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von Montfort GM, Costello JH, Colin SP, Morandini AC, Migotto AE, Maronna MM, Reginato M, Miyake H, Nagata RM. Ontogenetic transitions, biomechanical trade-offs and macroevolution of scyphozoan medusae swimming patterns. Sci Rep 2023; 13:9760. [PMID: 37328506 PMCID: PMC10276012 DOI: 10.1038/s41598-023-34927-w] [Citation(s) in RCA: 1] [Impact Index Per Article: 1.0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Grants] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 11/10/2022] [Accepted: 05/10/2023] [Indexed: 06/18/2023] Open
Abstract
Ephyrae, the early stages of scyphozoan jellyfish, possess a conserved morphology among species. However, ontogenetic transitions lead to morphologically different shapes among scyphozoan lineages, with important consequences for swimming biomechanics, bioenergetics and ecology. We used high-speed imaging to analyse biomechanical and kinematic variables of swimming in 17 species of Scyphozoa (1 Coronatae, 8 "Semaeostomeae" and 8 Rhizostomeae) at different developmental stages. Swimming kinematics of early ephyrae were similar, in general, but differences related to major lineages emerged through development. Rhizostomeae medusae have more prolate bells, shorter pulse cycles and higher swimming performances. Medusae of "Semaeostomeae", in turn, have more variable bell shapes and most species had lower swimming performances. Despite these differences, both groups travelled the same distance per pulse suggesting that each pulse is hydrodynamically similar. Therefore, higher swimming velocities are achieved in species with higher pulsation frequencies. Our results suggest that medusae of Rhizostomeae and "Semaeostomeae" have evolved bell kinematics with different optimized traits, rhizostomes optimize rapid fluid processing, through faster pulsations, while "semaeostomes" optimize swimming efficiency, through longer interpulse intervals that enhance mechanisms of passive energy recapture.
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Affiliation(s)
- Guilherme M von Montfort
- Instituto de Oceanografia, Universidade Federal do Rio Grande, Av. Itália, km 8, Rio Grande, RS, 96203-000, Brazil.
| | - John H Costello
- Whitman Center, Marine Biological Laboratory, Biology Department, Providence College, Woods Hole, MA, 02543, USA
- Biology Department, Providence College, Providence, RI 02918, USA
| | - Sean P Colin
- Whitman Center, Marine Biological Laboratory, Biology Department, Providence College, Woods Hole, MA, 02543, USA
- Marine Biology and Environmental Science, Roger Williams University, Bristol, RI, 02809, USA
| | - André C Morandini
- Departamento de Zoologia, Instituto de Biociências, Universidade de São Paulo, Rua do Matão, Trav. 14, São Paulo, SP, 101, 05508-090, Brazil
- Centro de Biologia Marinha, Universidade de São Paulo, Rodovia Manuel Hipólito do Rego, km 131.5, São Sebastião, SP, 11612-109, Brazil
| | - Alvaro E Migotto
- Centro de Biologia Marinha, Universidade de São Paulo, Rodovia Manuel Hipólito do Rego, km 131.5, São Sebastião, SP, 11612-109, Brazil
| | - Maximiliano M Maronna
- Departamento de Zoologia, Instituto de Biociências, Universidade de São Paulo, Rua do Matão, Trav. 14, São Paulo, SP, 101, 05508-090, Brazil
- Departamento de Ciências Biológicas, Universidade Estadual Paulista, Av. Eng. Luiz Edmundo Carrijo Coube, 14-01-Vargem Limpa-Bauru, São Paulo, Brazil
| | - Marcelo Reginato
- Departamento de Botânica, Instituto de Biociências, Universidade Federal do Rio Grande do Sul, Rio Grande, Brazil
| | - Hiroshi Miyake
- School of Marine Biosciences, Kitasato University, 1-15-1 Kitazato, Minami-ku, Sagamihara, 252-0373, Japan
| | - Renato M Nagata
- Instituto de Oceanografia, Universidade Federal do Rio Grande, Av. Itália, km 8, Rio Grande, RS, 96203-000, Brazil
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Yang Y, Chu C, Jin H, Hu Q, Xu M, Dong E. Design, Modeling, and Control of an Aurelia-Inspired Robot Based on SMA Artificial Muscles. Biomimetics (Basel) 2023; 8:261. [PMID: 37366856 DOI: 10.3390/biomimetics8020261] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 04/29/2023] [Revised: 06/01/2023] [Accepted: 06/14/2023] [Indexed: 06/28/2023] Open
Abstract
This paper presented a flexible and easily fabricated untethered underwater robot inspired by Aurelia, which is named "Au-robot". The Au-robot is actuated by six radial fins made of shape memory alloy (SMA) artificial muscle modules, which can realize pulse jet propulsion motion. The thrust model of the Au-robot's underwater motion is developed and analyzed. To achieve a multimodal and smooth swimming transition for the Au-robot, a control method integrating a central pattern generator (CPG) and an adaptive regulation (AR) heating strategy is provided. The experimental results demonstrate that the Au-robot, with good bionic properties in structure and movement mode, can achieve a smooth transition from low-frequency swimming to high-frequency swimming with an average maximum instantaneous velocity of 12.61 cm/s. It shows that a robot designed and fabricated with artificial muscle can imitate biological structures and movement traits more realistically and has better motor performance.
