Using reverse engineering and computational fluid dynamics to investigate a lower arm amputee swimmer's performance

In front crawl swimming, the hand and the corresponding forearm generate major propulsive forces. Such forces have been studied largely through experimental tests and more recently through the use of steady computational fluid dynamics (CFD). However, the effect of the upper arm on the propulsive forces has generally not been taken into consideration. An understanding of such forces is fundamental for the performance of swimmers who have an arm amputation at the level of the elbow. This study introduces the great potential offered by the multidisciplinary approach combining reverse engineering and unsteady CFD in a novel dynamic and interactive way. A complex CFD mesh model, representing the swimmer body and its upper arm, is produced. The model, including the arm rotation and a body roll movement, interacts dynamically with the fluid flow. Forces generated by the upper arm can then be investigated in great detail. In this particular study, it is found that the upper arm effectively contributes to the propulsion of the body. The propulsive force was numerically computed throughout the pull and reaches maxima of 8N. Results obtained in this study could be extended in a similar way to any other limb movement within a fluid flow.     

The effect of swimmer's hand/forearm acceleration on propulsive forces generation using computational fluid dynamics

Propulsive forces generated by swimmers hand/forearm, have been studied through experimental tests. However, there are serious doubts as to whether forces quantified in this way are accurate enough to be meaningful. In order to solve some experimental problems, some numerical techniques have been proposed using Computational Fluid Dynamics (CFD). The main purpose of the present work was threefold. First, disseminate the use of CFD as a new tool in swimming research. Second, apply the CFD method in the calculation of drag and lift coefficients resulting from the numerical resolution equations of the flow around the swimmers hand/forearm using the steady flow conditions. Third, evaluate the effect of hand/forearm acceleration on drag and lift coefficients. For these purposes three, two-dimensional (2D), models of a right male hand/forearm were studied. A frontal model (theta = 90 degrees, Phi = 90 degrees) and two lateral models, one with the thumb as leading edge (theta = 0 degrees, = 90 degrees), and the other with the small finger as the leading edge (theta = 0 degrees, Phi = 180 degrees). The governing system of equations considered was the incompressible Reynolds averaged Navier-Stokes equations with the standard k-epsilon model. The main results reported that, under the steady-state flow condition, the drag coefficient was the one that contributes more for propulsion, and was almost constant for the whole range of velocities, with a maximum value of 1.16 (Cd = 1.16). This is valid when the orientation of the hand/forearm is plane and the model is perpendicular to the direction of the flow. Under the hand /forearm acceleration condition, the measured values for propulsive forces calculation were approximately 22.5% (54.440 N) higher than the forces produced under the steady flow condition (44.428 N). By the results, pointed out, we can conclude that: (i) CFD can be considered an interesting new approach for hydrodynamic forces calculation on swimming, (ii) the acceleration of hand/forearm provides more propulsion to swimmers, confirming that some unsteady mechanism must be present in swimming propulsion.     

The optimum finger spacing in human swimming

Competitive swimmers spread fingers during the propulsive stroke. Due to the inherent inefficiency of human swimming, the question is: does this strategy enhance performance or is it just a more comfortable hand posture? Here we show, through computational fluid dynamics (CFD) of a 3D model of the hand, that an optimal finger spacing (12°, roughly corresponding to the resting hand posture) increases the drag coefficient (+8.8%), which is ‘functionally equivalent’ to a greater hand palm area, thus a lower stroke frequency can produce the same thrust, with benefits to muscle, hydraulic and propulsive efficiencies. CFD, through flow visualization, provides an explanation for the increased drag associated with the optimum finger spacing.     

