the femur in the elevated position. 3. Assuming a fixed limb profile at constant angular velocity, maximum lift was calculated to have occurred with the femur inclined at an angle of about 50° to the dorso-ventral body axis. The outward component of the lateral thrust decreased to zero at this point, and with further declination of the femur the lateral forces became inwardly directed. Of the different segments of the leg, tibia 2 and the tarsus and propodium contribute most of the hydrodynamic force. 4. The angular velocity of the leg varied during the power stroke, and the actual forces generated during two beats having the same amplitude and angular velocity but of high and low elevation were calculated. Greater lift occurred during the high-elevation beat when the leg continued to provide lift throughout the power stroke, whereas the low-elevation beat acquired negative lift values towards the end of the power stroke. The lateral thrust was now directed entirely inwards.

scholarly journals Fluid Dynamics of Biomimetic Pectoral Fin Propulsion Using Immersed Boundary Method

2016 ◽  
Vol 2016 ◽  
pp. 1-22 ◽  
Author(s):  
Ningyu Li ◽  
Yumin Su
Keyword(s):  
Fluid Dynamics ◽  
Three Dimensional ◽  
Reconstruction Algorithm ◽  
Power Stroke ◽  
Hydrodynamic Characteristics ◽  
Ring Vortex ◽  
Immersed Boundary ◽  
Pectoral Fin ◽  
Local Flow ◽  
Recovery Stroke

Numerical simulations are carried out to study the fluid dynamics of a complex-shaped low-aspect-ratio pectoral fin that performs the labriform swimming. Simulations of flow around the fin are achieved by a developed immersed boundary (IB) method, in which we have proposed an efficient local flow reconstruction algorithm with enough robustness and a new numerical strategy with excellent adaptability to deal with complex moving boundaries involved in bionic flow simulations. The prescribed fin kinematics in each period consists of the power stroke and the recovery stroke, and the simulations indicate that the former is mainly used to provide the thrust while the latter is mainly used to provide the lift. The fin wake is dominated by a three-dimensional dual-ring vortex wake structure where the partial power-stroke vortex ring is linked to the recovery-stroke ring vertically. Moreover, the connection of force production with the fin kinematics and vortex dynamics is discussed in detail to explore the propulsion mechanism. We also conduct a parametric study to understand how the vortex topology and hydrodynamic characteristics change with key parameters. The results show that there is an optimal phase angle and Strouhal number for this complicated fin. Furthermore, the implications for the design of a bioinspired pectoral fin are discussed based on the quantitative hydrodynamic analysis.

Dynamic Analysis of a Robotic Fish Propelled by Flexible Folding Pectoral Fins

Robotica ◽  
2019 ◽  
Vol 38 (4) ◽  
pp. 699-718 ◽  
Author(s):  
Van Anh Pham ◽  
Tan Tien Nguyen ◽  
Byung Ryong Lee ◽  
Tuong Quan Vo
Keyword(s):  
Power Stroke ◽  
Swimming Velocity ◽  
Force Model ◽  
Flexible Joints ◽  
Pectoral Fin ◽  
Pectoral Fins ◽  
Recovery Stroke ◽  
Turning Radius ◽  
Relationship Of ◽  
The Relationship

SUMMARYBiological fish can create high forward swimming speed due to change of thrust/drag area of pectoral fins between power stroke and recovery stroke in rowing mode. In this paper, we proposed a novel type of folding pectoral fins for the fish robot, which provides a simple approach in generating effective thrust only through one degree of freedom of fin actuator. Its structure consists of two elemental fin panels for each pectoral fin that connects to a hinge base through the flexible joints. The Morison force model is adopted to discover the relationship of the dynamic interaction between fin panels and surrounding fluid. An experimental platform for the robot motion using the pectoral fin with different flexible joints was built to validate the proposed design. The results express that the performance of swimming velocity and turning radius of the robot are enhanced effectively. The forward swimming velocity can reach 0.231 m/s (0.58 BL/s) at the frequency near 0.75 Hz. By comparison, we found an accord between the proposed dynamic model and the experimental behavior of the robot. The attained results can be used to design controllers and optimize performances of the robot propelled by the folding pectoral fins.

The Mechanics of Labriform Locomotion I. Labriform Locomotion in the Angelfish (Pterophyllum Eimekei): An Analysis of the Power Stroke

1979 ◽  
Vol 82 (1) ◽  
pp. 255-271
Author(s):  
R. W. BLAKE
Keyword(s):  
Total Energy ◽  
Thrust Force ◽  
The Body ◽  
Power Stroke ◽  
Pectoral Fin ◽  
Propulsive Efficiency ◽  
Rate Of Increase ◽  
Element Approach ◽  
Total Thrust ◽  
Recovery Stroke

