Bio-mechanisms of Swimming and Flying PDF
Preview Bio-mechanisms of Swimming and Flying
N. 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 Printed on acid-free paper © Springer Japan 2004 Originally published by Springer-Verlag Tokyo Berlin Heidelberg New York in 2004 Softcover reprint ofthe hardcover Ist edition 2004 This work is subject to copyright. AII rights are reserved, whether the whole or part of the material is concemed, specifically the rights oftranslation, reprinting, reuse of illustrations, recitation, broadcasting, reproduction on microfilms or in other ways, and storage in data banks. The use of registered names, trademarks, etc. in this publication does not imply, even in the absence of a specific statement, that such names are exempt from the relevant protective laws and regulations and therefore frec for general use. springeronline.com Typesetting: Camera-ready by the editors and authors SPIN: 11014157 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
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