Hostname: page-component-76fb5796d-wq484 Total loading time: 0 Render date: 2024-04-29T01:33:55.839Z Has data issue: false hasContentIssue false

Effects of antagonistic muscle actuation on the bilaminar structure of ray-finned fish in propulsion

Published online by Cambridge University Press:  16 November 2023

Dariush Bodaghi
Affiliation:
Department of Mechanical Engineering, University of Maine, Orono, ME 04473, USA
Jian-Xun Wang
Affiliation:
Department of Aerospace and Mechanical Engineering, University of Notre Dame, Notre Dame, IN 46556, USA
Qian Xue*
Affiliation:
Department of Mechanical Engineering, University of Maine, Orono, ME 04473, USA Department of Mechanical Engineering, Rochester Institute of Technology, Rochester, NY 14623, USA
Xudong Zheng*
Affiliation:
Department of Mechanical Engineering, University of Maine, Orono, ME 04473, USA Department of Mechanical Engineering, Rochester Institute of Technology, Rochester, NY 14623, USA
*
Email addresses for correspondence: xxzeme@rit.edu, qxxeme@rit.edu
Email addresses for correspondence: xxzeme@rit.edu, qxxeme@rit.edu

Abstract

In this study, the effects of antagonistic muscle actuation on the propulsion of a bilaminar-structure fish fin ray were investigated using a two-dimensional computational flow–structure interaction (FSI) model. The structure and material properties of the model were based on the realistic biological data of the sunfish fin. The effect of muscle actuation was modelled using root displacement offset between the two hemitrichs. Parametric FSI simulations were conducted by assuming a sinusoidal function of the offset over a cycle and varying the amplitude and phase difference between the actuations and pitching/plunging motions. The results show that the phase of muscle actuation is a critical factor affecting its effects. Three performance regions can be identified with different phase ranges, including a thrust-favour region, an efficiency-favour region and a thrust-efficiency-unfavour region. In each region, the relationships among the root actuations, fin-ray kinematics, vortex dynamics and resulting performance are studied and discussed. Furthermore, a strong positive correlation between the trailing–leading amplitude ratio and thrust coefficient as well as a negative relationship between the efficiency and angle of attack at the centre of mass of the fin ray are observed.

Type
JFM Papers
Copyright
© The Author(s), 2023. Published by Cambridge University Press

Access options

Get access to the full version of this content by using one of the access options below. (Log in options will check for institutional or personal access. Content may require purchase if you do not have access.)

