Biological Inspiration: From Carangiform Fish to Multi-Joint Robotic Fish

This paper presents a novel approach to modelling carangiform fish-like swimming motion for multi-joint robotic fish so that they can obtain fish-like behaviours and mimic the body motion of carangiform fish. A given body motion function of fish swimming is firstly converted to a tail motion function which describes the tail motion relative to the head. Then, the tail motion function is discretized into a series of tail postures over time. Thirdly, a digital approximation method calculates the taming angles of joints in the tail to approximate each tail posture; and finally, these angles are grouped into a look-up table, or re-gressed to a time-dependent function, for practically controlling the tail motors in a multi-joint robotic fish. The paper made three contributions: tail motion relative to the head, an error function for digital approximation and regressing a look-up table for online optimization. To prove the feasibility of the proposed methodology, two basic swimming motion patterns, cruise straight and C-shape sharp turning, are modelled and implemented in our robotic fish. The experimental results show that the relative tail motion and the approximation error function are good choices and the proposed method is feasible.     

Fuzzy Vorticity Control of a Biomimetic Robotic Fish Using a Flapping Lunate Tail

Vorticity control mechanisms for flapping foils play a guiding role in both biomimetic thrust research and modeling the forward locomotion of animals with wings, fins, or tails. In this paper, a thrust-producing flapping lunate tail is studied through force and power measurements in a water channel. Proper vorticity control methods for flapping tails are discussed based on the vorticity control parameters: the dimensionless transverse amplitude, Strouhal number, angle of attack, and phase angle. Field tests are conducted on a free-swimming biomimetic robotic fish that uses a flapping tail. The results show that active control of Strouhal number using fuzzy logic control methods can efficiently reduce power consumption of the robotic fish and high swimming speeds can be obtained. A maximum speed of 1.17 length specific speed is obtained experimentally under conditions of optimal vorticity control. The St of the flapping tail is controlled within the range of 0.4～0.5.     

Parametric Research of Experiments on a Carangiform Robotic Fish

In this paper, a carangiform robotic fish with 4-DoF （degree of freedom） tail has been developed. The robotic fish has capability of swimming under two modes that are radio control and autonomous swimming. Experiments were conducted to investigate the influences of characteristic parameters including the frequency, the amplitude, the wave length, the phase difference and the coefficient on forward velocity. The experimental results shown that the swimming performance of the robotic fish is affected mostly by the characteristic parameters observed.     

Kinematic Comparison of Forward and Backward Swimming and Maneuvering in a Self-Propelled Sub-Carangiform Robotic Fish

We make a thorough kinematic comparison of forward and backward swimming and maneuvering on a self-propelled robot platform that uses sub-carangifbrm swimming as the primary propulsor. An improved Central Pattern Generator （CPG） model allowing free adjustment of phase relationship and directional bias is employed to achieve flexible swimming and smooth transition. Considering the characteristics of forward swimming in carangiform fish and backward swimming in anguilliform fish, various backward swimming patterns for the sub-carangiform robotic fish are suitably created by reversing the direction of propagating propulsive waves. Through a combined use of the CPG control and closed-loop swimming direction control strategy, flexible and precise turning maneuvers in both forward and backward swimming are implemented and compared. By contrast with forward swimming, backward swimming requires a higher frequency or an increased lateral displacement to reach the same relative swimming speed. Noticeably, the phase difference shows a greater impact on forward swimming than on backward swimming. Our observations also indicate that the robotic fish achieves a larger turning rate in forward maneuvering than in backward maneuvering, yet these two maneuvers display comparable turning precision.     

Hydraulic aspects of pool-weir fishways as ecologically friendly water structure

Today, natural rivers are increasingly fragmented by human-made obstacles such as dams. Due to these structures fish populations in natural rivers rapidly diminish. In this context, fishways are a useful hydraulic structure in the creation of ecosystem for fish migration. Three dimensional mean flow and turbulence structure of pool-weir fishways were experimentally explored. During the experiments, three different notch sizes were applied while the size of the orifice was kept constant. Two acoustic Doppler velocimeters were employed throughout the velocity measurements. Three-dimensional mean velocity and normalized turbulent kinetic energy patterns in the pool were experimentally analyzed considering the swimming ability of different fish species to check whether the given design conditions provide suitable flow patterns. Based on the data, a linear relationship between the parameters “the discharge” and “the average depth in a pool” was generated. An equation was derived which gives the “energy dissipation rate per unit pool volume” in terms of the parameters “geometrical characteristics of the fishway”, “head difference between pools”, “slope”, and “acceleration due to gravity”. The discharge ratios between “flow through orifice” and “flow over notch” were expressed based on the data.     

