Table Of ContentN. Kato
J.Ayers
H.Morikawa (Eds.)
Bio-mechanisms ofSwimming and Flying
N. Kato, J. Ayers, H. Morikawa
(Eds.)
Bio-mechanisms of
Swi111l11ing and Flying
With 155 Figures, Including 1 in Color
~
Springer
Naomi Kato, Ph.D.
Department of Naval Architecture and Ocean Engineering
Graduate School of Engineering, Osaka University
2-1 Yamadaoka, Suita, Osaka 565-0871, Japan
Joseph Ayers, Ph.D.
Marine Science Center, Northeastem University
East Point, Nahant, MA 01908, U.S.A.
Hirohisa Morikawa, Ph.D.
Department of Functional Machinery and Mechanics
Faculty ofTextile Science and Technology, Shinshu University
3-15-1 Tokida, Ueda, Nagano 386-8567, Japan
ISBN 978-4-431-67963-9 ISBN 978-4-431-53951-3 (eBook)
DOI 10.1007/978-4-431-53951-3
Library ofCongress Control Number: 2004108638
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© Springer Japan 2004
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Preface
Tensofthousandsofdifferentanimal species live onthis planet,havingsurvived
formillions ofyears through adaptationandevolution, which hasgiventhemavast
variety ofstructures and functions. Biomechanical studies ofanimals swimming
and flying can aid understanding ofthe mechanisms that enable them to move
effectively and efficiently influids.Basedon such understandings and analyses,
we can aimtodevelop environmentallyfriendly machinesthat emulate these natu
ral movements.
The Earth Summitin RiodeJaneiro in 1992agreed major treaties onbiological
diversity,addressingthecombinedissues ofenvironmentalprotectionand fairand
equitableeconomicdevelopment. Withregard tocoastal environments, increasing
biologicaldiversityhasbegun toplay animportant role inreestablishingstable and
sustainable ecosystems. This approach has begun to influence research into the
behavior ofaquatic species, as an understanding ofthe history ofan individual
aquatic species isindispensableinconstructinganenvironmentalassessmentmod
elthat includes the physical, chemical,andbiologicaleffects ofthat species.From
an engineeringviewpoint,studying nature'sbiological diversity isan opportunity
toreconsidermechanicalsystems thatwere systematicallyconstructedinthewake
ofthe Industrial Revolution.Wehave been accumulating knowledge ofthe sys
tems inherent inbiological creatures andusing thatknowledgetocreate new,envi
ronmentallyfriendly technologies.
This volume isacollectionofpeer-reviewedpapers thatwere originallysubmit
tedtothe2ndInternationalSymposiumonAquaBio-Mechanisms (ISABMEC2003)
held September 14-17,2003, inHonolulu. ISABMEC 2003 was organizedbyThe
Study Group ofAqua Bio-Mechanisms(ABMEC) inJapan and NortheasternUni
versity's Marine Science Center(NUMSC) intheUnited States.Itwas intended to
provideacommonforum for interdisciplinarydiscussionsbetweenbiologistsand
engineersonnatural autonomoussystems and locomotionmechanisms, particular
ly in swimming and flying animals,ranging from flagellated microorganisms to
marine mammals.
The following five topics are covered in 14papers: I) locomotivemechanisms
ofmicroorganisms and their application in engineeringproblems; 2) locomotive
mechanismsofanimals inflying and their applicationinengineeringproblems;3)
locomotivemechanismsofanimals inswimmingandtheir applicationinengineer
ing problems;4) behaviormodels ofanimals;and 5)gill-breathing.
The bookbegins with locomotivemechanismsofswimmingbacteriainterms of
high-speedflagellar motion,intelligentmaterial inflagellar filaments, and the ef
fect ofpolymernetworks onbacterialmotion inviscous environments.Chapter2
deals with the motion control ofEuglenausingphototaxis,with discussionofpos
itive and negative photophobicresponse,optimal diameterofdark fields,optimal
VI Preface
moving speed ofdark spots formotion control, sequential-motioncontrol, andvi
sual-feedback control. Chapter 3 discusses the modeling ofeukaryotic flagellar
movementand ciliary movement for propulsion influid and the developmentof
two enlarged propulsionmechanismsbased onthetwo types ofmovement.
The book moves ontodiscuss the locomotivemechanisms ofanimals inflight.
