Design and Realization of Labriform Mode Swimming Robot Based on Concave Pectoral Fins

2021 ◽  
Vol 10 (4) ◽  
pp. 675-694
Author(s):  
Farah Abbas Naser ◽  
Mofeed Turky Rashid
Keyword(s):  
Author(s):  
L. J. Clarke

AbstractA free-swimming thornback ray Raja clavata specimen demonstrating significant morphological abnormality is reported, captured by beam trawl in the Irish Sea off north Wales, UK. The anterior sections of both pectoral fins were separated from the head section for a length of approximately 140 mm extending from the rostrum tip to a point posterior of the spiracles, along with abnormal morphology of the gill slits. This phenomenon has been observed elsewhere but is the first documented example of this abnormality in the eastern Irish Sea, despite widespread targeting of the species across the region by commercial and recreational fishers. Possible causes and consequences of the observed abnormality are discussed.


Author(s):  
Sanaz Bazaz Behbahani ◽  
Xiaobo Tan

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.


2014 ◽  
Vol 28 (10) ◽  
pp. 673-681 ◽  
Author(s):  
Shusheng Bi ◽  
Chuanmeng Niu ◽  
Yueri Cai ◽  
Lige Zhang ◽  
Houxiang Zhang

1992 ◽  
Vol 166 (1) ◽  
pp. 61-81
Author(s):  
EDWARD M. GOOLISH

Killifish, Fundulus heteroclitus, subjected to artificial lift above their center of gravity (10% of body weight) required a minimum of 7–8 days to resorb swimbladder gases completely. The swimbladders of some fish, however, did not fall below 50% of normal volume. The rate of increase in swimbladder volume upon removal of lift varied little among individuals, with approximately 6 days required for complete refilling. Previous deflation of the swimbladder (by syringe) did not result in faster or more complete gas resorption when the fish were subjected to artificial lift. This suggests that the constraint to resorption observed in some fish is not mechanical, e.g. connective tissue, but may reflect individual variability in perception of the stimulus. Swimbladder dry mass, which scaled as (body mass)0.79, was not affected by exposure to artificial lift. However, fish subjected to 7–11 days of artificial lift displayed slower rates of gas secretion upon removal of lift than control fish whose swimbladders had been evacuated by syringe. The initial rate was 65 % of that of control fish, with two additional days required to achieve normal buoyancy. Also, the rate of swimbladder gas resorption was 24 % faster the second time fish were exposed to artificial lift. These results demonstrate that the capacity for gas secretion and resorption can be altered by previous exposure to hydrostatic challenges. Killifish buoyancy, expressed as swimbladder volume per weight of the gas-free fish in water, fell from 0.95 to 0.70 mlg−1 after 5 days of exposure to water current. Removal of the pectoral fins eliminated 70% of this decrease, while removal of the pelvic fins had no effect. The rate of gas resorption by fish subjected to artificial lift was also not affected by removal of the pectoral fins. From these results it appears that the decrease in swimbladder volume in fish exposed to water currents is a consequence of lift forces produced by the pectoral fins, but that they are not required for regulation. Fish exposed to water currents or artificial lift swim with a head-down angle of attack. Theoretical estimates show that the vertical force component generated by this swimming behavior is of the appropriate magnitude to compensate for the additional lift. Fish confined in transparent cages near the surface of the water were less buoyant (0.91 mlg−1) than fish similarly maintained at the bottom of the tank (0.98mlg−1). However, because this effect was small, 10% of swimbladder volume, visual perception of vertical position is apparently not the primary stimulus for volume regulation. Partial lift (2.65 % of body weight) resulted in the resorption of twice as much swimbladder gas when attachment was anterior to the fish's center of gravity than when it was an equal distance posterior to the center of gravity. When equal amounts of partial lift and weight were added, lift anterior and weight posterior, no change in swimbladder volume occurred. With the position of these forces reversed, swimbladder volume increased by 31 % to 1.27 ml g−1. These results suggest that fish respond to pitching forces, i.e. longitudinal lift moments, as a stimulus for swimbladder gas secretion and resorption.


Development ◽  
1996 ◽  
Vol 123 (1) ◽  
pp. 329-344 ◽  
Author(s):  
T.F. Schilling ◽  
T. Piotrowski ◽  
H. Grandel ◽  
M. Brand ◽  
C.P. Heisenberg ◽  
...  

Jaws and branchial arches together are a basic, segmented feature of the vertebrate head. Seven arches develop in the zebrafish embryo (Danio rerio), derived largely from neural crest cells that form the cartilaginous skeleton. In this and the following paper we describe the phenotypes of 109 arch mutants, focusing here on three classes that affect the posterior pharyngeal arches, including the hyoid and five gill-bearing arches. In lockjaw, the hyoid arch is strongly reduced and subsets of branchial arches do not develop. Mutants of a large second class, designated the flathead group, lack several adjacent branchial arches and their associated cartilages. Five alleles at the flathead locus all lead to larvae that lack arches 4–6. Among 34 other flathead group members complementation tests are incomplete, but at least six unique phenotypes can be distinguished. These all delete continuous stretches of adjacent branchial arches and unpaired cartilages in the ventral midline. Many show cell death in the midbrain, from which some neural crest precursors of the arches originate. lockjaw and a few mutants in the flathead group, including pistachio, affect both jaw cartilage and pigmentation, reflecting essential functions of these genes in at least two neural crest lineages. Mutants of a third class, including boxer, dackel and pincher, affect pectoral fins and axonal trajectories in the brain, as well as the arches. Their skeletal phenotypes suggest that they disrupt cartilage morphogenesis in all arches. Our results suggest that there are sets of genes that: (1) specify neural crest cells in groups of adjacent head segments, and (2) function in common genetic pathways in a variety of tissues including the brain, pectoral fins and pigment cells as well as pharyngeal arches.


