Numerical simulations are used to investigate the hydrodynamic benefits of body–fin and fin–fin interactions in a fish model in carangiform swimming. The geometry and kinematics of the model are reconstructed in three-dimensions from high-speed videos of a live fish, Crevalle Jack (Caranx hippos), during steady swimming. The simulations employ an immersed-boundary-method-based incompressible Navier–Stokes flow solver that allows us to quantitatively characterize the propulsive performance of the fish median fins (the dorsal and the anal fins) and the caudal fin using three-dimensional full body simulations. This includes a detailed analysis of associated performance enhancement mechanisms and their connection to the vortex dynamics. Comparisons are made using three different models containing different combinations of the fish body and fins to provide insights into the force production. The results indicate that the fish produces high performance propulsion by utilizing complex interactions among the fins and the body. By connecting the vortex dynamics and surface force distribution, it is found that the leading-edge vortices produced by the caudal fin are associated with most of the thrust production in this fish model. These vortices could be strengthened by the vorticity capture from the vortices generated by the posterior body during undulatory motion. Meanwhile, the pressure difference between the two sides of posterior body resulting from the posterior body vortices (PBVs) helps with the alleviation of the body drag. The appearance of the median fins in the posterior region further strengthens the PBVs and caudal-fin wake capture mechanism. This work provides new physical insights into how body–fin and fin–fin interactions enhance thrust production in swimming fishes, and emphasizes that movements of both the body and fins contribute to overall swimming performance in fish locomotion.

Summary Synaptic ribbons are structures made largely of the protein Ribeye that hold synaptic vesicles near release sites in non-spiking cells in some sensory systems. Here we introduce frame-shift mutations in the two zebrafish genes encoding for Ribeye and thus remove Ribeye protein from neuromast hair cells. Despite Ribeye depletion, vesicles collect around ribbon-like structures that lack electron density, which we term “ghost-ribbons”. Ghost-ribbons are smaller in size, but possess a similar number of smaller vesicles and are poorly localized to synapses and calcium channels. These hair cells exhibit enhanced exocytosis as measured by capacitance, and recordings from afferent neurons post-synaptic to hair cells show no significant difference in spike rates. Our results suggest that Ribeye makes up most of the synaptic ribbon density in neuromast hair cells, and is necessary for proper localization of calcium channels and synaptic ribbons.

With the overall goal being a better understanding of the sensing environment from the local perspective of a situated agent, we studied uniform flows and Kármán vortex streets in a frame of reference relevant to a fish or swimming robot. We visualized each flow regime with digital particle image velocimetry and then took local measurements using a rigid body with laterally distributed parallel pressure sensor arrays. Time and frequency domain methods were used to characterize hydrodynamically relevant scenarios in steady and unsteady flows for control applications. Here we report that a distributed pressure sensing mechanism has the capability to discriminate Kármán vortex streets from uniform flows, and determine the orientation and position of the platform with respect to the incoming flow and the centre axis of the Kármán vortex street. It also enables the computation of hydrodynamic features which may be relevant for a robot while interacting with the flow, such as vortex shedding frequency, vortex travelling speed and downstream distance between vortices. A Kármán vortex street was distinguished in this study from uniform flows by analysing the magnitude of fluctuations present in the sensor measurements and the number of sensors detecting the same dominant frequency. In the Kármán vortex street the turbulence intensity was 30% higher than that in the uniform flow and the sensors collectively sensed the vortex shedding frequency as the dominant frequency. The position and orientation of the sensor platform were determined via a comparative analysis between laterally distributed sensor arrays; the vortex travelling speed was estimated via a cross-correlation analysis among the sensors.

Swimming animals need to generate propulsive force to overcome drag, regardless of whether they swim steadily or accelerate forward. While locomotion strategies for steady swimming are well characterized, far less is known about acceleration. Animals exhibit many different ways to swim steadily, but we show here that this behavioral diversity collapses into a single swimming pattern during acceleration regardless of the body size, morphology, and ecology of the animal. We draw on the fields of biomechanics, fluid dynamics, and robotics to demonstrate that there is a fundamental difference between steady swimming and forward acceleration. We provide empirical evidence that the tail of accelerating fishes can increase propulsive efficiency by enhancing thrust through the alteration of vortex ring geometry. Our study provides insight into how propulsion can be altered without increasing vortex ring size and represents a fundamental departure from our current understanding of the hydrodynamic mechanisms of acceleration. Our findings reveal a unifying hydrodynamic principle that is likely conserved in all aquatic, undulatory vertebrates.