Estimation of hand forces and propelling efficiency during front crawl swimming with hand paddles

The aim of the study was to investigate possible modifications caused by hand paddles in the relative contribution of the lift and drag forces of the hand and in the propelling efficiency, during front crawl swimming. Eight female swimmers swam 25 m with maximal intensity without paddles, with small (116 cm(2)) and with large paddles (268 cm(2)). Four cameras operating at 60 Hz were used to record the images and the Ariel Performance Analysis System was used for the digitisation. The results showed that, although during swimming with hand paddles the hand's velocity decreased, the greater propulsive area of the hand paddle caused an increase in the drag, lift, resultant and effective forces of the hand. However, the relative contribution of lift and drag forces on swimming propulsion was not modified, nor was the direction of the resultant force. Hand paddles also increased the propelling efficiency, the stroke length and the swimming velocity, mainly because of the larger propulsive areas of the hand in comparison with free swimming. However, the significant decrease of the stroke rate, might argue the effectiveness of hand paddle training, particularly when large paddles are used in front crawl swimming.     

Effect of body roll amplitude and arm rotation speed on propulsion of arm amputee swimmers

Only a limited amount of research has gone into evaluating the contribution made by the upper arm to the propulsion of elite swimmers with an amputation at elbow level. With assistance of computational fluid dynamics (CFD) modelling, the swimming technique of competitive arm amputee swimmers can be assessed through numerical simulations which test the effect of various parameters on the effectiveness of the swimming propulsion.This numerical study investigates the effect of body roll amplitude and of upper arm rotation speed on the propulsion of an arm amputee swimmer, at different mean swimming speeds. Various test cases are simulated resulting in a thorough analysis of the complex body/fluid interaction with a detailed quantitative assessment of the effect of the variation of each parameter on the arm propulsion. It is found that a body roll movement with an amplitude of 45° enhances greatly the propulsive contribution from the upper arm with an increase of about 70% in the propulsive force compared to the no roll condition. An increase in the angular velocity of the upper arm also leads to a concomitant increase in the propulsive forces produced by the arm.Such results have direct implications for competitive arm amputee front crawl swimmers and for those who coach them. One important message that emerges in this present work is that there exists, for any given swimming speed, a minimum angular velocity at which the upper arm must be rotated to generate effective propulsion. Below this velocity, the upper arm will experience a net resistive drag force which adversely affects swimming performance.     

A phenomenological approach to modelling collective cell movement in 2D

There are two main approaches to unraveling the mechanisms involved in the regulation of collective cell movement. On the one hand, “in vitro” tests try to represent “in vivo” conditions. On the other hand, “in silico” tests aim to model this movement through the use of complex numerically implemented mathematical methods. This paper presents a simple cell-based mathematical model to represent the collective movement phenomena. This approach is used to better understand the different interactive forces which guide cell movement, focusing mainly on the role of the cell propulsion force with the substrate. Different applications are simulated for 2D cell cultures, wound healing, and collective cell movement in substrates with different degrees of stiffness. The model provides a plausible explanation of how cells work together in order to regulate their movement, showing the significant influence of the propulsive force exerted by the cell to the substrate on guiding the collective cell movement and its interplay with other cell forces.     

Turbulence: does vorticity affect the structure and shape of body and fin propulsors?

Over the past century, many ideas have been developed on the relationships between water flow and the structure and shape of the body and fins of fishes, largely during swimming in relatively steady flows. However, both swimming by fishes and the habitats they occupy are associated with vorticity, typically concentrated as eddies characteristic of turbulent flow. Deployment of methods to examine flow in detail suggests that vorticity impacts the lives of fishes. First, vorticity near the body and fins can increase thrust and smooth variations in thrust that are a consequence of using oscillating and undulating propulsors to swim. Second, substantial mechanical energy is dissipated in eddies in the wake and adaptations that minimize these losses would be anticipated. We suggest that such mechanisms may be found in varying the length of the propulsive wave, stiffening propulsive surfaces, and shifting to using median and paired fins when swimming at low speeds. Eddies in the flow encountered by fishes may be beneficial, but when eddy radii are of the order of 0.25 of the fish's total length, negative impacts occur due to greater difficulties in controlling stability. The archetypal streamlined "fish" shape reduces destabilizing forces for fishes swimming into eddies.     

