Volumetric quantification of fluid flow reveals fish's use of hydrodynamic stealth to capture evasive prey

In aquatic ecosystems, predation on zooplankton by fish provides a major pathway for the transfer of energy to higher trophic levels. Copepods are an abundant zooplankton group that sense hydromechanical disturbances produced by approaching predators and respond with rapid escapes. Despite this capability, fish capture copepods with high success. Previous studies have focused on the predatory strike to elucidate details of this interaction. However, these raptorial strikes and resulting suction are only effective at short range. Thus, small fish must closely approach highly sensitive prey without triggering an escape in order for a strike to be successful. We use a new method, high-speed, infrared, tomographic particle image velocimetry, to investigate three-dimensional fluid patterns around predator and prey during approaches. Our results show that at least one planktivorous fish (Danio rerio) can control the bow wave in front of the head during the approach and consumption of prey (copepod). This alters hydrodynamic profiles at the location of the copepod such that it is below the threshold required to elicit an escape response. We find this behaviour to be mediated by the generation of suction within the buccopharyngeal cavity, where the velocity into the mouth roughly matches the forward speed of the fish. These results provide insight into how animals modulate aspects of fluid motion around their bodies to overcome escape responses and enhance prey capture.     

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.     

Experimental and numerical modeling of particle levitation and movement behavior on traveling-wave electric curtain for particle removal

Traveling-wave electric curtain (EC) has been developed for potential application in particle removal/shield on solar panels and other surfaces. Levitation and transport of a particle in a traveling-wave electric field were simulated. Results show that levitation directions/angles and levitation trajectories differ because of the difference in starting positions and starting times. The particles in the two positive acceleration regions are levitated in opposite directions, and the particles distributed on the dielectric surface are levitated and transported successively rather than simultaneously. Movement trajectories are complex and affected by various factors. In the current paper, movement trajectories are modeled to analyze which motion modes are advantageous or disadvantageous to particle removal. This process is beneficial to elucidate the mechanism of particle removal and provide a guidance for movement control by designing appropriate operating parameters.     

Jaw protrusion enhances forces exerted on prey by suction feeding fishes

The ability to protrude the jaws during prey capture is a hallmark of teleost fishes, widely recognized as one of the most significant innovations in their diverse and mechanically complex skull. An elaborated jaw protrusion mechanism has independently evolved multiple times in bony fishes, and is a conspicuous feature in several of their most spectacular radiations, ultimately being found in about half of the approximately 30 000 living species. Variation in jaw protrusion distance and speed is thought to have facilitated the remarkable trophic diversity found across fish groups, although the mechanical consequences of jaw protrusion for aquatic feeding performance remain unclear. Using a hydrodynamic approach, we show that rapid protrusion of the jaws towards the prey, coupled with the spatial pattern of the flow in front of the mouth, accelerates the water around the prey. Jaw protrusion provides an independent source of acceleration from that induced by the unsteady flow at the mouth aperture, increasing by up to 35% the total force exerted on attached, escaping and free-floating passive prey. Despite initiating the strike further away, fishes can increase peak force on their prey by protruding their jaws towards it, compared with a ‘non-protruding’ state, where the distance to prey remains constant throughout the strike. The force requirements for capturing aquatic prey might have served as a selective factor for the evolution of jaw protrusion in modern fishes.     

Modelled three-dimensional suction accuracy predicts prey capture success in three species of centrarchid fishes

Prey capture is critical for survival, and differences in correctly positioning and timing a strike (accuracy) are likely related to variation in capture success. However, an ability to quantify accuracy under natural conditions, particularly for fishes, is lacking. We developed a predictive model of suction hydrodynamics and applied it to natural behaviours using three-dimensional kinematics of three centrarchid fishes capturing evasive and non-evasive prey. A spheroid ingested volume of water (IVW) with dimensions predicted by peak gape and ram speed was verified with known hydrodynamics for two species. Differences in capture success occurred primarily with evasive prey (64–96% success). Micropterus salmoides had the greatest ram and gape when capturing evasive prey, resulting in the largest and most elongate IVW. Accuracy predicted capture success, although other factors may also be important. The lower accuracy previously observed in M. salmoides was not replicated, but this is likely due to more natural conditions in our study. Additionally, we discuss the role of modulation and integrated behaviours in shaping the IVW and determining accuracy. With our model, accuracy is a more accessible performance measure for suction-feeding fishes, which can be used to explore macroevolutionary patterns of prey capture evolution.     