References

Alben, S., Madden, P.G. & Lauder, G.V. 2007 The mechanics of active fin-shape control in ray-finned fishes. J. R. Soc. Interface 4 (13), 243256.CrossRefGoogle ScholarPubMed
Andersen, A., Bohr, T., Schnipper, T. & Walther, J.H. 2017 Wake structure and thrust generation of a flapping foil in two-dimensional flow. J. Fluid Mech. 812, R4.CrossRefGoogle Scholar
Anderson, J.M., Streitlien, K., Barrett, D.S. & Triantafyllou, M.S. 1998 Oscillating foils of high propulsive efficiency. J. Fluid Mech. 360, 4172.CrossRefGoogle Scholar
Bainbridge, R. 1958 The speed of swimming of fish as related to size and to the frequency and amplitude of the tail beat. J. Exp. Biol. 35 (1), 109133.CrossRefGoogle Scholar
Behbahani, S.B. & Tan, X. 2017 Design and dynamic modeling of electrorheological fluid-based variable-stiffness fin for robotic fish. Smart Mater. Struct. 26 (8), 085014.CrossRefGoogle Scholar
Blight, A.R. 1977 The muscular control of vertebrate swimming movements. Biol. Rev. 52 (2), 181218.CrossRefGoogle Scholar
Bodaghi, D., Jiang, W., Xue, Q. & Zheng, X. 2021 a Effect of supraglottal acoustics on fluid–structure interaction during human voice production. J. Biomech. Eng. 143 (4), 041010.CrossRefGoogle ScholarPubMed
Bodaghi, D., Xue, Q., Zheng, X. & Thomson, S. 2021 b Effect of subglottic stenosis on vocal fold vibration and voice production using fluid–structure–acoustics interaction simulation. Appl. Sci. 11 (3), 1221.CrossRefGoogle Scholar
Bone, Q. & Moore, R. 2008 Biology of Fishes. Taylor & Francis.CrossRefGoogle Scholar
Buren, T.V., Floryan, D. & Smits, A.J. 2019 Scaling and performance of simultaneously heaving and pitching foilds. AIAA J. 57 (9), 36663677.CrossRefGoogle Scholar
Chen, B. & Jiang, H. 2021 Body stiffness variation of a tensegrity robotic fish using antagonistic stiffness in a kinematically singular configuration. IEEE Trans. Robot. 37 (5), 17121727.CrossRefGoogle Scholar
Demirer, E., Oshinowo, O.A. & Alexeev, A. 2021 Efficient aquatic locomotion using elastic propulsors with hybrid actuation. J. Fluid Mech. 922, A21.CrossRefGoogle Scholar
Demirer, E., Oshinowo, O.A., Erturk, A. & Alexeev, A. 2022 Hydrodynamic performance of oscillating elastic propulsors with tapered thickness. J. Fluid Mech. 944, A19.CrossRefGoogle Scholar
Flammang, B.E. & Lauder, G.V. 2008 Speed-dependent intrinsic caudal fin muscle recruitment during steady swimming in bluegill sunfish, Lepomis macrochirus. J. Exp. Biol. 211 (4), 587598.CrossRefGoogle ScholarPubMed
Flammang, B.E. & Lauder, G.V. 2009 Caudal fin shape modulation and control during acceleration, braking and backing maneuvers in bluegill sunfish, Lepomis macrochirus. J. Exp. Biol. 212 (2), 277286.CrossRefGoogle ScholarPubMed
Floryan, D. & Rowley, C.W. 2018 Clarifying the relationship between efficiency and resonance for flexible inertial swimmers. J. Fluid Mech. 853, 271300.CrossRefGoogle Scholar
Geng, B., Xue, Q., Zheng, X., Liu, G., Ren, Y. & Dong, H. 2017 The effect of wing flexibility on sound generation of flapping wings. Bioinspir. Biomim. 13 (1), 016010.CrossRefGoogle ScholarPubMed
Hoover, A.P., Cortez, R., Tytell, E.D. & Fauci, L.J. 2018 Swimming performance, resonance and shape evolution in heaving flexible panels. J. Fluid Mech. 847, 386416.CrossRefGoogle Scholar
Hu, H., Wang, J., Wang, Y. & Dong, H. 2021 Effects of tunable stiffness on the hydrodynamics and flow features of a passive pitching panel. J. Fluids Struct. 100, 103175.CrossRefGoogle Scholar
Huh, T.M., Park, Y.J. & Cho, K.J. 2012 Design and analysis of a stiffness adjustable structure using an endoskeleton. Intl J. Precis. Engng Manuf. 13, 12551258.CrossRefGoogle Scholar
Jusufi, A., Vogt, D.M., Wood, R.J. & Lauder, G.V. 2017 Undulatory swimming performance and body stiffness modulation in a soft robotic fish-inspired physical model. Soft Robot. 4 (3), 202210.CrossRefGoogle Scholar
Kancharala, A.K. & Philen, M.K. 2013 Active stiffness modulation of fins using macro fiber composites. In Sensors and Smart Structures Technologies for Civil, Mechanical, and Aerospace Systems 2013 (ed. J.P. Lynch, C.-B. Yun & K.-W. Wang), vol. 8692, pp. 291299. SPIE.CrossRefGoogle Scholar
Lauder, G.V., Madden, P.G., Mittal, R., Dong, H. & Bozkurttas, M. 2006 Locomotion with flexible propulsors: I. Experimental analysis of pectoral fin swimming in sunfish. Bioinspir. Biomim. 1 (4), S25.CrossRefGoogle ScholarPubMed
Li, K., Jiang, H., Wang, S. & Yu, J. 2018 A soft robotic fish with variable-stiffness decoupled mechanisms. J. Bionic Engng 15, 599609.CrossRefGoogle Scholar
