Session Q9: Swimming VI

Swimming of a Tiny Subtropical Sea Butterfly with Coiled Shell

Sea butterflies, also known as pteropods, include a variety of small, zooplanktonic marine snails. Thecosomatous pteropods possess a shell and swim at low Reynolds numbers by beating their wing-like parapodia in a manner reminiscent of insect flight. In fact, previous studies of the pteropod \textit{Limacina helicina} have shown that pteropod swimming hydrodynamics and tiny insect flight aerodynamics are dynamically similar. Studies of \textit{L. helicina} swimming have been performed in polar (0 degrees C) and temperate conditions (12 degrees C). Here we present measurements of the swimming of \textit{Heliconoides inflatus}, a smaller yet morphologically similar pteropod that lives in warm Bermuda seawater (21 degrees C) with a viscosity almost half that of the polar seawater. The collected \textit{H. inflatus} have shell sizes less than 1.5 mm in diameter, beat their wings at frequencies up to 11 Hz, and swim upwards in sawtooth trajectories at speeds up to approximately 25 mm/s. Using three-dimensional wing and body kinematics collected with two orthogonal high speed cameras and time-resolved, 2D flow measurements collected with a micro-PIV system, we compare the effects of smaller body size and lower water viscosity on the flow physics underlying flapping-based swimming by pteropods and flight by tiny insects.   

Swimming of a Sea Butterfly with an Elongated Shell

Sea butterflies (pteropods) are small, zooplanktonic marine snails which swim by flapping highly flexible parapodia. Previous studies show that the swimming hydrodynamics of \textit{Limacina helicina}, a polar pteropod with a spiraled shell, is similar to tiny insect flight aerodynamics and that forward-backward pitching is key for lift generation. However, swimming by diverse pteropod species with different shell shapes has not been examined. We present measurements of the swimming of \textit{Cuvierina columnella}, a warm water species with an elongated non-spiraled shell collected off the coast of Bermuda. With a body length of 9 mm, wing beat frequency of 4-6 Hz and swimming speed of 35 mm/s, these organisms swim at a Reynolds number of approximately 300, larger than that of \textit{L. helicina}. High speed 3D kinematics acquired via two orthogonal cameras reveals that the elongated shell correlates with reduced body pitching and that the wings bend approximately 180 degrees in each direction, overlapping at the end of each half-stroke. Time resolved 2D flow measurements collected with a micro-PIV system reveal leading edge vortices present in both power and recovery strokes. Interactions between the overlapping wings and the shell also likely play a role in lift generation.   

The Unique Propulsive Wake Pattern of the Swimming Sea Slug Aplysia

The Aplysia, also sometimes referred to as the `Sea Hare,' is a sea slug that swims elegantly using large-amplitude flapping of its mantle. The Sea Hare has become a very valuable laboratory animal for investigation into nervous systems and brain behavior due to its simple neural system with large neurons and axons. Recently, attempts have also been made to develop biohybrid robots with both organic actuation and organic motor-pattern control inspired by the locomotion of Aplysia. While extensive works have been done to investigate this animal's neurobiology, relatively little is known about its propulsive mechanisms and swimming energetics. In this study, incompressible flow simulations with a simple kinematical model are used to gain insights into vortex dynamics, thrust generation and energetics of locomotion. The effect of mantle kinematics on the propulsive performance is examined, and simulations indicate a unique vortex wake pattern that is responsible for thrust generation.   

Characterization of jellyfish turning using 3D-PTV

\textit{Aurelia aurita} are oblate, radially symmetric jellyfish that consist of a gelatinous bell and subumbrellar muscle ring, which contracts to provide motive force. Swimming is typically modeled as a purely vertical motion; however, asymmetric activations of swim pacemakers (sensory organs that innervate the muscle at eight locations around the bell margin) result in turning and more complicated swim behaviors. More recent studies have examined flow fields around turning jellyfish, but the input/output relationship between locomotive controls and swim trajectories is unclear. To address this, bell kinematics for both straight swimming and turning are obtained using 3D particle tracking velocimetry (3D-PTV) by injecting biocompatible elastomer tags into the bell, illuminating the tank with ultraviolet light, and tracking the resulting fluorescent particles in a multi-camera setup. By understanding these kinematics in both natural and externally controlled free-swimming animals, we can connect neuromuscular control mechanisms to existing flow measurements of jellyfish turning for applications in designing more energy efficient biohybrid robots and underwater vehicles.   

