Mechanics of peristaltic locomotion and role of anchoring

Limbless crawling is a fundamental form of biological locomotion adopted by a wide variety of species, including the amoeba, earthworm and snake. An interesting question from a biomechanics perspective is how limbless crawlers control their flexible bodies in order to realize directional migration. In this paper, we discuss the simple but instructive problem of peristalsis-like locomotion driven by elongation–contraction waves that propagate along the body axis, a process frequently observed in slender species such as the earthworm. We show that the basic equation describing this type of locomotion is a linear, one-dimensional diffusion equation with a time–space-dependent diffusion coefficient and a source term, both of which express the biological action that drives the locomotion. A perturbation analysis of the equation reveals that adequate control of friction with the substrate on which locomotion occurs is indispensable in order to translate the internal motion (propagation of the elongation–contraction wave) into directional migration. Both the locomotion speed and its direction (relative to the wave propagation) can be changed by the control of friction. The biological relevance of this mechanism is discussed.     

Hydrodynamic constraints on prey-capture performance in forward-striking snakes

Some specialized aquatic snakes such as Natrix tessellata strike at fish by rapidly accelerating their head towards the prey with their mouth opened widely. This strategy is believed to be suboptimal as relatively high drag forces act on the open jaws and, therefore, probably limit strike speed. Moreover, the bow wave in front of the snake''s jaws could push prey away from the mouth, thus potentially explaining the relatively low capture success observed in these animals (<20%). Here, we used laser-scan based computational fluid dynamics to test these potential constraints on prey-capture performance for N. tessellata. Our simulations showed that drag force indeed increases drastically for striking at a high gape angle. However, we estimated the overall cost in slowing down strike speed to be less pronounced due to the instationary dynamics of the system. In contrast to the expectations, forward displacement of prey was relatively limited (<13% of head length), and forceful collisions between prey and the leading edge of the jaw regularly occurred. However, our models showed that precise aiming by the snake was needed to reduce the chance of deviating the prey to a path bypassing the mouth. Our study also indicated several hydrodynamic advantages for snakes to strike at relatively large prey.     

Evidence of a molecular boundary lubricant at snakeskin surfaces

During slithering locomotion the ventral scales at a snake''s belly are in direct mechanical interaction with the environment, while the dorsal scales provide optical camouflage and thermoregulation. Recent work has demonstrated that compared to dorsal scales, ventral scales provide improved lubrication and wear protection. While biomechanic adaption of snake motion is of growing interest in the fields of material science and robotics, the mechanism for how ventral scales influence the friction between the snake and substrate, at the molecular level, is unknown. In this study, we characterize the outermost surface of snake scales using sum frequency generation (SFG) spectra and near-edge X-ray absorption fine structure (NEXAFS) images collected from recently shed California kingsnake (Lampropeltis californiae) epidermis. SFG''s nonlinear optical selection rules provide information about the outermost surface of materials; NEXAFS takes advantage of the shallow escape depth of the electrons to probe the molecular structure of surfaces. Our analysis of the data revealed the existence of a previously unknown lipid coating on both the ventral and dorsal scales. Additionally, the molecular structure of this lipid coating closely aligns to the biological function: lipids on ventral scales form a highly ordered layer which provides both lubrication and wear protection at the snake''s ventral surface.     

The role of passive avian head stabilization in flapping flight

Birds improve vision by stabilizing head position relative to their surroundings, while their body is forced up and down during flapping flight. Stabilization is facilitated by compensatory motion of the sophisticated avian head–neck system. While relative head motion has been studied in stationary and walking birds, little is known about how birds accomplish head stabilization during flapping flight. To unravel this, we approximate the avian neck with a linear mass–spring–damper system for vertical displacements, analogous to proven head stabilization models for walking humans. We corroborate the model''s dimensionless natural frequency and damping ratios from high-speed video recordings of whooper swans (Cygnus cygnus) flying over a lake. The data show that flap-induced body oscillations can be passively attenuated through the neck. We find that the passive model robustly attenuates large body oscillations, even in response to head mass and gust perturbations. Our proof of principle shows that bird-inspired drones with flapping wings could record better images with a swan-inspired passive camera suspension.     