Hydrodynamics of prey capture in sharks: effects of substrate

In suction feeding, a volume of water is drawn into the mouth of a predator. Previous studies of suction feeding in fishes have shown that significant fluid velocities are confined to a region within one mouth width from the mouth. Therefore, the predator must be relatively close to the prey to ensure capture success. Here, theoretical modelling is combined with empirical data to unravel the mechanism behind feeding on a substrate. First, we approached the problem theoretically by combining the stream functions of two sinks. Computational fluid dynamics modelling is then applied to make quantitative predictions regarding the effects of substrate proximity on the feeding hydrodynamics of a benthic shark. An oblique circular cylinder and a shark head model were used. To test the models, we used digital particle image velocimetry to record fluid flow around the mouth of white-spotted bamboo sharks, Chiloscyllium plagiosum, during suction feeding on the substrate and in the water column. Empirical results confirmed the modelling predictions: the length of the flow field can be doubled due to passive substrate effects during prey capture. Feeding near a substrate extends the distance over which suction is effective and a predator strike can be effective further from the prey.     

Rapid pivot feeding in pipefish: flow effects on prey and evaluation of simple dynamic modelling via computational fluid dynamics

Most theoretical models of unsteady aquatic movement in organisms assume that including steady-state drag force and added mass approximates the hydrodynamic force exerted on an organism''s body. However, animals often perform explosively quick movements where high accelerations are realized in a few milliseconds and are followed closely by rapid decelerations. For such highly unsteady movements, the accuracy of this modelling approach may be limited. This type of movement can be found during pivot feeding in pipefish that abruptly rotate their head and snout towards prey. We used computational fluid dynamics (CFD) to validate a simple analytical model of cranial rotation in pipefish. CFD simulations also allowed us to assess prey displacement by head rotation. CFD showed that the analytical model accurately calculates the forces exerted on the pipefish. Although the initial phase of acceleration changes the flow patterns during the subsequent deceleration phase, the accuracy of the analytical model was not reduced during this deceleration phase. Our analysis also showed that prey are left approximately stationary despite the quickly approaching pipefish snout. This suggests that pivot-feeding fish need little or no suction to compensate for the effects of the flow induced by cranial rotation.     

The smaller your mouth, the longer your snout: predicting the snout length of Syngnathus acus, Centriscus scutatus and other pipette feeders

Like most ray-finned fishes (Actinopterygii), pipefishes (Syngnathoidei) feed by suction. Most pipefishes reach their prey by a rapid dorso-rotation of the head. In the present study, we analysed the feeding kinematics of the razor fish, Centriscus scutatus, and of the greater pipefish, Syngnathus acus in detail. We found capture times of as little as 4-6ms for C. scutatus and 6-8ms for S. acus. We then hypothesized that the long snout of pipefishes is optimal for such fast feeding. To test this, we implemented in a mathematical model the following considerations. To reach the prey as fast as possible, a low moment of inertia increases the head's angular speed, whereas a long snout decreases the angle over which the head must be turned. The model accurately predicted the snout lengths of a number of pipefishes. We found that the optimal snout length, with which a prey will be reached fastest, is inversely related to its cross-section. In spite of the small cross-section, the development of a long snout can be an evolutionary advantage because this reduces the time to approach the prey.     

