Session M19: Bio: Swimming of Fish and Jellyfish

Simultaneous measurements of jellyfish bell kinematics and flow fields using PTV and PIV

A better understanding of jellyfish swimming can potentially improve the energy efficiency of aquatic vehicles or create biomimetic robots for ocean monitoring. \textit{Aurelia aurita} is a simple oblate invertebrate composed of a flexible bell and coronal muscle, which contracts to eject water from the subumbrellar volume. Jellyfish locomotion can be studied by obtaining body kinematics or by examining the resulting fluid velocity fields using particle image velocimetry (PIV). Typically, swim kinematics are obtained by semi-manually tracking points of interest (POI) along the bell in video post-processing; simultaneous measurements of kinematics and flows involve using this semi-manual tracking method on PIV videos. However, we show that both the kinematics and flow fields can be directly visualized in 3D space by embedding phosphorescent particles in animals free-swimming in seeded environments. Particle tracking velocimetry (PTV) can then be used to calculate bell kinematics, such as pulse frequency, bell deformation, swim trajectories, and propulsive efficiency. By simultaneously tracking POI within the bell and collecting PIV data, we can further study the jellyfish’s natural locomotive control mechanisms in conjunction with flow measurements.   

To flap or not to flap: a discussion between a fish and a jellyfish

Fish and jellyfish are known to swim by flapping and by periodically contracting respectively, but which is the more effective propulsion mechanism? In an attempt to answer this question, an experimental comparison is made between simplified versions of these motions to determine which generates the greatest thrust for the least power. The flapping motion is approximated by pitching plates while periodic contractions are approximated by clapping plates. A machine is constructed to operate in either a flapping or a clapping mode between Reynolds numbers 1,880 and 11,260 based on the average plate tip velocity and span. The effect of the total sweep angle, total sweep time, plate flexibility, and duty cycle are investigated. The average thrust generated and power required per cycle are compared between the two modes when their total sweep angle and total sweep time are identical. In general, operating in the clapping mode required significantly more power to generate a similar thrust compared to the flapping mode. However, modifying the duty cycle for clapping caused the effectiveness to approach that of flapping with an unmodified duty cycle. These results suggest that flapping is the more effective propulsion mechanism within the range of Reynolds numbers tested.   

On the dynamics of jellyfish locomotion via 3D particle tracking velocimetry.

The dynamics of jellyfish (Aurelia aurita) locomotion is experimentally studied via 3D particle tracking velocimetry. 3D locations of the bell tip are tracked over 1.5 cycles to describe the jellyfish path. Multiple positions of the jellyfish bell margin are initially tracked in 2D from four independent planes and individually projected in 3D based on the jellyfish path and geometrical properties of the setup. A cubic spline interpolation and the exponentially weighted moving average are used to estimate derived quantities, including velocity and acceleration of the jellyfish locomotion. We will discuss distinctive features of the jellyfish 3D motion at various swimming phases, and will provide insight on the 3D contraction and relaxation in terms of the locomotion, the steadiness of the bell margin eccentricity, and local Reynolds number based on the instantaneous mean diameter of the bell.   

Spatially constrained propulsion in jumping archer fish

Archer fish jump multiple body lengths out of the water for prey capture with impressive accuracy. Their remarkable aim is facilitated by jumping from a stationary position directly below the free surface. As a result of this starting position, rapid acceleration to a velocity sufficient for reaching the target occurs with only a body length to travel before the fish leaves the water. Three-dimensional measurements of jumping kinematics and volumetric velocimetry using Synthetic Aperture PIV highlight multiple strategies for such spatially constrained acceleration. Archer fish rapidly extend fins at jump onset to increase added mass forces and modulate their swimming kinematics to minimize wasted energy when the body is partially out of the water. Volumetric measurements also enable assessment of efficiency during a jump, which is crucial to understanding jumping's role as an energetically viable hunting strategy for the fish.   