Chapter 4proposes aresonance model ofindirect flight mechanismby measuring
thevibrating frequency oftheflightmuscles, thechestwall,andthewing.Itshows
that thewing resonates withthevibration ofthechest wall,which isstimulatedby
a relatively slower contraction ofthe flight muscles. Chapter 5 discusses flow
separationcontrol numericallyandexperimentallybyusingtwo kinds offlapping
wing configurations. The first, aflapping-wing-propelled micro air vehicle,con
sistsofabiplane pairofwingsflapping incounterphase andlocateddownstream of
a larger stationary wing. The second configuration, a flapping-wing hydropower
generator, consists oftwoflapping wings arranged inatandem configuration.
Thenext section dealswith theapplicationofanimal swimmingmechanismsin
marine vehicles. Chapter 6proposes anoutboard propulsorwithanoscillatinghor
izontal finthat exhibits higher propulsiveefficiency andgreatersafety than acon
ventional screw propeller.Chapter7describes thedevelopmentofadolphin robot
torealizethree-dimensionalmovement inwater,aswellasexperimentsinrollcon
trol and loop-the-loopmotions.Chapter8 investigates the swimmingmotion ofa
fish-like body with two undulatingside fins, as inaray orasquid, through model
experiments andflowcomputationaround thebody.Chapter9discusses theexper
imental investigationofthe load characteristics on amechanical pectoral fin, the
optimizationoffin motion, and the swimmingand control performanceofanun
derwatervehicle equippedwith two pairs ofmechanicalpectoral fins. Chapter 10
develops a strategy for simultaneous localization and map building to guide a
biomimetic autonomous underwatervehicle withbodyandcaudalfinoscillation to
awaypointbyutilizing induced oscillationofthehead, where anacoustic localiz
ing sensor (echo sounder) isattached.
Mostanimals canbecharacterizedinterms ofasetofbehavioral actsthatdefine
the response ofthe individual or group in its interactions with the environment.
Chapter 11 describes theexperimental andanalytical studyoftheschoolingmotion
offish, focusingontwoessential motions (theapproaching motion andtheparallel
motion) that fish use to form and maintain highly organized schools. Chapter 12
demonstratesabehavioral model based onbehavioralstrategies andtheneural ba
sisforgenerating pheromone-sourcesearching behaviorininsects.The model was
implementedas an insect-size mobile robot with behaviorcontrollers. Chapter 13
applies aneurophysiological model to the control ofbehaviorintwo underwater
robots (a lobster-basedrobot and a lamprey-basedrobot). These robots are based
onbiomimetic neurotechnology, includingaphysicalplantwithbiomechanicalfea
tures, neural-circuit-basedcontrollers, myomorphicactuators, neuromorphic sen
sors, and abehavioral set.
Preface VII
Thelastchapterevaluates thegas-transferperformanceofanartificial gillagainst
that ofthebiologicalgill interms ofoxygen flux, Reynolds numberofwater, oxy
gen partial pressure difference between waterand blood (or oxygen carriersolu
tion),andoxygenuptake efficiency.Theauthorsusetheseanalysestopresentguide
lines forthe further improvementofartificialgills.
Wehope thisbook will promote collaborationbetween biologistsand engineers
around the world on the natural autonomous systems and the locomotion mecha
nisms ofswimmingand flying animals.
May 2004
Naomi Kato
Joseph Ayers
HirohisaMorikawa
Acknowledgments
Theeditors thank thefollowing researchersforreviewing thechaptersofthisbook.
Each chapterwas assessedby tworeviewers.
N.Arai,T.Goto, K.Hirata, K. Isogai, S.Kamimura, R.Kanzaki, S.Kobayashi,
H.Liu, H. Miyake, K. Mizoguchi, M. Nagai, M.Nakashima, S.Nishio, W.Shyy,
H.Suda, S.Sudo, T.Takagi, Y.Takano, and K.Uematsu.