Analysis of a swimmer's hand and arm in steady flow conditions using computational fluid dynamics

Propulsive forces generated by swimmers' hands and arms have, to date, been determined strictly through experimental testing. As an alternative to these complex and costly experiments, the present research has applied the numerical technique of computational fluid dynamics (CFD) to calculate the steady flow around a swimmer's hand and arm at various angles of attack. Force coefficients computed for the hand and arm compared well with steady-state coefficients determined experimentally. The simulations showed significant boundary layer separation from the arm and hand, suggesting that Bernoulli's equation should not be used to mathematically describe the lift generated by a swimmer. Additionally, "2D" lift was shown to be inaccurate for the arm at all angles of attack and for the hand near angles of attack of 90 degrees. Such simulations serve to validate the chosen CFD techniques, and are an important first step towards the use of CFD methods for determining swimming hydrodynamic forces in more complex unsteady flow conditions.     

Body Form and Patterns of Ciliation in Nonfeeding Larvae of Echinoderms: Functional Solutions to Swimming in the Plankton?

SYNOPSIS. Nonfeeding larval forms of echinoderms are believedto have evolved repeatedly from feeding larval forms, and thesetransformations usually result in major shifts in morphogenesis.Current hypotheses on form change invoke relaxation of stabilizingselection on traits that functionin feeding, coupled with selectionfor rapid development of juvenile traits. However, comparativeevidence from 51 species of nonfeeding larvae, representing19 independent origins, suggests that body form, patterns ofciliation, and possibly buoyancy reflect functional requirementsfor maintenance of swimming performance. Nonfeeding larvae withbody lengths less than 600 µm usually have several transverseciliated bands, while those with body lengths greater than 800µm usually have uniform ciliation. A preliminary modelwhich compares estimated drag and buoyancy forces with ciliarypropulsive forces predicts that bands of simple cilia do notproduce sufficient propulsive forces to permit swimming in largerlarvae. For larger larvae, increases in areal coverage of ciliamay be required to produce propulsive forces sufficient to opposedrag and buoyancy forces and permit movement. For these largerlarvae, estimates of water velocities at the tips of uniformarrays of cilia are well below the upper limits of water movementsby cilia of echinoderms. Functional constraints on nonfeedinglarval forms should be considered, along with (above mentioned)current hypotheses, in explanations of morphogenetic changesassociated with transition from feeding to nonfeeding larvaldevelopment.     

Swimming dynamics and propulsive efficiency of squids throughout ontogeny

Squids encounter vastly different flow regimes throughout ontogeny as they undergo critical morphological changes to their two locomotive systems: the fins and jet. Squid hatchlings (paralarvae) operate at low and intermediate Reynolds numbers (Re) and typically have rounded bodies, small fins, and relatively large funnel apertures, whereas juveniles and adults operate at higher Re and generally have more streamlined bodies, larger fins, and relatively small funnel apertures. These morphological changes and varying flow conditions affect swimming performance in squids. To determine how swimming dynamics and propulsive efficiency change throughout ontogeny, digital particle image velocimetry (DPIV) and kinematic data were collected from an ontogenetic range of long-finned squid Doryteuthis pealeii and brief squid Lolliguncula brevis swimming in a holding chamber or water tunnel (Re = 20-20 000). Jet and fin wake bulk properties were quantified, and propulsive efficiency was computed based on measurements of impulse and excess kinetic energy in the wakes. Paralarvae relied predominantly on a vertically directed, high frequency, low velocity jet as they bobbed up and down in the water column. Although some spherical vortex rings were observed, most paralarval jets consisted of an elongated vortical region of variable length with no clear pinch-off of a vortex ring from the trailing tail component. Compared with paralarvae, juvenile and adult squid exhibited a more diverse range of swimming strategies, involving greater overall locomotive fin reliance and multiple fin and jet wake modes with better defined vortex rings. Despite greater locomotive flexibility, jet propulsive efficiency of juveniles/adults was significantly lower than that of paralarvae, even when juvenile/adults employed their highest efficiency jet mode involving the production of periodic isolated vortex rings with each jet pulse. When the fins were considered together with the jet for several juvenile/adult swimming sequences, overall propulsive efficiency increased, suggesting that fin contributions are important and should not be overlooked in analyses of the swimming performance of squids. The fins produced significant thrust and consistently had higher propulsive efficiency than did the jet. One particularly important area of future study is the determination of coordinated jet/fin wake modes that have the greatest impact on propulsive efficiency. Although such research would be technically challenging, requiring new, powerful, 3D approaches, it is necessary for a more comprehensive assessment of propulsive efficiency of the squid dual-mode locomotive system.     

