The effect of hand posture on swimming efficiency

Our quest is for the thumb and finger positions that maximize drag in front crawl swimming and thus maximize propulsion efficiency. We focus on drag in a stationary flow. Swimming is in water, but using Reynolds similarity the drag experiments are done in a wind tunnel. We measure the forces on real-life models of a forearm with hands, flexing the thumb and fingers in various positions. We study the influence on drag of cupping the hand and flexing the thumb. We find that cupping the hand is detrimental for drag. Swimming is most efficient with a flat hand. Flexing the thumb has a small effect on the drag, such that the drag is largest for the opened (abducted) thumb. Flow structures around the hand are visualized using robotic volumetric particle image velocimetry. From the time-averaged velocity fields we reconstruct the pressure distribution on the hand. These pressures are compared to the result of a direct measurement. The reached accuracy of $$\approx$$ ≈ 10% does not yet suffice to reproduce the small drag differences between the hand postures. Graphical Abstract

Optimal ciliary locomotion of axisymmetric microswimmers

Many biological microswimmers locomote by periodically beating the densely packed cilia on their cell surface in a wave-like fashion. While the swimming mechanisms of ciliated microswimmers have been extensively studied both from the analytical and the numerical point of view, optimisation of the ciliary motion of microswimmers has received limited attention, especially for non-spherical shapes. In this paper, using an envelope model for the microswimmer, we numerically optimise the ciliary motion of a ciliate with an arbitrary axisymmetric shape. Forward solutions are found using a fast boundary-integral method, and the efficiency sensitivities are derived using an adjoint-based method. Our results show that a prolate microswimmer with a $2\,{:}\,1$ aspect ratio shares similar optimal ciliary motion as the spherical microswimmer, yet the swimming efficiency can increase two-fold. More interestingly, the optimal ciliary motion of a concave microswimmer can be qualitatively different from that of the spherical microswimmer, and adding a constraint to the cilia length is found to improve, on average, the efficiency for such swimmers.

Tunable stiffness enables fast and efficient swimming in fish-like robots

Fish maintain high swimming efficiencies over a wide range of speeds. A key to this achievement is their flexibility, yet even flexible robotic fish trail real fish in terms of performance. Here, we explore how fish leverage tunable flexibility by using their muscles to modulate the stiffness of their tails to achieve efficient swimming. We derived a model that explains how and why tuning stiffness affects performance. We show that to maximize efficiency, muscle tension should scale with swimming speed squared, offering a simple tuning strategy for fish-like robots. Tuning stiffness can double swimming efficiency at tuna-like frequencies and speeds (0 to 6 hertz; 0 to 2 body lengths per second). Energy savings increase with frequency, suggesting that high-frequency fish-like robots have the most to gain from tuning stiffness.

Cartilage structure increases swimming efficiency of underwater robots

Underwater robots are useful for exploring valuable resources and marine life. Traditional underwater robots use screw propellers, which may be harmful to marine life. In contrast, robots that incorporate the swimming principles, morphologies, and softness of aquatic animals are expected to be more adaptable to the surrounding environment. Rajiform is one of the swimming forms observed in nature, which swims by generating the traveling waves on flat large pectoral fins. From an anatomical point of view, Rajiform fins consist of cartilage structures encapsulated in soft tissue, thereby realizing anisotropic stiffness. We hypothesized that such anisotropy is responsible for the generation of traveling waves that enable a highly efficient swimming. We validate our hypothesis through the development of a stingray robot made of silicone-based cartilages and soft tissue. For comparison, we fabricate a robot without cartilages, as well as the one combining soft tissue and cartilage materials. The fabricated robots are tested to clarify their stiffness and swimming performance. The results show that inclusion of cartilage structure in the robot fins increases the swimming efficiency. It is suggested that arrangement and distribution of soft and hard areas inside the body structure is a key factor to realize high-performance soft underwater robots.

A Method for Estimating the Velocity at Which Anaerobic Metabolism Begins in Swimming Fish

Anaerobic metabolism begins before fish reach their critical swimming speed. Anaerobic metabolism affects the swimming ability of fish, which is not conducive to their upward tracking. The initiation of anaerobic metabolism therefore provides a better predictor of flow barriers than critical swimming speed. To estimate the anaerobic element of metabolism for swimming fish, the respiratory metabolism and swimming performance of adult crucian carp (Carassius auratus, mass = 260.10 ± 7.93, body length = 19.32 ± 0.24) were tested in a closed tank at 20 ± 1 °C. The swimming behavior and rate of oxygen consumption of these carp were recorded at various swimming speeds. Results indicate (1) The critical swimming speed of the crucian carp was 0.85 ± 0.032 m/s (4.40 ± 0.16 BL/s). (2) When a power function was fitted to the data, oxygen consumption, as a function of swimming speed, was determined to be AMR = 131.24 + 461.26Us1.27 (R2 = 0.948, p < 0.001) and the power value (1.27) of Us indicated high swimming efficiency. (3) Increased swimming speed led to increases in the tail beat frequency. (4) Swimming costs were calculated via rate of oxygen consumption and hydrodynamic modeling. Then, the drag coefficient of the crucian carp during swimming was calibrated (0.126–0.140), and the velocity at which anaerobic metabolism was initiated was estimated (0.52 m/s), via the new method described herein. This study adds to our understanding of the metabolic patterns of fish at different swimming speeds.