Liu, G., Geng, B., Zheng, X., Xue, Q., Dong, H. & Lauder, G.V. 2019 An image-guided computational approach to inversely determine in vivo material properties and model flow-structure interactions of fish fins. J. Comput. Phys. 392, 578593.CrossRefGoogle Scholar
Liu, G., Jiang, W., Zheng, X. & Xue, Q. 2021 Flow-signal correlation in seal whisker array sensing. Bioinspir. Biomim. 17 (1), 016004.CrossRefGoogle ScholarPubMed
Luo, Y. & Qi, D. 2021 A simulation method for muscle-driven swimming and its applications. Phys. Fluids 33 (6), 061904.CrossRefGoogle Scholar
Mittal, R., Dong, H., Bozkurttas, M., Najjar, F.M., Vargas, A. & Von Loebbecke, A. 2008 A versatile sharp interface immersed boundary method for incompressible flows with complex boundaries. J. Comput. Phys. 227 (10), 48254852.CrossRefGoogle ScholarPubMed
Nakabayashi, M., Kobayashi, R., Kobayashi, S. & Morikawa, H. 2009 Bioinspired propulsion mechanism using a fin with a dynamic variable-effective-length spring-evaluation of thrust characteristics and flow around a fin in a uniform flow. J. Biomech. Sci. Engng 4 (1), 8293.CrossRefGoogle Scholar
Peng, Z.R., Sun, Y., Yang, D., Xiong, Y., Wang, L. & Wang, L. 2022 Scaling laws for drag-to-thrust transition and propulsive performance in pitching flexible plates. J. Fluid Mech. 941, R2.CrossRefGoogle Scholar
Quinn, D. & Lauder, G. 2021 Tunable stiffness in fish robotics: mechanisms and advantages. Bioinspir. Biomim. 17 (1), 011002.CrossRefGoogle ScholarPubMed
Quinn, D.B., Lauder, G.V. & Smits, A.J. 2014 Scaling the propulsive performance of heaving flexible panels. J. Fluid Mech. 738, 250267.CrossRefGoogle Scholar
Ramananarivo, S., Godoy-Diana, R. & Thiria, B. 2011 Rather than resonance, flapping wing flyers may play on aerodynamics to improve performance. Proc. Natl Acad. Sci. 108 (15), 59645969.CrossRefGoogle ScholarPubMed
Shi, G., Xiao, Q. & Zhu, Q. 2020 a Numerical investigation of an actively and passively controlled skeleton-reinforced caudal fin. AIAA J. 58 (11), 46444658.CrossRefGoogle Scholar
Shi, G., Xiao, Q. & Zhu, Q. 2020 b Effects of time-varying flexibility on the propulsion performance of a flapping foil. Phys. Fluids 32 (12), 121904.CrossRefGoogle Scholar
Shoele, K. & Zhu, Q. 2012 Leading edge strengthening and the propulsion performance of flexible ray fins. J. Fluid Mech. 693, 402432.CrossRefGoogle Scholar
Shoele, K. & Zhu, Q. 2013 Performance of a wing with nonuniform flexibility in hovering flight. Phys. Fluids 25 (4), 041901.CrossRefGoogle Scholar
Tangorra, J., Anquetil, P., Fofonoff, T., Chen, A., Del Zio, M. & Hunter, I. 2007 The application of conducting polymers to a biorobotic fin propulsor. Bioinspir. Biomim. 2 (2), S6.CrossRefGoogle ScholarPubMed
Williamson, C.H. & Roshko, A. 1988 Vortex formation in the wake of an oscillating cylinder. J. Fluids Struct. 2 (4), 355381.CrossRefGoogle Scholar
Yeh, P.D. & Alexeev, A. 2014 Free swimming of an elastic plate plunging at low Reynolds number. Phys. Fluids 26 (5), 053604.CrossRefGoogle Scholar
Yin, B. & Luo, H. 2010 Effect of wing inertia on hovering performance of flexible flapping wings. Phys. Fluids 22 (11), 111902.CrossRefGoogle Scholar
Zhang, F., Lagor, F.D., Yeo, D., Washington, P. & Paley, D.A. 2015 Distributed flow sensing for closed-loop speed control of a flexible fish robot. Bioinspir. Biomim. 10 (6), 065001.CrossRefGoogle ScholarPubMed
Zhong, Q., Zhu, J., Fish, F.E., Kerr, S.J., Downs, A.M., Bart-Smith, H. & Quinn, D.B. 2021 Tunable stiffness enables fast and efficient swimming in fish-like robots. Sci. Robot. 6 (57), eabe4088.CrossRefGoogle ScholarPubMed
Zhu, Q. & Shoele, K. 2008 Propulsion performance of a skeleton-strengthened fin. J. Exp. Biol. 211 (13), 20872100.CrossRefGoogle ScholarPubMed
Zhu, R., Wang, J., Dong, H., Quinn, D., Bart-Smith, H., Di Santo, V., Wainwright, D. & Lauder, G. 2019 Computational study of fish-shaped panel with simultaneously heaving and bending motion. In AIAA Scitech 2019 Forum, San Diego, CA, AIAA 2019-1655. AIAA.CrossRefGoogle Scholar
Zhu, X., He, G. & Zhang, X. 2014 How flexibility affects the wake symmetry properties of a self-propelled plunging foil. J. Fluid Mech. 751, 164183.CrossRefGoogle Scholar
Ziegler, M., Hoffmann, M., Carbajal, J.P. and Pfeifer, R. 2011 Varying body stiffness for aquatic locomotion. In 2011 IEEE International Conference on Robotics and Automation, pp. 2705–2712. IEEE.CrossRefGoogle Scholar