Net flow of compressible viscous liquids induced by travelling waves in porous media

The influence of ultrasonic radiation on the flow of a liquid through a porous medium is analyzed. The analysis is based on a mechanism proposed by Ganiev et al. according to which ultrasonic radiation deforms the walls of the pores in the shape of travelling transversal waves. Like in peristaltic pumping, the travelling transversal wave induces a net flow of the liquid inside the pore. In this article, the wave amplitude is related to the power output of an acoustic source, while the wave speed is expressed in terms of the shear modulus of the porous medium. The viscosity as well as the compressibility of the liquid are taken into account. The Navier–Stokes equations for an axisymmetric cylindrical pore are solved by means of a perturbation analysis, in which the ratio of the wave amplitude to the radius of the pore is the small parameter. In the second-order approximation a net flow induced by the travelling wave is found. For various values of the compressibility of the liquid, the Reynolds number and the frequency of the wave, the net flow rate is calculated. The calculations disclose that the compressibility of the liquid has a strong influence on the net flow induced. Furthermore, by a comparison with the flow induced by the pressure gradient in an oil reservoir, the net flow induced by a travelling wave can not be neglected, although it is a second-order effect.     

Sliding mode control for a fractional‐order non‐linear glucose‐insulin system

By providing the generalisation of integration and differentiation, and incorporating the memory and hereditary effects, fractional‐order modelling has gotten significant attention in the past few years. One of the extensively studied and utilised models to describe the glucose–insulin system of a human body is Bergman''s minimal model. This non‐linear model comprises of integer‐order differential equations. However, comparison with the experimental data shows that the fractional‐order version of Bergman''s minimal model is a better representative of the glucose–insulin system than its original integer‐order model. To design a control law for an artificial pancreas for a diabetic patient using a fractional‐order model, different techniques, including feedback linearisation, have been applied in the literature. The authors’ previous work shows that the fractional‐order version of Bergman''s model describes the glucose–insulin system in a better way than the integer‐order model. This study applies the sliding mode control technique and then compares the obtained simulation results with the ones obtained using feedback linearisation.Inspec keywords: nonlinear control systems, feedback, variable structure systems, differential equations, medical control systems, diseases, control system synthesis, sugar, nonlinear dynamical systemsOther keywords: fractional‐order nonlinear glucose‐insulin, hereditary effects, fractional‐order modelling, extensively, utilised models, glucose–insulin system, Bergman''s minimal model, nonlinear model, integer‐order differential equations, fractional‐order version, original integer‐order model, fractional‐order model, Bergman''s model, sliding mode control technique     

载荷作用下EPS混凝土中弹性波传播特性研究

应用EPS混凝土来模拟含缺陷的岩石材料。对EPS粒径分别为1、2和3mm的三种EPS混凝土试样进行了载荷作用下不同频率的弹性波传播实验研究。采用单一频率脉冲叠合的方法来精确确定材料的波速,结果表明：EPS混凝土的p波波速随载荷增加在试件的开始压密实阶段有较明显的增大趋势,当试件相对密实,波速增加不是很明显;s波波速随载荷增加有一定程度增加,但幅度比p波波速增加得小得多。应用一种相对波速的方法,即将波速与当前载荷下材料的声波速度进行对比,可以较好地分析波速与载荷和频率的关系。最后对波速与载荷和频率的关系进行了理论模拟分析。此研究对于应用弹性波进行材料和结构的无损检测等技术方面有很好的参考意义。     

Analytical insights into optimality and resonance in fish swimming

This paper provides analytical insights into the hypothesis that fish exploit resonance to reduce the mechanical cost of swimming. A simple body–fluid fish model, representing carangiform locomotion, is developed. Steady swimming at various speeds is analysed using optimal gait theory by minimizing bending moment over tail movements and stiffness, and the results are shown to match with data from observed swimming. Our analysis indicates the following: thrust–drag balance leads to the Strouhal number being predetermined based on the drag coefficient and the ratio of wetted body area to cross-sectional area of accelerated fluid. Muscle tension is reduced when undulation frequency matches resonance frequency, which maximizes the ratio of tail-tip velocity to bending moment. Finally, hydrodynamic resonance determines tail-beat frequency, whereas muscle stiffness is actively adjusted, so that overall body–fluid resonance is exploited.     