The Effects of Propulsive Jetting on Drag of a Streamlined body

Recently an abundance of bioinspired underwater vehicles have emerged to leverage eons of evolution. Our group has developed a propulsion technique inspired by jellyfish and squid. Propulsive jets are generated by ingesting and expelling water from a flexible internal cavity. We have demonstrated thruster capabilities for maneuvering on AUV platforms, where the internal thruster geometry minimized forward drag; however, such a setup cannot characterize propulsive efficiency. Therefore, we created a new streamlined vehicle platform that produces unsteady jets for forward propulsion rather than maneuvering. The streamlined jetting body is placed in a water tunnel and held stationary while jetting frequency and background flow velocity are varied. For each frequency/velocity pair the flow field is measured around the surface and in the wake using PIV. Using the zero jetting frequency as a baseline for each background velocity, the passive body drag is related to the velocity distribution. For cases with active jetting the drag and jetting forces are estimated from the velocity field and compared to the passive case. For this streamlined body, the entrainment of surrounding flow into the propulsive jet can reduce drag forces in addition to the momentum transfer of the jet itself.   

Flow acceleration structure of Aurelia aurita: implications on propulsion

The jetting and paddling mechanisms used by Aurelia aurita jellyfish allows for one of the most efficient propulsion among other metazoans. Characterization of the induced flow acceleration is critical to uncover distinctive patterns. We found four acceleration structures using 3D measurements of body and flow dynamics in Lagrangian frame of reference. Two intense structures occur near the bell margin and are generated by paddling; the other two around the center of the jellyfish and half magnitude are a result of jetting. Their interaction leads to the maximum flow velocity in the middle of the relaxation, where relatively straight flow trajectories occur. The jellyfish achieves an efficient relaxation by generating flow deceleration with minor body deceleration.   

Effect of Fin Porosity on Wake Geometry for Flapping Fins at Intermediate Reynolds Number

Low aspect ratio flapping fins generate interesting 3-dimensional flow structures as has been observed, for example, in studies of fish swimming. As the Reynolds number is reduced, the exact geometry of the fin is less important and even certain amounts of porosity might be allowed without significantly affecting propulsive performance. These effects are investigated experimentally using flapping rectangular fins of aspect ratio 2 at Reynolds numbers in the range 100 -- 1000. The experiments were conducted using a water tunnel to supply the free stream flow and the fin flapping parameters were set to provide a Strouhal number (based on amplitude of the fin tip motion) in the range 0.15 -- 0.35. Phase-averaged measurements were made of the 3-dimensional, volumetric flow field, allowing visualization of the typical shed vortex structure behind the fin and calculation of time averaged thrust and propulsive efficiency. Results comparing the flow structure in the fin wake and the resulting propulsive performance will be presented for several fins with different planform porosities where the porosities are set using arrays of holes in the fins.   

Reversing flow causes passive shark scale actuation in a separating turbulent boundary layer

Control of flow separation by shortfin mako skin in experiments has been demonstrated, but the mechanism is still poorly understood yet must be to some extent Re independent. The hypothesized mechanisms inherent in the shark skin for controlling flow separation are: (1) the scales, which are capable of being bristled only by reversing flow, inhibit flow reversal events from further development into larger-scale separation and (2) the cavities formed when scales bristle induces mixing of high momentum flow towards the wall thus energizing the flow close to the surface. Two studies were carried out to measure passive scale actuation caused by reversing flow. A small flow channel induced an unsteady, wake flow over the scales prompting reversing flow events and scale actuation. To resolve the flow and scale movements simultaneously we used specialized optics at high magnification (1 mm field of view) at 50,000 fps. In another study, 3D printed models of shark scales, or microflaps (bristling capability up to 50 degrees), were set into a flat plate. Using a tripped, turbulent boundary layer grown over the long flat plate and a localized adverse pressure gradient, a separation bubble was generated within which the microflaps were placed. Passive flow actuation of both shark scales and microflaps by reversing flow was observed.   