Anterior-to-posterior wave of buccal expansion in suction feeding fishes is critical for optimizing fluid flow velocity profile

In fishes that employ suction feeding, coordinating the timing of peak flow velocity with mouth opening is likely to be an important feature of prey capture success because this will allow the highest forces to be exerted on prey items when the jaws are fully extended and the flow field is at its largest. Although it has long been known that kinematics of buccal expansion in feeding fishes are characterized by an anterior-to-posterior wave of expansion, this pattern has not been incorporated in most previous computational models of suction feeding. As a consequence, these models have failed to correctly predict the timing of peak flow velocity, which according to the currently available empirical data should occur around the time of peak gape. In this study, we use a simple fluid dynamic model to demonstrate that the inclusion of an anterior-to-posterior wave of buccal expansion can correctly reproduce the empirically determined flow velocity profile, although only under very constrained conditions, whereas models that do not allow this wave of expansion inevitably predict peak velocity earlier in the strike, when the gape is less than half of its maximum. The conditions that are required to produce a realistic velocity profile are as follows: (i) a relatively long time lag between mouth opening and expansion of the more posterior parts of the mouth, (ii) a short anterior portion of the mouth relative to more posterior sections, and (iii) a pattern of movement that begins slowly and then rapidly accelerates. Greater maximum velocities were generated in simulations without the anterior-to-posterior wave of expansion, suggesting a trade-off between maximizing fluid speed and coordination of peak fluid speed with peak gape.     

Computing process capability indices for non‐normal data: a review and comparative study

When the distribution of a process characteristic is non‐normal, C_p and C_pk calculated using conventional methods often lead to erroneous interpretation of the process's capability. Though various methods have been proposed for computing surrogate process capability indices (PCIs) under non‐normality, there is a lack of literature that covers a comprehensive evaluation and comparison of these methods. In particular, under mild and severe departures from normality, do these surrogate PCIs adequately capture process capability, and which is the best method(s) in reflecting the true capability under each of these circumstances? In this paper we review seven methods that are chosen for performance comparison in their ability to handle non‐normality in PCIs. For illustration purposes the comparison is done through simulating Weibull and lognormal data, and the results are presented using box plots. Simulation results show that the performance of a method is dependent on its capability to capture the tail behaviour of the underlying distributions. Finally we give a practitioner's guide that suggests applicable methods for each defined range of skewness and kurtosis under mild and severe departures from normality. Copyright © 1999 John Wiley & Sons, Ltd.     

Advanced methods in computer-based movement analysis in education and clinical practice

The purpose of this article is to describe the rationale, development and implementation of two initiatives in which advanced methods in computer-based movement analysis have been the focus of clinical and educational activities. The advanced clinical movement analysis techniques were developed to support the broad demands of the rehabilitation medicine community as identified by an extensive gait analysis in rehabilitation medicine workshop report. These demands include flexible three-dimensional and six degree-of-freedom motion capture and biomechanical modeling capabilities, generalized data analysis techniques, a universal data file format that supports electronic data sharing, and a visualization and report environment storage scheme that facilitates the electronic retrieval and electronic sharing of extensive reports and model visualizations. Finally, this article illustrates how these advanced techniques were effectively merged with extensive theoretical concepts and practical examples to form a unique and highly effective educational offering on advanced methods in clinical movement analysis.     

The benefits of planar circular mouths on suction feeding performance

Suction feeding is the most common form of prey capture across aquatic feeding vertebrates and many adaptations that enhance efficiency and performance are expected. Many suction feeders have mechanisms that allow the mouth to form a planar and near-circular opening that is believed to have beneficial hydrodynamic effects. We explore the effects of the flattened and circular mouth opening through computational fluid dynamics simulations that allow comparisons with other mouth profiles. Compared to mouths with lateral notches, we find that the planar mouth opening results in higher flow rates into the mouth and a region of highest flow that is positioned at the centre of the mouth aperture. Planar mouths provide not only for better total fluid flow rates through the mouth but also through the centre of the mouth near where suction feeders position their prey. Circular mouths are shown to provide the quickest capture times for spherical and elliptical prey because they expose the prey item to a large region of high flow. Planar and circular mouths result in higher flow velocities with peak flow located at the centre of the mouth opening and they maximize the capacity of the suction feeders to exert hydrodynamic forces on the prey.     