Hand ◽  
2021 ◽  
pp. 155894472110632
Author(s):  
Colin J. Carroll ◽  
Gonzalo Sumarriva ◽  
Lacey Lavie ◽  
Christopher Sugalski ◽  
Leslie Sisco-Wise ◽  
...  

Catfish have the ability to inflict stings on their victims through spines located on their dorsal and pectoral fins. The stings of catfish can release toxins that have dermonecrotic, edemogenic, and vasospastic factors. In this case, a 56-year-old man suffered a catfish sting to his right thumb, which resulted in acute hand compartment syndrome and resultant hand fasciotomies. His hospital course was complicated by multiple irrigation and debridements, finger amputations, hand fluid cultures positive for Vibrio damsela, and eventual wrist disarticulation. The combination of envenomation, infection, and delayed presentation for treatment ultimately led to a hand amputation.


Author(s):  
Blake V. DICKSON ◽  
Stephanie E. PIERCE

ABSTRACTThe fin-to-limb transition is heralded as one of the most important events in vertebrate evolution. Over the last few decades our understanding of how limbs evolved has significantly increased; but, hypotheses for why limbs evolved are still rather open. Fishes that engage their fins to ‘walk' along substrate may provide some perspective. The charismatic frogfishes are often considered to have the most limb-like fins, yet we still know little about their underlying structure. Here we reconstruct the pectoral fin musculoskeletal anatomy of the scarlet frogfish to identify adaptations that support fin-assisted walking behaviours. The data are compared to three additional anglerfish species: the oval batfish, which represents an independent acquisition of fin-assisted walking; and two pelagic deep-sea swimmers, the triplewart seadevil and ghostly seadevil. Our results clearly show broad musculoskeletal differences between the pectoral fins of swimming and walking anglerfish species. The frogfish and batfish have longer and more robust fins; larger, differentiated muscles; and better developed joints, including a reverse ball-and-socket glenoid joint and mobile ‘wrist'. Further, the frogfish and batfish show finer-scale musculoskeletal differences that align with their specific locomotor ecologies. Within, we discuss the functional significance of these anatomical features in relation to walking, the recurring evolution of similar adaptations in other substrate locomoting fishes, as well as the selective pressures that may underlie the evolution of limbs.


Zootaxa ◽  
2018 ◽  
Vol 4459 (2) ◽  
pp. 301
Author(s):  
MANUEL BISCOITO ◽  
LUIZ SALDANHA

Gaidropsarus mauli, new species, is described from the Lucky Strike Hydrothermal vent site (Mid-Atlantic Ridge) and from the Bay of Biscay. It is distinguished from congeners by a combination of characters such as the number of vertebrae, the size of the first dorsal-fin ray, the profile of the head and the shape of the snout, in dorsal view, the size and the position of the eyes, the length of the pelvic fins, the shape of the pectoral fins, and the length of the lateral line. A comparison with the other 13 valid species of the genus is presented. 


2015 ◽  
Vol 2015 ◽  
pp. 1-13 ◽  
Author(s):  
Jianhui He ◽  
Yonghua Zhang

Biomimetics takes nature as a model for inspiration to immensely help abstract new principles and ideas to develop various devices for real applications. In order to improve the stability and maneuvering of biomimetic fish like underwater propulsors, we selected bluespotted ray that propel themselves by taking advantage of their pectoral fins as target. First, a biomimetic robotic undulating fin driven propulsor was built based on the simplified pectoral structure of living bluespotted ray. The mechanical structure and control circuit were then presented. The fin undulating motion patterns, fin ray angle, and fin shape to be investigated are briefly introduced. Later, the kinematic analysis of fin ray and the whole fin is discussed. The influence of various kinematic parameters and morphological parameters on the average propulsion velocity of the propulsor was analyzed. Finally, we conclude that the average propulsion velocity generally increases with the increase of kinematic parameters such as frequency, amplitude, and wavelength, respectively. Moreover, it also has a certain relationship with fin undulating motion patterns, fin ray angle, fin shape, and fin aspect ratio.


2005 ◽  
Vol 3 (1) ◽  
pp. 83-88 ◽  
Author(s):  
Vinicius A. Bertaco ◽  
Luiz R. Malabarba

A new species of characid, Hyphessobrycon hamatus, is described from the upper rio Tocantins, Goiás, Brazil. The new species is distinguished from all other Hyphessobrycon species by the presence of bony hooks on dorsal, anal, pelvic, and pectoral fins of males, the two black humeral spots, the 4 or 5 teeth in the inner series of the premaxilla, a maxilla with 2-3 teeth, the iii-v, 16-18 anal-fin rays, and a lateral line with 10-32 perforated scales and 33-35 scales in a longitudinal series.


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