Aquatic manoeuvering with counter-propagating waves: a novel locomotive strategy

Many aquatic organisms swim by means of an undulating fin. These undulations often form a single wave travelling from one end of the fin to the other. However, when these aquatic animals are holding station or hovering, there is often a travelling wave from the head to the tail, and another moving from the tail to the head, meeting in the middle of the fin. Our study uses a biomimetic fish robot and computational fluid dynamics on a model of a real fish to uncover the mechanics of these inward counter-propagating waves. In addition, we compare the flow structure and upward force generated by inward counter-propagating waves to standing waves, unidirectional waves, and outward counter-propagating waves (i.e. one wave travelling from the middle of the fin to the head, and another wave travelling from the middle of the fin to the tail). Using digital particle image velocimetry to capture the flow structure around the fish robot, and computational fluid dynamics, we show that inward counter-propagating waves generate a clear mushroom-cloud-like flow structure with an inverted jet. The two streams of fluid set up by the two travelling waves ‘collide’ together (forming the mushroom cap) and collect into a narrow jet away from the cap (the mushroom stem). The reaction force from this jet acts to push the body in the opposite direction to the jet, perpendicular to the direction of movement provided by a single travelling wave. This downward jet provides a substantial increase in the perpendicular force when compared with the other types of fin actuation. Animals can thereby move upward if the fin is along the bottom midline of the body (or downward if on top); or left–right if the fins are along the lateral margins. In addition to illuminating how a large number of undulatory swimmers can use elongated fins to move in unexpected directions, the phenomenon of counter-propagating waves provides novel motion capabilities for systems using robotic undulators, an emerging technology for propelling underwater vehicles.     

Fish and robots swimming together: attraction towards the robot demands biomimetic locomotion

The integration of biomimetic robots in a fish school may enable a better understanding of collective behaviour, offering a new experimental method to test group feedback in response to behavioural modulations of its ‘engineered’ member. Here, we analyse a robotic fish and individual golden shiners (Notemigonus crysoleucas) swimming together in a water tunnel at different flow velocities. We determine the positional preference of fish with respect to the robot, and we study the flow structure using a digital particle image velocimetry system. We find that biomimetic locomotion is a determinant of fish preference as fish are more attracted towards the robot when its tail is beating rather than when it is statically immersed in the water as a ‘dummy’. At specific conditions, the fish hold station behind the robot, which may be due to the hydrodynamic advantage obtained by swimming in the robot''s wake. This work makes a compelling case for the need of biomimetic locomotion in promoting robot–animal interactions and it strengthens the hypothesis that biomimetic robots can be used to study and modulate collective animal behaviour.     

Electronic transport properties of electrically doped cytosine‐based optical molecular switch with single‐wall carbon nanotube electrodes

This study represents an empirical model of cytosine‐based optical molecular switch. This possible biomolecular switch has been designed using the first principle approach which is based on density functional theory and non‐equilibrium Green''s function. The quantum‐ballistic transport property and current–voltage (I–V) characteristics of cytosine‐based optomolecular switch have been investigated at 25 THz operating frequency. The influence of highest occupied molecular orbital–lowest unoccupied molecular orbital (HOMO–LUMO) gaps on the electronic transmission and I–V characteristics has been discussed in detail. The aim of this study is to highlight the minimum conformational change during a single ON–OFF switching cycle. The biomolecule comprises switching behaviour when converts from straightened to twisted form during photo‐excitement. The straightened and twisted forms of the molecule are represented as logic ‘0’ and logic ‘1’, respectively. This p and n regions of this switch has been made using electrical doping process. The current through the twisted form of the cytosine biomolecule is ∼1000 times higher than the straightened form. The maximum switching ratio 62.1 is obtained at 1 V bias. The origin of the switching behaviour of the biomolecule can be interpreted by quantum–ballistic transport model along with HOMO–LUMO gaps.Inspec keywords: ballistic transport, organic compounds, Green''s function methods, ab initio calculations, density functional theory, molecular biophysics, optical switches, single‐wall carbon nanotubes, electrochemical electrodesOther keywords: electrical doping process, cytosine biomolecule, electronic transport properties, single‐wall carbon nanotube electrodes, cytosine‐based optical molecular switch, density functional theory, electronic transmission, HOMO‐LUMO gaps, current–voltage characteristics, biomolecular switching behaviour, quantum–ballistic transport property model, electrically doped cytosine‐based optical molecular switch, first principle approach, nonequilibrium Green''s function, I‐V characteristics, highest occupied molecular orbital–lowest unoccupied molecular orbital gaps, single ON–OFF switching cycle, photoexcitement, frequency 25.0 THz, voltage 1.0 V, C     