Computational Investigation of Seal Whisker Models in Tandem

Flow over single seal whisker models has been investigated in recent times because of its unique shape to suppress unsteady vortices. In this study, flow over three whisker geometries in tandem arrangement were computationally investigated at a Reynolds number of Re $=$ 630 (based on average of four elliptical diameters D$_{\mathrm{e}})$ using ANSYS FLUENT 17.1. The spacing was measured between axis of the whisker models and it was varied from 1.64D$_{\mathrm{e}}$ to 10D$_{\mathrm{e}}$. No considerable difference in drag was found between all three models and the variation of drag with spacing was very similar for all the tandem configurations. For spacing less than 6D$_{\mathrm{e}}$ the drag of the upstream model was below isolated whisker drag, reaching its minimum value at spacing of 2.5D$_{\mathrm{e}}$ and for larger spacing it was monotonically reaching isolated whisker drag. The drag value of the downstream model was monotonically increasing with increase in separation distance and it reaches about 80{\%} of the isolated Whisker drag. The interference drag is negative for all spacing which results in favourable condition for seals to operate more whiskers in lesser drag.   

Propulsion via flexible flapping in granular media

Biological locomotion in nature is often achieved by the interaction between a flexible body and its surrounding medium. The interaction of a flexible body with granular media is less understood compared with viscous fluids partially due to its complex rheological properties. In this work, we explore the effect of flexibility on granular propulsion by considering a simple mechanical model in which a rigid rod is connected to a torsional spring that is under a displacement actuation using a granular resistive force theory. Through a combined numerical and asymptotic investigation, we characterize the propulsive dynamics of such a flexible flapper in relation to the actuation amplitude and spring stiffness, and we compare these dynamics with those observed in a viscous fluid. In addition, we demonstrate that the maximum possible propulsive force can be obtained in the steady propulsion limit with a finite spring stiffness and large actuation amplitude. These results may apply to the development of synthetic locomotive systems that exploit flexibility to move through complex terrestrial media.   

Aquatic prey capture in snakes: the link between morphology, behavior and hydrodynamics

Natural selection favors animals that are the most successful in their fitness-related behaviors, such as foraging. Secondary adaptations pose the problem of re-adapting an already 'hypothetically optimized' phenotype to new constraints. When animals forage underwater, they face strong physical constraints, particularly when capturing a prey. The capture requires the predator to be fast and to generate a high acceleration to catch the prey. This involves two main constraints due to the surrounding fluid: drag and added mass. Both of these constraints are related to the shape of the animal. We experimentally explore the relationship between shape and performance in the context of an aquatic strike. As a model, we use 3D-printed snake heads of different shapes and frontal strike kinematics based on in vivo observations. By using direct force measurements, we compare the drag and added mass generated by aquatic and non-aquatic snake models during a strike. Our results show that drag is optimized in aquatic snakes. Added mass appears less important than drag for snakes during an aquatic strike. The flow features associated to the hydrodynamic forces measured allows us to propose a mechanism rendering the shape of the head of aquatic snakes well adapted to catch prey underwater.   

Effects of Geometry and Kinematics on Animals Leaping Out of Water

Leaping out of water is a phenomenon exhibited by a variety of aquatic and semi-aquatic animals, such as frogs and whales. In this study, we aim to elucidate the effects of geometric and kinematic conditions on the propulsive and drag force required for an animal to jump through the water interface. A simple mechanism was designed to measure the propulsive thrust produced by a flapping appendage. In a separate experiment to measure the opposing drag, simplified models of animals are 3D printed and fitted with pressure sensors. The model is accelerated from rest and covers a range of Re from 10$^{3}$ to 10$^{5}$. Using a high-speed camera and pressure sensors, we observed a deformation of the free surface prior to water exit, and correlated this to the drag force. Finally, we discuss a scaling law to describe the general physics which allow animals to leap out of water.