Fibrous Flagellar Hairs of Chlamydomonas reinhardtii Do Not Enhance Swimming

The flagella of Chlamydomonas reinhardtii possess fibrous ultrastructures of a nanometer-scale thickness known as mastigonemes. These structures have been widely hypothesized to enhance flagellar thrust; however, detailed hydrodynamic analysis supporting this claim is lacking. In this study, we present a comprehensive investigation into the hydrodynamic effects of mastigonemes using a genetically modified mutant lacking the fibrous structures. Through high-speed observations of freely swimming cells, we found the average and maximum swimming speeds to be unaffected by the presence of mastigonemes. In addition to swimming speeds, no significant difference was found for flagellar gait kinematics. After our observations of swimming kinematics, we present direct measurements of the hydrodynamic forces generated by flagella with and without mastigonemes. These measurements were conducted using optical tweezers, which enabled high temporal and spatial resolution of hydrodynamic forces. Through our measurements, we found no significant difference in propulsive flows due to the presence of mastigonemes. Direct comparison between measurements and fluid mechanical modeling revealed that swimming hydrodynamics were accurately captured without including mastigonemes on the modeled swimmer’s flagella. Therefore, mastigonemes do not appear to increase the flagella’s effective area while swimming, as previously thought. Our results refute the longstanding claim that mastigonemes enhance flagellar thrust in C. reinhardtii, and so, their function still remains enigmatic.     

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.     

Drag of suction cup tags on swimming animals: Modeling and measurement

Bio‐logging tags are widely used to study the behavior and movements of marine mammals with the tacit assumption of little impact to the animal. However, tags on fast‐swimming animals generate substantial hydrodynamic forces potentially affecting behavior and energetics adversely, or promoting early removal of the tag. In this work, hydrodynamic loading of three novel tag housing designs are compared over a range of swimming speeds using computational fluid dynamics (CFD). Results from CFD simulation were verified using tag models in a water flume with close agreement. Drag forces were reduced by minimizing geometric disruptions to the flow around the housing, while lift forces were reduced by minimizing the frontal cross‐sectional area of the housing and holding the tag close to the attachment surface. Hydrodynamic tag design resulted in an experimentally measured 60% drag force reduction in 5.6 m/s flow. For all housing designs, off‐axis flow increased the magnitude of the force on the tag. Experimental work with a common dolphin (Delphinus delphis) cadaver indicates that the suction cups used to attach the types of tags described here provide sufficient attachment force to resist failure to predicted forces at swimming speeds of up to 10 m/s.     

Vortex interactions with flapping wings and fins can be unpredictable

As they fly or swim, many animals generate a wake of vortices with their flapping fins and wings that reveals the dynamics of their locomotion. Previous studies have shown that the dynamic interaction of vortices in the wake with fins and wings can increase propulsive force. Here, we explore whether the dynamics of the vortex interactions could affect the predictability of propulsive forces. We studied the dynamics of the interactions between a symmetrically and periodically pitching and heaving foil and the vortices in its wake, in a soap-film tunnel. The phase-locked movie sequences reveal that abundant chaotic vortex-wake interactions occur at high Strouhal numbers. These high numbers are representative for the fins and wings of near-hovering animals. The chaotic wake limits the forecast horizon of the corresponding force and moment integrals. By contrast, we find periodic vortex wakes with an unlimited forecast horizon for the lower Strouhal numbers (0.2–0.4) at which many animals cruise. These findings suggest that swimming and flying animals could control the predictability of vortex-wake interactions, and the corresponding propulsive forces with their fins and wings.     