Spider orb webs rely on radial threads to absorb prey kinetic energy

The kinetic energy of flying insect prey is a formidable challenge for orb-weaving spiders. These spiders construct two-dimensional, round webs from a combination of stiff, strong radial silk and highly elastic, glue-coated capture spirals. Orb webs must first stop the flight of insect prey and then retain those insects long enough to be subdued by the spiders. Consequently, spider silks rank among the toughest known biomaterials. The large number of silk threads composing a web suggests that aerodynamic dissipation may also play an important role in stopping prey. Here, we quantify energy dissipation in orb webs spun by diverse species of spiders using data derived from high-speed videos of web deformation under prey impact. By integrating video data with material testing of silks, we compare the relative contributions of radial silk, the capture spiral and aerodynamic dissipation. Radial silk dominated energy absorption in all webs, with the potential to account for approximately 100 per cent of the work of stopping prey in larger webs. The most generous estimates for the roles of capture spirals and aerodynamic dissipation show that they rarely contribute more than 30 per cent and 10 per cent of the total work of stopping prey, respectively, and then only for smaller orb webs. The reliance of spider orb webs upon internal energy absorption by radial threads for prey capture suggests that the material properties of the capture spirals are largely unconstrained by the selective pressures of stopping prey and can instead evolve freely in response to alternative functional constraints such as adhering to prey.     

Nonlinear time-periodic models of the longitudinal flight dynamics of desert locusts Schistocerca gregaria.

Previous studies of insect flight control have been statistical in approach, simply correlating wing kinematics with body kinematics or force production. Kinematics and forces are linked by Newtonian mechanics, so adopting a dynamics-based approach is necessary if we are to place the study of insect flight on its proper physical footing. Here we develop semi-empirical models of the longitudinal flight dynamics of desert locusts Schistocerca gregaria. We use instantaneous force-moment measurements from individual locusts to parametrize the nonlinear rigid body equations of motion. Since the instantaneous forces are approximately periodic, we represent them using Fourier series, which are embedded in the equations of motion to give a nonlinear time-periodic (NLTP) model. This is a proper mathematical generalization of an earlier linear-time invariant (LTI) model of locust flight dynamics, developed using previously published time-averaged versions of the instantaneous force recordings. We perform various numerical simulations, within the fitted range of the model, and across the range of body angles used by free-flying locusts, to explore the likely behaviour of the locusts upon release from the tether. Solutions of the NLTP models are compared with solutions of the nonlinear time-invariant (NLTI) models to which they reduce when the periodic terms are dropped. Both sets of models are unstable and therefore fail to explain locust flight stability fully. Nevertheless, whereas the measured forces include statistically significant harmonic content up to about the eighth harmonic, the simulated flight trajectories display no harmonic content above the fundamental forcing frequency. Hence, manoeuvre control in locusts will not directly reflect subtle changes in the higher harmonics of the wing beat, but must operate on a coarser time-scale. A state-space analysis of the NLTP models reveals orbital trajectories that are impossible to capture in the LTI and NLTI models, and inspires the hypothesis that asymptotic orbital stability is the proper definition of stability in flapping flight. Manoeuvre control on the scale of more than one wing beat would then consist in exciting transients from one asymptotically stable orbit to another. We summarize these hypotheses by proposing a limit-cycle analogy for flapping flight control and suggest experiments for verification of the limit-cycle control analogy hypothesis.     

Use of computational fluid dynamics to study forces exerted on prey by aquatic suction feeders

Suction feeding is the most commonly used mechanism of prey capture among aquatic vertebrates. Most previous models of the fluid flow caused by suction feeders involve making several untested assumptions. In this paper, a Chimera overset grids approach is used to solve the governing equations of fluid dynamics in order to investigate the assumptions that prey do not interact with the flow and that the flow can be modelled as a one-dimensional flow. Results show that, for small prey, both neglecting the prey and considering prey interaction give similar calculated forces exerted on the prey. However, as the prey item increases in size toward the size of the gape, its effect on the flow becomes more pronounced. This in turn affects both the magnitude of the hydrodynamic forces imparted to the prey and the time when maximum force is delivered. Maximum force is delivered most quickly to intermediate sized prey, about one-third of mouth diameter, and most slowly to prey less than 7 per cent or greater than 67 per cent of mouth diameter. This suggests that the effect of prey size on the timing of suction forces may have substantial consequences for the feeding ecology of suction feeders that are known to prefer prey between 25 and 50 per cent of mouth diameter. Moreover, for a 15 cm fish with a 15 mm gape, assuming a radial one-dimensional flow field can result in underestimating the maximum force exerted on a 5 mm diameter spherical prey 1 gape distance from the mouth by up to 28.7 per cent.     