Behavior of trout fry <Emphasis Type="Italic">Salmo gairdneri</Emphasis> during swinging

Ten experimental and 10 control experiments on a parallel swing and 4 experiments on a rotating stand were carried out on fries of the trout Salmo gairdneri, strain Rofor. Depending on changes of motor activity the fish can be separated into three groups: (1) the “freezing” fish, in which the mean swimming rate dropped sharply with the beginning of swinging; (2) the shuttleswimming fish, in which the mean swimming rate in the process of swinging practically did not change, but which with beginning of swinging started the from-wall-to-wall swimming in the horizontal plane by changing direction of the movement with a frequency close to the swinging frequency; (3) the “restless” fish, in which significant fluctuations of the mean swimming rate were observed. A decrease of the motor activity in the first group fish seems to be a protective reaction. By “freezing,” they decrease the vestibular apparatus stimulation. Analysis of the available data allows thinking that the shuttle swimming is based on an unconditional rheoreaction characteristic of pelagic fish. Its realization during swinging depends on activity of otolith organs that until now have not been considered a possible sensor for realization of the rheoreaction. Taking into account the principal role of otoliths in this process, we called this rheoreaction variant the otolithotropic reaction. With increase of stimulus strength, the shuttle movement frequency becomes equal to stimulation frequency. At the same time, sharpness of the otolith reaction is gradually deteriorated, which, however, is not associated with the fatigue of the fish. In fish of the third group, the behavioral changes that are as pronounced as those in fish of the two former groups were not revealed. However, the character of behavior of this fish group with increase of time and amplitude of the variable acceleration is to be elucidated. Thus, we have managed for the first time to describe a new fish reaction to swinging—the otolith reaction and to confirm the conclusion that the swinging affects the fish motor activity [1]. We suggest that a sharp decrease of the mean swimming rate and a disturbance of otolith reaction are the signs of the fish motion sickness.     

On-line Optimization of Biomimetic Undulatory Swimming by an Experiment-based Approach

An experiment-based approach is proposed to improve the performance of biomimetic undulatory locomotion through on-line optimization. The approach is implemented through two steps： （1） the generation of coordinated swimming gaits by artificial Central Pattern Generators （CPGs）; （2） an on-line searching of optimal parameter sets for the CPG model using Genetic Algorithm （GA）. The effectiveness of the approach is demonstrated in the optimization of swimming speed and energy effi- ciency for a biomimetic fin propulsor. To evaluate how well the input energy is converted into the kinetic energy of the pro- pulsor, an energy-efficiency index is presented and utilized as a feedback to regulate the on-line searching with a closed-loop swimming control. Experiments were conducted on propulsor prototypes with different fin segments and the optimal swimming patterns were found separately. Comparisons of results show that the optimal curvature of undulatory propulsor, which might have different shapes depending on the actual prototype design and control scheme. It is also found that the propulsor with six fin segments, is preferable because of hizher speed and lower energy efficiency.     

Energy utilization during swimming and cost of locomotion in larval and juvenile fish

Oxygen consumption and ammonia excretion rates increased in an accelerated manner in larvae and juveniles of whitefish (Coregonus sp.) as a function of swimming speed. The three-dimensional patterns of fish metabolic rates (expressed as energy consumed or nitrogen excreted) versus body weight and swimming speed show that the total standard metabolic rate (i. e. at extrapolated zero swimming speed) increased during early life of whitefish, followed by the expected decrease. This phenomenon might be due to the profound changes in oxidative and glycolytic enzyme activities during fish “metamorphosis”. Standard metabolic rate of ammonia excretion, as a principal product of protein catabolism in fish, decreased by one order of magnitude in early coregonid ontogenesis. This means that protein utilization as an energy source decreases as far as standard metabolism is concerned, but increases with swimming speed. This trend is opposite that in adult fish, where protein utilization in the overall energy supply is diminished at increasing swimming speed. The cost of locomotion offish larvae and juveniles demonstrates that the energy expenditure increases logarithmically with decreasing fish size but at an accelerated rate as compared to adult fish. This contradicts earlier estimates of lower cost of swimming in fish larvae than cost of paddle-propulsion swimming in small invertebrates or cost of flying in insects.     