1. A blade-element approach is used to analyse the mechanics of the drag-based pectoral fin power stroke in an Angelfish in steady forward, rectilinear progression. 2. Flow reversal occurs at the base of the fin at the beginning and at the end of the power stroke. Values for the rate of increase and decrease in the relative velocity of the blade-elements increase distally, as do such values for hydrodynamical angle of attack. At the beginning and end of the power stroke, negative angles occur at the base of the fin. 3. The outermost 40% of the fin produces over 80% of the total thrust produced during the power stroke, and doe8 over 80% of the total work. Small amounts of reversed thrust are produced at the base of the fin during the early and late parts of the stroke. 4. The total amount of energy required during a cycle to drag the body and inactive fins through the water is calculated to be approximately 2.8 × 10−6 J and the total energy produced by the fins over the cycle (ignoring the recovery stroke) which is associated with producing the hydrodynamic thrust force, is about 1.0 × 10−5 J; which gives a propulsive efficiency of about 0.26. 5. The energy required to move the mass of a pectoral fin during the power stroke is calculated to be approximately 2.6 × 10−7 J. Taking this into account reduces the value of the propulsive efficiency by about 4% to about 0.25. The total energy needed to accelerate and decelerate the added mass associated with the fin is calculated and added to the energy required to produce the hydrodynamic thrust force and the energy required to move the mass of the fins; giving a final propulsive efficiency of 0.18.

scholarly journals Characterization of hop-and-sink daphniid locomotion

2019 ◽  
Vol 41 (2) ◽  
pp. 142-153 ◽  
Author(s):  
A N Skipper ◽  
D W Murphy ◽  
D R Webster
Keyword(s):  
Flow Field ◽  
Particle Image ◽  
Power Stroke ◽  
Time Resolved ◽  
Image Velocimetry ◽  
Recovery Stroke ◽  
Self Similar ◽  
Energy Dissipated ◽  
Good Agreement

Abstract This study characterizes the hop-and-sink locomotion of Daphnia magna, a zooplankton species widely studied in a variety of biological fields. Time-resolved tomographic particle image velocimetry (tomo-PIV) is used to obtain 3D kinematics and flow field data with high spatial and temporal resolution. The kinematics data show that the daphniid’s velocity quickly increases during the power stroke, reaching maximum accelerations of 1000 body lengths/s2, then decelerates during the recovery stroke to a steady sinking speed. The hop-and-sink locomotion produces a viscous vortex ring located under each second antennae. These flow structures develop during the power stroke, strengthen during the recovery stroke, and then decay slowly during the sinking phase. The time records of vortex circulation are self-similar when properly normalized. The flow fields were successfully modeled using an impulsive stresslet, showing good agreement between the decay of circulation and a conceptual model of the impulse. While no relationships were found between kinematics or flow field parameters and body size, the total energy dissipated by the daphniid hop-and-sink motion was found to scale exponentially with the vortex strength.

A model for the micro-structure in ciliated organisms

1972 ◽  
Vol 55 (1) ◽  
pp. 1-23 ◽  
Author(s):  
John Blake
Keyword(s):  
Velocity Field ◽  
Plane Surface ◽  
Bending Moment ◽  
Power Stroke ◽  
Micro Structure ◽  
Mean Velocity ◽  
Slender Bodies ◽  
Recovery Stroke ◽  
The Mean ◽  
Bending Wave

Improved models for the movement of fluid by cilia are presented. A theory which models the cilia of an organism by an array of flexible long slender bodies distributed over and attached at one end to a plane surface is developed. The slender bodies are constrained to move in similar patterns to the cilia of the microorganismsOpalina, ParameciumandPleurobrachia.The velocity field is represented by a distribution of force singularities (Stokes flow) along the centre-line of each slender body. Contributions to the velocity field from all the cilia distributed over the plane are summed, to give a streaming effect which in turn implies propulsion of the organism. From this we have been able to model the mean velocity field through the cilia sublayer for the three organisms. We find that, in a frame of reference situated in the organism, the velocity near the surface of the organism is very small – up to one half the length of the cilium – but it increases rapidly to near the velocity of propulsion from then on. This is because of the beating pattern of the cilia; they beat in a near rigid-body rotation during the effective (‘power’) stroke, but during the recovery stroke move close to the wall. Backflow (‘reflux’) is found to occur in the organisms exhibiting antiplectic metachronism (i.e.ParameciumandPleurobrachia). The occurrence of gradient reversal, but not backflow, has recently been confirmed experimentally (Sleigh & Aiello 1971).Other important physical values that are obtained from this analysis are the force, bending moment about the base of a cilium and the rate of working. It is found, for antiplectic metachronism, that the force exerted by a cilium in the direction of propulsion is large and positive during the effective stroke whereas it is small and negative during the recovery stroke. However, the duration of the recovery stroke is longer than the effective stroke so the force exerted over one cycle of a ciliary beat is very small. The bending moment follows a similar pattern to the component of force in the direction of propulsion, being larger in the effective stroke for antiplectic metachronism. In symplectic metachronism (i.e.Opalina) the force and bending moment are largest in magnitude when the bending wave is propagated along the cilium. The rate of working indicates that more energy is consumed in the effective stroke forParameciumandPleurobrachiathan in the recovery stroke, whereas inOpalinait is found to be large during the propagation of the bending wave.