Contents
Preface V
Acknowledgments VIII
Chapter 1
An Engineering Perspectiveon SwimmingBacteria:High-SpeedFlagellar
Motor, IntelligentFlagellarFilaments,and Skillful SwimminginViscous
Environments
Y.MAGARIYAMA, S.KUDO,T.GOTO,andY.TAKANO•••..•.•.•..•.•....•.••...••.•....••...••••....••• \
Chapter2
EuglenaMotionControl by Local Illumination
A.ITOH ••••.••••.••.•.••.•.•.•...•••.•..•.••....•.•.....•.......•.......•......•.......•...••.•...••.•....••.•..•.••••.••.• \3
Chapter3
Thrust-ForceCharacteristicsofEnlargedPropulsion MechanismsModeled
on EukaryoticFlagellarMovementand Ciliary MovementinFluid
S.KOBAYASHI, K.FURIHATA,T.MASHIMA,and H.MORIKAWA 27
Chapter4
Resonance Model ofthe Indirect FlightMechanism
H. MIYAKE••.•.•.••••....•.••....•..•..•.••......•...................................................................••... 39
Chapter5
On Flow Separation Control by Means ofFlappingWings
K.D.JONES,M.NAKASHIMA,C.J.BRADSHAW,1.PAPADOPOULOS,and M.F. PLATZER 5\
Chapter6
OutboardPropulsorwith anOscillatingHorizontal Fin
H.MORIKAWA,A.HIRAKI, S.KOBAYASHI,and Y.MUGURUMA•.•....•••.......•••....••••...••••67
Chapter7
Three-DimensionalManeuverabilityofthe Dolphin Robot (Roll Control
and Loop-the-LoopMotion)
M.NAKASHIMA,Y.TAKAHASHI,T.TSUBAKI,and K.ONO.•..•...•.....•••......•.••...••.••...••.• 79
X Contents
Chapter 8
Fundamental StudyofaFishlike Body withTwoUndulatingSide-Fins
Y.TODA,T.SUZUKI,S.Uro,andN.TANAKA 93
Chapter 9
Biology-InspiredPrecision ManeuveringofUnderwaterVehicles
N.KATO,H.LIU,andH.MORIKAWA III
Chapter 10
Optimal MeasurementStrategies for Environmental Mapping and
Localization ofaBiomimetic Autonomous UnderwaterVehicle
J.Guo,F.-C.CHIU,S.-w.CHENG,andP.-c.SHI 126
Chapter II
Experimental andAnalytical StudyoftheSchooling Motion ofFish
BasedonTwoObserved Individual Motions:Approaching Motion
andParal1elOrienting Motion
Y.INADA, K.KAWACHI,andH.LIU 138
Chapter 12
Neural BasisofOdor-Source Searching Behavior inInsect Microbrain
Systems Evaluated withaMobile Robot
R.KANZAKI,S.NAGASAWA,and1.SHIMOVAMA 155
Chapter 13
ArchitecturesforAdaptive Behavior inBiomimetic UnderwaterRobots
J.AVERS 171
Chapter 14
Efficiency ofBiological andArtificial Gil1s
K.NAGASE,F.KOHORI,andK.SAKAI 188
Subject Index 201
Chapter 1
An Engineering Perspective onSwimming
Bacteria:
High-Speed Flagellar Motor, Intelligent Flagellar
Filaments, andSkillful Swimming inViscous
Environments
3
YukioMagariyama', SeishiKudo2 TomonobuGoto ,
,
andYasunari Takano4
1 Food Engineering Division, National Food Research Institute, Kan
nondai,Tsukuba, Ibaraki 305-8642, Japan
Faculty ofEngineering, Toin UniversityofYokohama, Aoba,Yokohama,
2
Kanagawa 225-8642, Japan
3Faculty ofEngineering,Tottori University, Koyama, Tottori, Tottori 680
8552,Japan
Faculty of Engineering, University of Shiga Prefecture, Hassakacho,
4
Hikone,Shiga522-8533, Japan
Summary. Manybacteria swimby rotatingtheir helical flagellar filaments
which are driven by flagellar motors embedded in the cell membranes. In
mechanical engineering, bacterial swimming is an interesting subtopic of
robotics and nano-mechanics since countless nano-machines made ofbio
molecules are packed into 1 urn cells. In this paper, we present three
exceptionally interesting facts about swimming bacteria, which have been
known for the past decade. First, a flagellar motor rotates extremely fast
(the maximum recorded is 1,700 rps). This information produces many
new questions regarding, for example, the torque generation mechanism
and the wear. The second fact concerns the flagellar filament as an
intelligent material. It is sufficiently rigid for a use as a propeller and yet
can change itshelical formto relaxthe stress whenan excessive force acts
on it. The mechanism is now being explored at an atomic level. The last
fact is that bacterial cells sometimes swim well in viscous environments.
This phenomenon contradicts common knowledge but could be explained
by a new hypothesis in which the effect ofthe polymer network on the
bacterial motion was expressed mathematically.Wewere impressedbythe
acumenofbacteria. (Review)
Key words. Bacteria, Flagellum, Speed,Polymorphism,Viscosity
N. Kato et al. (eds.), Bio-mechanisms of Swimming and Flying
© Springer Japan 2004