Design and Experiments of a Robotic Fish Imitating Cow-Nosed Ray

<正> The cow-nosed ray is studied as natural sample of a flapping-foil robotic fish.Body structure, motion discipline, and dynamicfoil deformation of cow-nosed ray are analyzed.Based on the analysis results, a robotic fish imitating cow-nosed ray,named Robo-ray Ⅱ, mainly composed of soft body, flexible ribs and pneumatic artificial muscles, is developed.Structure andswimming morphology of the robotic prototype are as that of a normal cow-nosed ray in nature.Key propulsion parameters ofRobo-ray Ⅱ at normal conditions, including the St Number at linear swimming, thrust coefficient at towing are studied throughexperiments.The suitable driving parameters are confirmed considering the efficiency and swimming velocity.Swimmingvelocity of 0.16 m·s~(-1)'and thrust coefficient of 0.56 in maximum are achieved in experiments.     

A bioinspired autonomous swimming robot as a tool for studying goal-directed locomotion

The bioinspired approach has been key in combining the disciplines of robotics with neuroscience in an effective and promising fashion. Indeed, certain aspects in the field of neuroscience, such as goal-directed locomotion and behaviour selection, can be validated through robotic artefacts. In particular, swimming is a functionally important behaviour where neuromuscular structures, neural control architecture and operation can be replicated artificially following models from biology and neuroscience. In this article, we present a biomimetic system inspired by the lamprey, an early vertebrate that locomotes using anguilliform swimming. The artefact possesses extra- and proprioceptive sensory receptors, muscle-like actuation, distributed embedded control and a vision system. Experiments on optimised swimming and on goal-directed locomotion are reported, as well as the assessment of the performance of the system, which shows high energy efficiency and adaptive behaviour. While the focus is on providing a robotic platform for testing biological models, the reported system can also be of major relevance for the development of engineering system applications.     

Zebrafish “personality” influences sensitivity to magnetic fields

How animals integrate different sensory information for orientation is a complex process involving interactions between a variety of internal and external factors. Due to this complexity, each component of a suite of factors is typically studied in isolation. Here, we examine how an internal factor (personality of fish) influences the response of zebrafish (Danio rerio) to the magnetic field, while swimming in a flow chamber. Our previous work demonstrated that the orientation to the water current (rheotaxis) of zebrafish individuals is influenced by variations of the magnetic field only when fish are part of a shoal. In this study, we evaluated the rheotactic behavior of 20 fish, grouped in shoals of “proactive” or “reactive” individuals, under magnetic fields of different directions. We found that the magnetic field influenced at which water speed rheotaxis was elicited in zebrafish with “reactive” personality, but not in those with “proactive” personality. These results suggest that fish personality influences response to or weighing of sensory inputs and provides some insight on the variation in behavioral responses to environmental stimuli in both laboratory and natural settings.     

A Flexible Fin with Bio-Inspired Stiffness Profile and Geometry

Biological evidence suggests that fish use mostly anterior muscles for steady swimming while the caudal part of the body is passive and,acting as a carrier of energy,transfers the momentum to the surrounding water.Inspired by those findings we hypothesize that certain swimming patterns can be achieved without copying the distributed actuation mechanism of fish but rather using a single actuator at the anterior part to create the travelling wave.To test the hypothesis a pitching flexible fin made of silicone rubber and silicone foam was designed by copying the stiffness distribution profile and geometry of a rainbow trout.The kinematics of the fin was compared to that of a steadily swimming trout.Fin's propulsive wave length and tail-beat amplitude were determined while it was actuated by a single servo motor.Results showed that the propulsive wave length and tail-beat amplitude of a steadily swimming 50 cm rainbow trout was achieved with our biomimetic fin while stimulated using certain actuation parameters (frequency 2.31 Hz and amplitude 6.6 degrees).The study concluded that fish-like swimming can be achieved by mimicking the stiffness and geometry of a rainbow trout and disregarding the details of the actuation mechanism.     

Fish and Robots Swimming Together in a Water Tunnel: Robot Color and Tail-Beat Frequency Influence Fish Behavior

The possibility of integrating bioinspired robots in groups of live social animals may constitute a valuable tool to study the basis of social behavior and uncover the fundamental determinants of animal functions and dysfunctions. In this study, we investigate the interactions between individual golden shiners (Notemigonus crysoleucas) and robotic fish swimming together in a water tunnel at constant flow velocity. The robotic fish is designed to mimic its live counterpart in the aspect ratio, body shape, dimension, and locomotory pattern. Fish positional preference with respect to the robot is experimentally analyzed as the robot''s color pattern and tail-beat frequency are varied. Behavioral observations are corroborated by particle image velocimetry studies aimed at investigating the flow structure behind the robotic fish. Experimental results show that the time spent by golden shiners in the vicinity of the bioinspired robotic fish is the highest when the robot mimics their natural color pattern and beats its tail at the same frequency. In these conditions, fish tend to swim at the same depth of the robotic fish, where the wake from the robotic fish is stronger and hydrodynamic return is most likely to be effective.     