A Biomimetic Spermatozoa Propulsion Method for Interventional Micro Robot

Nowadays, studies of the interventional micro robots have been hot topics in the field of medical device. The ultimate goal of medical micro robots is to reach currently inaccessible areas of the human body and carry out a host of complex operations such as minimally invasive surgery (MIS), highly localized drug delivery and opening up the blood vessels. Miniature, safe and energy efficient propulsion systems hold the key to mature this technology. In this paper, a prototype of endovascular micro robot based on the motion principle of spermatozoa is presented. The properties of this propulsive mechanism are estimated by modeling the dynamics of the swimming methods. In order to validate the theoretical results for spermatozoa propulsion, a scaled-up prototype of the swimming robot is fabricated and characterized in imitative bio-pipes full of silicone oil. Experimental results shown that the spermatozoa-like micro robot can be controlled to swim efficiently. And to adjust the rotation direction of the four flexible tails, the propulsion forces and the function of opening up the blood vessels will be generated.     

Assessing the ecological relevance of swimming performance traits: a case study of bluegill sunfish (<Emphasis Type="Italic">Lepomis macrochirus</Emphasis>)

A variety of fish species show habitat-related variation in traits associated with swimming performance and foraging behavior. This commonly manifests as a distinction between open water and shallow water littoral ecotypes. In bluegill sunfish (Lepomis macrochirus), open water fish exhibit greater energy economy and speed during sustained locomotion than those from the littoral, whereas littoral fish were more maneuverable than their open water counterparts. These distinctions are associated with variation in diet and foraging behavior and may represent a resource polyphenism that enhances fitness through more effective exploitation of particular habitat types. A lack of field data means that polyphenisms have not been placed in context with swimming behavior in the field. We have used 3D videography to quantify bluegill field swimming performance in open water and littoral habitats. This revealed patterns of performance variation that parallel the trait variation previously established in the laboratory. Open water fish utilized faster average swimming speeds than inshore fish, while indicators of nonlinearity and unsteadiness were greater in the littoral fish. There are, however, differences in propulsive behavior between the field and laboratory. Pectoral-fin-powered, median-paired fin swimming is rarely employed by open water fish. Field body-caudal fin swimming involves short sequences of propulsive tail beats interspersed with gliding, rather than the repeated propulsive cycles employed under steady-state conditions. This suggests a need to re-evaluate the applicability of steady-state performance traits to behavior and fitness in the field and highlights the general importance of obtaining field performance data.     

Locomotion of Gymnarchus Niloticus： Experiment and Kinematics

In addition to forward undulatory swimming, Gymnarchus niloticus can swim via undulations of the dorsal fin while the body axis remains straight; furthermore, it swims forward and backward in a similar way, which indicates that the undulation of the dorsal fin can simultaneously provide bidirectional propulsive and maneuvering forces with the help of the tail fin. A high-resolution Charge-Coupled Device （CCD） imaging camera system is used to record kinematics of steady swimming as well as maneuvering in G. niloticus. Based on experimental data, this paper discusses the kinematics （cruising speed, wave speed, cycle frequency, amplitude, lateral displacement） of forward as well as backward swimming and maneuvering. During forward swimming, the propulsive force is generated mainly by undulations of the dorsal fin while the body axis remains straight. The kinematic parameters （wave speed, wavelength, cycle frequency, amplitude） have statistically significant correlations with cruising speed. In addition, the yaw at the head is minimal during steady swimming. From experimental data, the maximal lateral displacement of head is not more than 1% of the body length, while the maximal lateral displacement of the whole body is not more than 5% of the body length. Another important feature is that G. niloticus swims backwards using an undulatory mechanism that resembles the forward undulatory swimming mechanism. In backward swimming, the increase of lateral displacement of the head is comparatively significant; the amplitude profiles of the propulsive wave along the dorsal fin are significantly different from those in forward swimming. When G. niloticus does fast maneuvering, its body is first bent into either a C shape or an S shape, then it is rapidly unwound in a travelling wave fashion. It rarely maneuvers without the help of the tail fin and body bending.     