Measurement and prediction of air movement through doorways in refrigerated rooms

Reducing the amount of air infiltration through the doorways of food storage rooms would improve temperature control and the overall economics of food storage. In the UK a joint government/industry supported LINK project has been set up to look at methods of reducing air infiltration. The project is combining direct experimental measurement with computational fluid dynamics (CFD) modelling. A CFD model of air movement through a doorway has been developed and verified against conventional and laser Doppler anemometry (LDA) measurements. The CFD model has been shown to be generally accurate, however, there are areas where the accuracy is less than perfect. For example the CFD model predicted the shape of the vertical profile accurately, although it under-predicted the maximum velocity by 0.1 m s⁻¹ and it predicted the height at which the airflow changed direction to be 40 mm lower than was measured by the LDA.     

磁悬浮运动中电磁铁磁滞特性的非线性影响研究

超精密磁悬浮运动控制中,电磁铁铁心及衔铁导轨中存在的磁滞特性是导致电磁力难以实现精确控制的重要原因之一.研究磁滞特性对电磁力的非线性影响规律并建立其非线性模型具有重要意义.通过研究磁悬浮精密运动中电磁铁磁滞特性对气隙处磁感应强度的影响,分析了带气隙磁路磁滞特性建模原理,建立了包含Jiles Atherton模型的电磁铁磁浮力非线性模型,并采用粒子群优化算法对该模型参数进行实验验证.结果表明,磁悬浮精密运动中电磁铁磁滞特性不容忽视,采用经参数辨识得到的新模型比采用传统模型计算得到的气隙磁感应强度值更精确、更接近实测值.研究结果为提高磁悬浮精密运动中电磁力的精确控制提供了重要参考价值.     

Mixed forward and inverse solutions in movement biomechanics

There are many more muscles crossing any given joint than there are degrees of freedom prescribing joint movement. One consequence of this arrangement is that muscle forces cannot be determined uniquely. This is the indeterminate problem in biomechanics, and virtually all attempts to solve it are based on either the inverse- or the forward-dynamics method in mechanics. The inverse method uses measurements of body motions and external forces to determine the net muscle torques acting about each joint. The forward approach uses net muscle torques (or muscle forces) as inputs to the model equations to calculate the corresponding body motions. Although both methods have their strong points, there are instances when neither is suitable if applied alone. One possibility is to combine the two methods, thereby exploiting the advantages of each. An example is given in which forward dynamics is used to calculate muscle forces in normal walking, and knee-ligament forces are then found by applying the inverse approach.     

A Traceable Capability-based Access Control for IoT

Delegation mechanism in Internet of Things (IoT) allows users to share some of their permissions with others. Cloud-based delegation solutions require that only the user who has registered in the cloud can be delegated permissions. It is not convenient when a permission is delegated to a large number of temporarily users. Therefore, some works like CapBAC delegate permissions locally in an offline way. However, this is difficult to revoke and modify the offline delegated permissions. In this work, we propose a traceable capability-based access control approach (TCAC) that can revoke and modify permissions by tracking the trajectories of permissions delegation. We define a time capability tree (TCT) that can automatically extract permissions trajectories, and we also design a new capability token to improve the permission verification, revocation and modification efficiency. The experiment results show that TCAC has less token verification and revocation/modification time than those of CapBAC and xDBAuth. TCAC can discover 73.3% unvisited users in the case of delegating and accessing randomly. This provides more information about the permissions delegation relationships, and opens up new possibilities to guarantee the global security in IoT delegation system. To the best of our knowledge, TCAC is the first work to capture the unvisited permissions.     

流体中物体运动的PID控制方法的改进

针对不可压缩流体中物体运动的特点,采用计算流体力学理论和重叠网格技术,改进了物体所受流体阻力的计算方法,利用物体周围流场的数值解,计算流体对物体运动的反作用力,在此基础上提出了借助数值解设计物体的运动控制系统的方法。该方法充分利用神经网络对非线性函数的逼近能力,通过在线学习调节PID控制器参数,实现了对物体运动的控制。对该方法进行了数值试验,试验结果验证了该方法的可行性和有效性。