A century of transitions in New York City's measles dynamics

Infectious diseases spreading in a human population occasionally exhibit sudden transitions in their qualitative dynamics. Previous work has successfully predicted such transitions in New York City''s historical measles incidence using the seasonally forced susceptible–infectious–recovered (SIR) model. This work relied on a dataset spanning 45 years (1928–1973), which we have extended to 93 years (1891–1984). We identify additional dynamical transitions in the longer dataset and successfully explain them by analysing attractors and transients of the same mechanistic epidemiological model.     

喷射方法对尾流旋涡脱落的抑制

采用数值模拟的方法研究了尾部喷射对波动来流绕圆柱流动旋涡脱落的抑制,进而研究圆柱尾流控制机理.研究流场的无量纲波频范围为0².8,来流波动的无量纲幅值为0.2,雷诺数=200.在圆柱尾部沿圆柱母线开宽度为0.04倍柱体直径的缝隙,从缝隙中射出流体对尾流进行抑制,寻找可有效抑制旋涡脱落的喷射速度范围,进而求出雷诺数=200,无量纲振幅为0.2时有效抑制范围.当喷射速度在一定范围内时,可有效抑制旋涡脱落,并且随着无量纲频率的增大,有效抑制范围逐步减小.     

A discrete spectral analysis for determining quasi-linear viscoelastic properties of biological materials

The viscoelastic behaviour of a biological material is central to its functioning and is an indicator of its health. The Fung quasi-linear viscoelastic (QLV) model, a standard tool for characterizing biological materials, provides excellent fits to most stress–relaxation data by imposing a simple form upon a material''s temporal relaxation spectrum. However, model identification is challenging because the Fung QLV model''s ‘box’-shaped relaxation spectrum, predominant in biomechanics applications, can provide an excellent fit even when it is not a reasonable representation of a material''s relaxation spectrum. Here, we present a robust and simple discrete approach for identifying a material''s temporal relaxation spectrum from stress–relaxation data in an unbiased way. Our ‘discrete QLV’ (DQLV) approach identifies ranges of time constants over which the Fung QLV model''s typical box spectrum provides an accurate representation of a particular material''s temporal relaxation spectrum, and is effective at providing a fit to this model. The DQLV spectrum also reveals when other forms or discrete time constants are more suitable than a box spectrum. After validating the approach against idealized and noisy data, we applied the methods to analyse medial collateral ligament stress–relaxation data and identify the strengths and weaknesses of an optimal Fung QLV fit.     

不同应力波穿过多条非线性变形节理时的透射特性

基于节理非线性位移不连续模型,分析不同弹性纵波正向入射多条节理时的透射规律。利用半解析半数值解法得到透射初至波质点振动速度一维数值差分解,进而研究不同类型、不同振幅的入射纵波穿过多条节理时,初至波质点速度幅值、能量、频谱及时间延迟的变化特性。研究表明,透射能力由大到小的顺序为：矩形波、半正弦波、三角形波。速度透射系数、能量透射系数、透射波中高谐波频域幅值均随入射脉冲幅值增大而增大;延迟时间随入射波振幅的增大而减小,且三角波入射时的时间延迟大于半正弦波。随着节理条数的增加,速度和能量透射系数逐渐降低,且下降速度逐渐减慢;高谐波频域幅值先增大后下降,且下降速度逐渐减慢;时间延迟增大的速度逐渐加快。     