Biomechanical model of swimming rehabilitation after hip and knee surgery

As a low-to-moderate intensity rehabilitation exercise after hip and knee surgery, we propose a dynamical model of the legs motion through the water medium in freestyle and backstroke swimming. We formulate a general Kirchhoff-Lagrangian dynamics model of the legs-propulsion through the water in post-surgical rehabilitation swimming.We start by defining the two-leg-propulsion configuration manifold. This is composed of eight Euclidean groups of rigid motions in 3D space for each of the four leg segments. Next, we define Newton-Euler dynamics for each segment. This single segmental dynamics is further generalized into Lagrangian dynamics for the whole leg-propulsion system. Finally, the water effects are added in the form of Kirchhoff’s vector cross-products.In agreement with orthopaedic recommendations for post-surgical rehabilitation, numerical simulation is performed on a simplified version of the full Kirchhoff-Lagrangian dynamics model, which we call the “robotic swimming leg” – with intentionally reduced number of (microscopic, non-sagittal) degrees-of-freedom.The purpose of this development is both qualitative, for medical and physiotherapist practitioners to study, and quantitative, for biomechanics experts to analyze and further develop.     

Design and Implementation of Paired Pectoral Fins Locomotion of Labriform Fish Applied to a Fish Robot

In present,there are increasing interests in the research on mechanical and control system of underwater vehicles.Theseongoing research efforts are motivated by more pervasive applications of such vehicles including seabed oil and gas explorations,scientific deep ocean surveys,military purposes,ecological and water environmental studies,and also entertainments.However,the performance of underwater vehicles with screw type propellers is not prospective in terms of its efficiency andmaneuverability.The main weaknesses of this kind of propellers are the production of vortices and sudden generation of thrustforces which make the control of the position and motion difficult.On the other hand,fishes and other aquatic animals are efficient swimmers,posses high maneuverability,are able to followtrajectories,can efficiently stabilize themselves in currents and surges,create less wakes than currently used underwater vehicle,and also have a noiseless propulsion.The fish’s locomotion mechanism is mainly controlled by its caudal fin and paired pectoralfins.They are classified into Body and/or Caudal Fin(BCF)and Median and/or paired Pectoral Fins(MPF).The study of highlyefficient swimming mechanisms of fish can inspire a better underwater vehicles thruster design and its mechanism.There are few studies on underwater vehicles or fish robots using paired pectoral fins as thruster.The work presented in thispaper represents a contribution in this area covering study,design and implementation of locomotion mechanisms of pairedpectoral fins in a fish robot.The performance and viability of the biomimetic method for underwater vehicles are highlightedthrough in-water experiment of a robotic fish.     

First Insight into Exploration and Cognition in Wild Caught and Domesticated Sea Bass (Dicentrarchus labrax) in a Maze

European sea bass aquaculture is so recent that very little is known on the effects of the early steps of its domestication. Behavioural parameters are sensitive indicators of the domestication process since they are generally impacted as soon as the first generation. The present work compared wild-caught and domesticated sea bass juvenile swimming activity, exploration and ability to learn to discriminate between two 2-D objects associated to a simple spatial task that enabled the tested individual to visually interact with an unfamiliar congener (the reward) located behind a transparent wall at the end of one of the two arms of a maze. Ten fish from each origin were individually tested 3 times in a row during 3 days (9 trials in total). Fish were placed in a start box closed by a transparent wall located in front of two 2-D objects. Fish were filmed during 10 min after the removal of the start box wall. Different swimming variables including angular velocity, total distance travelled and velocity mean, were analyzed from videos as well as the time spent in each of 6 virtual zones including the reward zone near the congener (Cong) and the zone opposite to the reward zone (OpCong). Two learning criteria were chosen: the number of successful turns and time to reach Cong. Behavioural differences were found between domesticated and wild fish. Angular velocity was higher in wild fish while the distance travelled and the velocity mean were higher in domesticated ones. Wild and domesticated fish spent most of the time in Cong and in OpCong. No differences were seen in learning ability between wild and domesticated fish. However, our findings for learning require confirmation by further studies with larger numbers of learning sessions and experiments designed to minimise stress. This study therefore demonstrated an impact of domestication on swimming behaviour but not on spatial learning.     