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Affiliation(s)
- Yihan Yang
- CAS Key Laboratory of Mechanical Behavior and Design of Materials, Department of Precision Machinery and Precision Instrumentation, University of Science and Technology of China, Hefei 230026, China
| | - Chenzhong Chu
- CAS Key Laboratory of Mechanical Behavior and Design of Materials, Department of Precision Machinery and Precision Instrumentation, University of Science and Technology of China, Hefei 230026, China
| | - Hu Jin
- CAS Key Laboratory of Mechanical Behavior and Design of Materials, Department of Precision Machinery and Precision Instrumentation, University of Science and Technology of China, Hefei 230026, China
| | - Qiqiang Hu
- Department of Biomedical Engineering, City University of Hong Kong, Kowloon, Hong Kong
| | - Min Xu
- CAS Key Laboratory of Mechanical Behavior and Design of Materials, Department of Precision Machinery and Precision Instrumentation, University of Science and Technology of China, Hefei 230026, China
| | - Erbao Dong
- CAS Key Laboratory of Mechanical Behavior and Design of Materials, Department of Precision Machinery and Precision Instrumentation, University of Science and Technology of China, Hefei 230026, China
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Exploring the sensitivity in jellyfish locomotion under variations in scale, frequency, and duty cycle. J Math Biol 2021; 83:56. [PMID: 34731319 DOI: 10.1007/s00285-021-01678-z] [Citation(s) in RCA: 1] [Impact Index Per Article: 0.3] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 11/25/2020] [Revised: 08/04/2021] [Accepted: 10/13/2021] [Indexed: 10/19/2022]
Abstract
Jellyfish have been called one of the most energy-efficient animals in the world due to the ease in which they move through their fluid environment, by product of their bell kinematics coupled with their morphological, muscular, material properties. We investigated jellyfish locomotion by conducting in silico comparative studies and explored swimming performance across different fluid scales (i.e., Reynolds Number), bell contraction frequencies, and contraction phase kinematics (duty cycle) for a jellyfish with a fineness ratio of 1 (ratio of bell height to bell diameter). To study these relationships, an open source implementation of the immersed boundary method was used (IB2d) to solve the fully coupled fluid-structure interaction problem of a flexible jellyfish bell in a viscous fluid. Thorough 2D parameter subspace explorations illustrated optimal parameter combinations in which give rise to enhanced swimming performance. All performance metrics indicated a higher sensitivity to bell actuation frequency than fluid scale or duty cycle, via Sobol sensitivity analysis, on a higher performance parameter subspace. Moreover, Pareto-like fronts were identified in the overall performance space involving the cost of transport and forward swimming speed. Patterns emerged within these performance spaces when highlighting different parameter regions, which complemented the global sensitivity results. Lastly, an open source computational model for jellyfish locomotion is offered to the science community that can be used as a starting place for future numerical experimentation.
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Costello JH, Colin SP, Dabiri JO, Gemmell BJ, Lucas KN, Sutherland KR. The Hydrodynamics of Jellyfish Swimming. ANNUAL REVIEW OF MARINE SCIENCE 2021; 13:375-396. [PMID: 32600216 DOI: 10.1146/annurev-marine-031120-091442] [Citation(s) in RCA: 24] [Impact Index Per Article: 8.0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 06/11/2023]
Abstract
Jellyfish have provided insight into important components of animal propulsion, such as suction thrust, passive energy recapture, vortex wall effects, and the rotational mechanics of turning. These traits are critically important to jellyfish because they must propel themselves despite severe limitations on force production imposed by rudimentary cnidarian muscular structures. Consequently, jellyfish swimming can occur only by careful orchestration of fluid interactions. Yet these mechanics may be more broadly instructive because they also characterize processes shared with other animal swimmers, whose structural and neurological complexity can obscure these interactions. In comparison with other animal models, the structural simplicity, comparative energetic efficiency, and ease of use in laboratory experimentation allow jellyfish to serve as favorable test subjects for exploration of the hydrodynamic bases of animal propulsion. These same attributes also make jellyfish valuable models for insight into biomimetic or bioinspired engineeringof swimming vehicles. Here, we review advances in understanding of propulsive mechanics derived from jellyfish models as a pathway toward the application of animal mechanics to vehicle designs.
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Affiliation(s)
- John H Costello
- Department of Biology, Providence College, Providence, Rhode Island 02918, USA;
| | - Sean P Colin
- Department of Marine Biology and Environmental Science, Roger Williams University, Bristol, Rhode Island 02809, USA;
| | - John O Dabiri
- Graduate Aerospace Laboratories and Department of Mechanical and Civil Engineering, California Institute of Technology, Pasadena, California 91125, USA;
| | - Brad J Gemmell
- Department of Integrative Biology, University of South Florida, Tampa, Florida 33620, USA;
| | - Kelsey N Lucas
- School for Environment and Sustainability, University of Michigan, Ann Arbor, Michigan 48109, USA;
| | - Kelly R Sutherland
- Oregon Institute of Marine Biology, University of Oregon, Eugene, Oregon 97403, USA;
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