Vestibular Lesion-Induced Developmental Plasticity in Spinal Locomotor Networks during Xenopus laevis Metamorphosis

During frog metamorphosis, the vestibular sensory system remains unchanged, while spinal motor networks undergo a massive restructuring associated with the transition from the larval to adult biomechanical system. We investigated in Xenopus laevis the impact of a pre- (tadpole stage) or post-metamorphosis (juvenile stage) unilateral labyrinthectomy (UL) on young adult swimming performance and underlying spinal locomotor circuitry. The acute disruptive effects on locomotion were similar in both tadpoles and juvenile frogs. However, animals that had metamorphosed with a preceding UL expressed restored swimming behavior at the juvenile stage, whereas animals lesioned after metamorphosis never recovered. Whilst kinematic and electrophysiological analyses of the propulsive system showed no significant differences in either juvenile group, a 3D biomechanical simulation suggested that an asymmetry in the dynamic control of posture during swimming could account for the behavioral restoration observed in animals that had been labyrinthectomized before metamorphosis. This hypothesis was subsequently supported by in vivo electromyography during free swimming and in vitro recordings from isolated brainstem/spinal cord preparations. Specifically, animals lesioned prior to metamorphosis at the larval stage exhibited an asymmetrical propulsion/posture coupling as a post-metamorphic young adult. This developmental alteration was accompanied by an ipsilesional decrease in propriospinal coordination that is normally established in strict left-right symmetry during metamorphosis in order to synchronize dorsal trunk muscle contractions with bilateral hindlimb extensions in the swimming adult. Our data thus suggest that a disequilibrium in descending vestibulospinal information during Xenopus metamorphosis leads to an altered assembly of adult spinal locomotor circuitry. This in turn enables an adaptive compensation for the dynamic postural asymmetry induced by the vestibular imbalance and the restoration of functionally-effective behavior.     

Active drag related to velocity in male and female swimmers

Propulsive arm forces of 32 male and 9 female swimmers were measured during front crawl swimming using arms only, in a velocity range between 1.0 m s-1 and 1.8 m s-1. At constant velocity, the measured mean propulsive force Fp equals the mean active drag force (Fd). It was found that Fd is related to the swimming velocity v raised to the power 2.12 +/- 0.20 (males) or 2.28 +/- 0.35 (females). Although many subjects showed rather constant values of Fd/v2, 12 subjects gave significantly (p less than 0.01) stronger or weaker quadratic relationships. Differences in drag force and coefficient of drag between males and females (drag: 28.9 +/- 5.1 N, 20.4 +/- 1.9 N, drag coefficient: 0.64 +/- 0.09, 0.54 +/- 0.07 respectively) are especially apparent at the lowest swimming velocity (1 m s-1), which become less at higher swimming velocities. Possible explanations for the deviation of the power of the velocity from the ideal quadratic dependency are discussed.     

Simulated and experimental estimates of hydrodynamic drag from bio-logging tags

Drag force acting on swimming marine mammals is difficult to measure directly. Researchers often use simple modeling and kinematic measurements from animals, or computational fluid dynamics (CFD) simulations to estimate drag. However, studies that compare these methods are lacking. Here, computational simulation and physical experiments were used to estimate drag forces on gliding bottlenose dolphins (Tursiops truncatus). To facilitate comparison, variable drag loading (no-tag, tag, tag + 4, tag + 8) was used to increase force in both simulations and experiments. During the experiments, two dolphins were trained to perform controlled glides with variable loading. CFD simulations of dolphin/tag geometry in steady flow (1–6 m/s) were used to model drag forces. We expect both techniques will capture relative changes created by experimental conditions, but absolute forces predicted by the methods will differ. CFD estimates were within a calculated 90% confidence interval of the experimental results for all but the tag condition. Relative drag increase predicted by the simulation vs. experiment, respectively, differed by between 21% and 31%: tag, 4% vs. 33%; tag + 4, 47% vs. 68%; and tag + 8, 108% vs. 77%. The results from this work provide a direct comparison of computational and experimental estimates of drag, and provide a framework to quantify uncertainty.