Response of fish-based metrics to anthropogenic pressures in temperate rocky reefs

The increasing degradation of marine ecosystems as a result of increasing impact caused by anthropogenic pressures, urges for well-founded knowledge to develop efficient tools to appraise the quality status of fish assemblages, as required by the “Marine Strategy Framework Directive”. This study analyzed the structural and functional response of rocky fish assemblages to several pressures on the Portuguese coast, i.e. fishing, sewage discharges, port activities and thermal effluent, by selecting fish-based metrics that best distinguished disturbed from control areas. One of the novel aspects of this research is the integrated assessment made through the analysis of several metrics representing numerous attributes of fish assemblages (namely diversity, abundance, trophic structure, mobility, resilience, habitat association, nursery function), which contrasts with the most commonly used approaches that in general focus on fish species/families. PERMANOVA results showed significant differences on metrics composition for all pressures with the exception of the thermal effluent. Moreover, two major patterns of stress were identified: (1) selective pressure, which affects differentially the fish assemblages (fishing); (2) broad-range pressure, which affects the entire fish assemblage with metrics of several attributes (e.g. structure, resilience, trophic guilds, nursery function) responding to its presence (sewage discharges, port activities). Taking into account the sensitivity results (discriminant analysis and Mann–Whitney test), biological meaning and redundancy with other metrics (Spearman correlations), the following metrics were selected as the most suitable to detect changes on temperate reef fish assemblages: “density of generalist individuals”, “density of territorial individuals”, “density of large individuals with medium to high commercial value (>20 cm)”, “density of juveniles” and metrics relative to trophic guild (except zooplanktivores). Since metrics grouped species that have some degree of functional overlap, the present approach was useful to understand human-induced changes at the assemblage level, contributing for the future use of marine fishes as biological indicators.     

Use of a self-propelled,fish-shaped,computer model to study the effects of shape and tail-beat frequency on torque and velocity in salmon-shaped fish

The relationship between fish shape, swimming ability and energy consumption during swimming in fish is complex and not well understood. In this paper, we show how a self-propelled 3-D fish model can be used to examine the effect of controlled changes in some shape parameters. Parameters of the model fish are modified and the resulting fish activated for short swimming episodes during which swimming velocity, torque and energy expenditure are calculated in the computer environment. The effect of shape was determined for two different fish shapes swimming at three different tail-beat frequencies (1.43, 0.94 and 0.64?Hz). The simulation results indicate that fish model one (based on a salmon) has stronger swimming ability than fish model two (a modified salmon fish shape) even though energy expenditure of fish shape two is greater than that of fish shape one. In the same fish types, the fish-swimming velocity and energy expenditure are proportional to tail-beat frequency. This model has the potential to be useful, particularly for predicting fish behavior in fish swim ways and the tail-water of energy turbines.     

Differences in swimming pattern between life cycle stages of the toxic dinoflagellate Alexandrium fundyense

Different life stages of Alexandrium fundyense have different swimming behavior; gametes often are said to “swarm” or “dance” before mating. This behavior was studied, and quantitative measures of these motility patterns in two-dimensions were generated using motion-analysis software applied to video records of individual-cell movements. Behavior, swimming patterns, and growth were studied in two strains of A. fundyense and compared in encystment medium and growth medium. Vegetative cells swam straight, rotating around the apical axis until they hit something and then swam straight in a different direction. Gamete swimming behavior was slower and characterized by frequent direction changes and circular motion. Gametes contacted other cells frequently (>5 cell contacts min⁻¹ cell⁻¹). Zygotes swam slowly when newly formed and later became nearly immobile; these cells continued to contact other cells and also surfaces. The results are in accordance with field observations of long swimming distances for vegetative cells, accumulation in thin layers of gametes, and sinking of developing resting cysts attached to marine snow for zygotes.     

Quantitative comparison of 2D and 3D monitoring dimensions in fish behavior analysis

To improve the accuracy and efficiency of fish behavior assessment, this paper focuses on quantitatively exploring the variations and relationships between different monitoring dimensions. A systematic comparison was conducted between 3D and 2D behavioral factors using an infrared tracing system, during both day and night. Significant differences in swimming distance were observed among the different monitoring methods, as determined by two-way ANOVA and Tukey's test. A correction was applied to account for the disparities observed in 2D swimming distance, ensuring accurate measurements. These findings present a cost-effective and efficient approach for obtaining precise 3D distance data. Additionally, a kinematic factor called the “number of U-turns” was proposed to provide a more intuitive characterization of directional changes in fish swimming. Significant differences were observed between 2D and 3D data, with higher percentages of false U-turn counts and missing U-turn counts compared to correct counts in the 2D view. These findings suggest that reducing the monitoring dimension may impact the accurate estimation of swimming motion, potentially resulting in inaccurate outcomes. Finally, the statistical analyses of the non-linear properties of fractal dimension revealed significant differences among the various monitoring methods. This conclusion has practical implications for biologists and physicists, enabling them to improve the accuracy of behavioral phenotyping for organisms exhibiting 3D motion.