scholarly journals SIZE LIMITS IN ESCAPE LOCOMOTION OF CARRIDEAN SHRIMP

1989 ◽  
Vol 143 (1) ◽  
pp. 245-265 ◽  
Author(s):  
THOMAS L. DANIEL ◽  
EDGAR MEYHÖFER
Keyword(s):  
High Speed ◽  
Relative Length ◽  
The Body ◽  
Drag Forces ◽  
Aquatic Locomotion ◽  
Angular Momenta ◽  
Theoretical Approaches ◽  
Tail Flip ◽  
Size Limits ◽  
Thrust Forces

Escape locomotion of the common dock shrimp, Pandalus danae Stimpson, is the result of a rapid flexion of the abdomen that lasts approximately 30 ms. The hydrodynamic forces that result from this motion lead to body accelerations in excess of 100ms−2 and body rotations of about 75°. We examined the mechanics and kinematics of this mode of locomotion with both experimental and theoretical approaches. Using a system of differential equations that rely on conservation of both linear and angular momenta, we develop predictions for body movements, thrust forces and muscle stresses associated with escape locomotion. The predicted movements of the body agree to within 10 % with data from high-speed ciné-photography for body translations and rotations. The thrust from rapid tail flexion is dominated by accelerational forces and by the force required to squeeze fluid out of the gap created by the cephalothorax and the abdomen at the end of tail flexion. This squeeze force overwhelms any propulsive drag forces that arise from the tail-flip. Using the theoretical analysis, we identify two additional features about unsteady, rotational aquatic locomotion. First, as either the relative length of the propulsive appendage increases or the absolute body size increases, rotational motions become disproportionately greater than translational motions, and escape performance decays. Second, if muscle stresses developed during escape cannot exceed the maximum isometric stress, there is a unique body length (6 cm) that maximizes the distance travelled during the escape event.

The Swimming of Nymphon Gracile (Pycnogonida): The Vertical Lift Forces Generated while Swimming at Constant Depth

1977 ◽  
Vol 71 (1) ◽  
pp. 187-203
Author(s):  
ELFED MORGAN ◽  
STEPHEN V. HAYES
Keyword(s):  
Vertical Plane ◽  
Power Stroke ◽  
Constant Depth ◽  
Sedimentation Method ◽  
Recovery Stroke ◽  
Vertical Lift ◽  
Lift Forces ◽  
The Relationship

1. The vertical lift forces generated by the legs of Nymphon while swimming at constant depth have been estimated graphically using drag constants determined by a sedimentation method. Drag both normal and tangential to the different segments of the leg has been considered. 2. When holding station Nymphon characteristically employs a low elevation beat in which the upward force produced during the power stroke of each leg only just exceeds the predominantly downward force generated during the recovery. An upward lift component is also produced late during the recovery stroke. 3. The legs beat in a vertical plane and an investigation of the moments at the joints of the leg suggests that much of the power stroke is gravity assisted. 4. The upward lift produced by all eight legs agreed fairly well on average with the sinking force due to the animal's weight in water, and the vertical lift fluctuates rhythmically throughout the leg beat cycle. The relationship between the swimming gait and the amplitude of these fluctuations has been investigated. During the gait most frequently used by the animal fluctuations in vertical lift were found to be minimal.

Interpretation of Low-Pressure Turbine Profile Loss Generation Mechanisms From a Viewpoint of Blade Drag Forces

2020 ◽  
Author(s):  
Hidekazu Kodama ◽  
Ken-ichi Funazaki
Keyword(s):  
Boundary Layer ◽  
Reynolds Number ◽  
Separation Bubble ◽  
Friction Drag ◽  
Suction Surface ◽  
Pressure Drag ◽  
Low Pressure Turbine ◽  
Drag Forces ◽  
Wake Passing ◽  
Profile Loss

Abstract This paper describes the interpretation of a generation mechanism of profile loss of low pressure turbine (LPT) blades from a viewpoint of blade drag forces. On the analogy of profile drag of an isolated body, the profile loss of a cascade blade is subdivided into two components, the loss due to friction drag and the loss due to pressure drag. The friction drag is equal to the integral of all axial component of shearing stresses taken over the surface of the blade. The pressure drag, which does not exist in an inviscid flow, is due to the fact that the presence of the boundary later modifies the pressure distribution on the blade. The losses due to friction drag and pressure drag are evaluated for two kinds of blade profiles using the results of steady incompressible Reynolds Averaged Navier-Stokes (RANS) simulations at three different Reynolds numbers (Re), 57,000, 100,000 and 147,000. It is found that the trend of the total profile loss with Reynolds number is mainly determined by the trend of the loss due to pressure drag with Reynolds number. A rise in the total profile loss of the blade with a laminar separation bubble on the suction surface at low Reynolds number is mainly attributed to the increase in the pressure drag due to thickened suction surface boundary layer by the enlarged separation bubble. The friction drag and the pressure drag are also estimated for the measured data of low speed linear cascade tests with a moving-bar mechanism. In the estimation, the pressure drag is derived from the estimated total profile loss and the estimated friction drag by using boundary layer integral equations. It is found that the trend of total profile loss with incoming wake passing frequency is almost determined by the trend of the loss due to pressure drag with the wake passing frequency.

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