Increased Thrust through Passively Variable Tail Stiffness in Fast Starting Fish

An experimental study is conducted in the effect of tail stiffness on increased acceleration in mechanisms designed to emulate fast-start fish maneuvers. The variable stiffness is characterized by the directionality of loading. As load is applied in one direction on the fin the structure is flexible, simulating the preparatory stage of the maneuver, and as load is applied in the opposing direction the fin rigidly maintains its shape during the propulsive stage. A 3D printed fin structure is used to achieve the directional stiffness and is tested dynamically. Thrust is measured at various rates of rotation studying the influence of timing on peak acceleration. \newline   

Spatial organization and Synchronization in collective swimming of Hemigrammus bleheri

In this work, we study the collective swimming of~\textit{Hemigrammus bleheri}~fish using experiments in a shallow swimming channel.~ We use high-speed video recordings to track the midline kinematics and the spatial organization of fish pairs and triads. Synchronizations are characterized by observance of "out of phase" and "in phase" configurations. We show that the synchronization state is highly correlated to swimming speed. The increase in synchronization led to efficient swimming based on Strouhal number. In case of fish pairs, the collective swimming is 2D and the spatial organization is characterized by two characteristic lengths: the lateral and longitudinal separation distances between fish pairs\textbf{.~}For fish triads, different swimming patterns or configurations are observed having~three dimensional structures. We performed 3D kinematic analysis by employing~3D reconstruction using the Direct Linear~Transformation (DLT).~We show that fish still keep their nearest neighbor distance (NND) constant irrespective of swimming speeds and configuration.~ We also point out characteristic angles between neighbors, hence imposing preferred patterns. At last we will give some perspectives on spatial organization for larger population.~   

Mechanisms of force production during linear accelerations in bluegill sunfish Lepomis macrochirus

In nature, fish rarely swim steadily. Although unsteady behaviors are common, we know little about how fish change their swimming kinematics for routine accelerations, and how these changes affect the fluid dynamic forces and the wake produced. To study force production during acceleration, particle image velocimetry was used to quantify the wake of bluegill sunfish \textit{Lepomis macrochirus} and to estimate the pressure field during linear accelerations and steady swimming. We separated ``steady'' and ``unsteady'' trials and quantified the forward acceleration using inertial measurement units. Compared to steady sequences, unsteady sequences had larger accelerations and higher body amplitudes. The wake consisted of single vortices shed during each tail movement (a `2S' wake). The structure did not change during acceleration, but the circulation of the vortices increased, resulting in larger forces. A fish swimming unsteadily produced significantly more force than the same fish swimming steadily, even when the accelerations were the same. This increase is likely due to increased added mass during unsteady swimming, as a result of the larger body amplitude. Pressure estimates suggest that the increase in force is correlated with more low pressure regions on the anterior body.   

Kinematics and flow fields in 3D around swimming lamprey using light field PIV

The fully time-resolved 3D kinematics and flow field velocities around freely swimming sea lamprey are derived using 3D light field imaging PIV. Lighthill's Elongated Body Theory (EBT) predicts that swimmers with anguilliform kinematics likened to lamprey, and similarly eels, will exhibit relatively poor propulsive efficiency. However, previous experimental studies of eel locomotion utilizing 2D PIV suggest disagreement with EBT estimates of wake properties; although, the thrust force generated by such swimmers has yet to be fully resolved using 3D measurements. A light field imaging array of multiple high-speed cameras is used to perform 3D synthetic aperture PIV around ammocoete sea lamprey (\textit{Petromyzon marinus}). Fluid mechanics equations are used to determine thrust force generation, leading experimental studies closer to underpinning the physical mechanisms that enable aquatic locomotion of long, slender undulatory swimmers.   

Experimental measurement of dolphin thrust generated during a tail stand using DPIV

The thrust generated by dolphins doing tail stands was measured using DPIV. The technique entailed measuring vortex strength associated with the tail motion and correlating it to above water video sequences showing the amount of the dolphin's body that was being lifted out of the water. The underlying drivers for this research included: i) understanding the physiology, hydrodynamics and efficiency of dolphin locomotion, ii) developing non-invasive measurement techniques for studying marine swimming and iii) quantifying the actual propulsive capabilities of these animals. Two different bottlenose dolphins at the Long Marine Lab at UC-Santa Cruz were used as test subjects. Application of the Kutta-Joukowski Theorem on measured vortex circulations yielded thrust values that were well correlated with estimates of dolphin body weight being supported above water. This demonstrates that the tail motion can be interpreted as a flapping hydrofoil that can generate a sustained thrust roughly equal to the dolphin's weight. Videos of DPIV measurements overlaid with the dolphins will be presented along with thrust/weight data.