Experiments and theory of undulatory locomotion in a simple structured medium

Undulatory locomotion of micro-organisms through geometrically complex, fluidic environments is ubiquitous in nature and requires the organism to negotiate both hydrodynamic effects and geometrical constraints. To understand locomotion through such media, we experimentally investigate swimming of the nematode Caenorhabditis elegans through fluid-filled arrays of micro-pillars and conduct numerical simulations based on a mechanical model of the worm that incorporates hydrodynamic and contact interactions with the lattice. We show that the nematode''s path, speed and gait are significantly altered by the presence of the obstacles and depend strongly on lattice spacing. These changes and their dependence on lattice spacing are captured, both qualitatively and quantitatively, by our purely mechanical model. Using the model, we demonstrate that purely mechanical interactions between the swimmer and obstacles can produce complex trajectories, gait changes and velocity fluctuations, yielding some of the life-like dynamics exhibited by the real nematode. Our results show that mechanics, rather than biological sensing and behaviour, can explain some of the observed changes in the worm''s locomotory dynamics.     

On the critical angle for ocean waves entering shore fast ice

A theoretical model is derived and presented for sea waves entering shore fast ice at other than normal incidence. The model assumes that the sea ice behaves as a thin elastic plate overlying a deep fluid foundation. Three ice-coupled waves are generated; a propagating wave, and two inhomogeneous plane waves which rapidly decay with penetration. At a certain angle of incidence, the critical angle, these ice-coupled waves coalesce into a wave travelling along the ice edge with an amplitude which varies into the ice cover as the sum of a constant term and an attenuated pattern of corrugations. At angles exceeding the critical angle, the constant term becomes evanescent but the general picture remains the same. A novel break-up mechanism is proposed, based on this modulation of amplitude with distance from the edge, for shore fast ice and ice floes which are large compared to the incident sea's wavelengths.     

Timoshenko梁功率流主动控制研究

为了研究扰动影响下梁式结构的动力学响应与主动控制,首先基于Timoshenko梁理论,采用行波方法建立了悬臂梁结构的动力学模型并获得了其在扰动下的精确动力学响应,进一步得到结构中传播的功率流,并以此为目标函数,优化得到了最优控制力的大小与相位,然后对结构施加最优控制力,实现了Timoshenko梁结构的功率流主动控制。对Timoshenko梁结构动力学响应与功率流主动控制方法进行了数值计算,并与Euler-Bernoulli梁理论计算结果进行了对比分析。结果表明：采用行波方法计算梁结构的动力学响应准确可靠;Timoshenko梁模型较Euler-Bernoulli梁模型在中、高频段更为精确,且更接近工程实际;通过数值计算与分析验证了基于行波方法功率流主动控制的正确性与有效性,并且功率流主动控制可以明显降低梁式结构全频域内的抖动。     

基于行波模型的航天器附件动力吸振分析

将航天器梁式柔性附件的振动作为波动研究，建立附件端点带单自由度动力吸振器的航天器行波动力学模型。根据附件的等效单自由度模型设计吸振器参数，以获得最优的减振效果。结果表明，动力吸振可明显降低附件弹性振动的峰值，改善姿态运动特性，同时，行波模型具有方便局部模型修改的特点。     

The frequency dependent regenerator cold section and hot section positional reversal in a coaxial type thermoacoustic Stirling heat pump

We have constructed and tested two travelling wave thermoacoustic heat pumps using a coaxial configuration with the regenerator positioned in the annulus. We discovered a frequency dependent positional reversal of the cold section and hot section of the regenerator within the test frequency range. By decomposing the measured pressure wave within the annulus, we obtained the positive (w₊) and negative (w₋) propagating travelling waves. It has been revealed the change of frequency is accompanied by a change in magnitudes of w₊ and w₋ which is in part influenced by the presence of travelling wave attenuation through the regenerator. The resulting change of dominant travelling wave on a given end of the regenerator will then change the direction of thermoacoustic heat pumping at that end. This will alter the regenerator temperature distribution and may reverse the cold and hot sections of the regenerator. As the reversal does not require additional moving parts, merely a change in frequency, this feature in coaxial travelling wave devices has tremendous potential for applications which require both heating and cooling operation.