Hydrodynamical effect of parallelly swimming fish using computational fluid dynamics method

Fish form schools because of many possible reasons. However, the hydrodynamic mechanism whereby the energy efficiency of fish schools is improved still remains unclear. There are limited examples of fish models based on actual swimming movements using simulation, and the movements in existing models are simple. Therefore, in this study, we analyzed the swimming behavior of Biwa salmon (Oncorhynchus sp., a salmonid fish) using image analyses and formulated its swimming motion. Moreover, computational fluid dynamics analysis was carried out using the formulated swimming motion to determine the fluid force acting on the fish body model with real fish swimming motion. The swimming efficiency of the fish model under parallel swimming was obtained from the calculated surrounding fluid force and compared for different neighboring distances. The flow field around the fish model was also examined. The swimming efficiency of two fish models swimming parallelly was improved by approximately 10% when they were separated by a distance of 0.4L, where L is the total length of the model. In addition, the flow field behind the fish body was examined under both inphase and antiphase conditions and at inter-individual distances of 0.8L and 1.2L. The apparent flow speed in the distance range of 0.5–2.0L from the midpoint of the snouts of the two individuals was lower than the swimming speed. The pressure distribution on the fish model showed an elevated pressure at the caudal fin. Interestingly, we obtained an isopleth map similar to that of a caudal peduncle. To avoid a negative thrust, the aft part of the body must be thin, as shown in the isopleth map obtained in this study.

Cartilage Increases Swimming Efficiency of Underwater Robots

Underwater robots are useful for exploring valuable resources and marine life. Traditional underwater robots use screw propellers, which may be harmful to marine life. In contrast, robots that incorporate the swimming principles, morphologies, and softness of aquatic animals are expected to be more adaptable to the surrounding environment. Rajiform is one of the swimming forms observed in nature, which swims by generating the traveling waves on flat large pectoral fins. From an anatomical point of view, Rajiform fins consist of cartilages encapsulated in soft tissue, thereby realizing anisotropic stiffness. We hypothesized that such anisotropy is responsible for the generation of traveling waves that enable a highly efficient swimming. We validate our hypothesis through the development of a stingray robot made of silicone-based cartilages and soft tissue. For comparison, we fabricate a robot without cartilages, as well as the one combining soft tissue and cartilage materials. The fabricated robots are tested to clarify their stiffness and swimming performance. The results show that inclusion of cartilages in the robot fins increases the swimming efficiency. It is suggested that arrangement and distribution of soft and hard areas inside the body structure is a key factor to realize high-performance soft underwater robots.

Squid-inspired robots perform swimmingly

A squid-like robot leverages resonance to match the swimming efficiency of biological animals.

Propulsion Mechanism of Flexible Microbead Swimmers in the Low Reynolds Number Regime

A propulsion mechanism for a flexible microswimmer constructed from superparamagnetic microbeads with different diameters and subjected to an oscillating field was studied experimentally and theoretically herein. Various types of artificial swimmers with different bending patterns were fabricated to determine the flexibility and an effective waveform for a planar beating flagellum. Waveform evolutions for various swimmer configurations were studied to determine the flexible mechanism of the swimmers. A one-armed microswimmer can propel itself only if the friction of its wavelike body is anisotropic. A swimmer with a larger head and a stronger magnetic dipole moment with a flexible tail allows the bending wave to propagate from the head toward the tail to generate forward thrust. The oscillating head and tail do not simultaneously generate positive thrust all the time within a period of oscillation. To increase the propulsion for a bending swimmer, this study proposes a novel configuration for a microbead swimmer that ensures better swimming efficiency. The ratio of the oscillation amplitude of the head to the length of the swimmer (from 0.26 to 0.28) produces a faster swimmer. On the other hand, the swimmer is propelled more effectively if the ratio of the oscillation amplitude of the tail to the length of the swimmer is from 0.29 to 0.33. This study determined the optimal configuration for a flexible microbead swimmer that generates the greatest propulsion in a low Reynolds number environment.