For underwater vehicles to successfully detect and navigate turbulent flows, sensing the fluid interactions that occur is required. Fish possess a unique sensory organ called the lateral line. Sensory units called neuromasts are distributed over their body, and provide fish with flow-related information. In this study, a three-dimensional fish-shaped head, instrumented with pressure sensors, was used to investigate the pressure signals for relevant hydrodynamic stimuli to an artificial lateral line system. Unsteady wakes were sensed with the objective to detect the edges of the hydrodynamic trail and then explore and characterize the periodicity of the vorticity. The investigated wakes (Kármán vortex streets) were formed behind a range of cylinder diameter sizes (2.5, 4.5 and 10 cm) and flow velocities (9.9, 19.6 and 26.1 cm s 21 ). Results highlight that moving in the flow is advantageous to characterize the flow environment when compared with static analysis. The pressure difference from foremost to side sensors in the frontal plane provides us a useful measure of transition from steady to unsteady flow. The vortex shedding frequency (VSF) and its magnitude can be used to differentiate the source size and flow speed. Moreover, the distribution of the sensing array vertically as well as the laterally allows the Kármán vortex paired vortices to be detected in the pressure signal as twice the VSF.

In recent years, there has been a growing interest in designing multi-robot systems (hereafter MRSs) to provide cost effective, fault-tolerant and reliable solutions to a variety of automated applications. Here, we review recent advancements in MRSs specifically designed for cooperative object transport, which requires the members of MRSs to coordinate their actions to transport objects from a starting position to a final destination. To achieve cooperative object transport, a wide range of transport, coordination and control strategies have been proposed. Our goal is to provide a comprehensive summary for this relatively heterogeneous and fast-growing body of scientific literature. While distilling the information, we purposefully avoid using hierarchical dichotomies, which have been traditionally used in the field of MRSs. Instead, we employ a coarse-grain approach by classifying each study based on the transport strategy used; pushing-only, grasping and caging. We identify key design constraints that may be shared among these studies despite considerable differences in their design methods. In the end, we discuss several open challenges and possible directions for future work to improve the performance of the current MRSs. Overall, we hope to increasethe visibility and accessibility of the excellent studies in the field and provide a framework that helps the reader to navigate through them more effectively.

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Levi R, Akanyeti O, Ballo A, Liao JC. Frequency response properties of primary afferent neurons in the posterior lateral line system of larval zebrafish. J Neurophysiol 113: 657-668, 2015. First published October 29, 2014 doi:10.1152/jn.00414.2014.-The ability of fishes to detect water flow with the neuromasts of their lateral line system depends on the physiology of afferent neurons as well as the hydrodynamic environment. Using larval zebrafish (Danio rerio), we measured the basic response properties of primary afferent neurons to mechanical deflections of individual superficial neuromasts. We used two types of stimulation protocols. First, we used sine wave stimulation to characterize the response properties of the afferent neurons. The average frequency-response curve was flat across stimulation frequencies between 0 and 100 Hz, matching the filtering properties of a displacement detector. Spike rate increased asymptotically with frequency, and phase locking was maximal between 10 and 60 Hz. Second, we used pulse train stimulation to analyze the maximum spike rate capabilities. We found that afferent neurons could generate up to 80 spikes/s and could follow a pulse train stimulation rate of up to 40 pulses/s in a reliable and precise manner. Both sine wave and pulse stimulation protocols indicate that an afferent neuron can maintain their evoked activity for longer durations at low stimulation frequencies than at high frequencies. We found one type of afferent neuron based on spontaneous activity patterns and discovered a correlation between the level of spontaneous and evoked activity. Overall, our results establish the baseline response properties of lateral line primary afferent neurons in larval zebrafish, which is a crucial step in understanding how vertebrate mechanoreceptive systems sense and subsequently process information from the environment. afferent neuron; lateral line; zebrafish; electrophysiology; frequency response; pulse stimulus