Bioinspired Fluid-Structure Interaction

Fish are observed to school in different configurations. However, how and why fish maintain a stable schooling formation still remains unclear. This work presents a numerical study of the dense schooling of two free swimmers by a hybrid method of the multi-agent deep reinforcement learning and the immersed boundary-lattice Boltzmann method. Active control policies are developed by synchronously training the leader to swim at a given speed and orientation and the follower to hold close proximity to the leader. After training, the swimmers could resist the strong hydrodynamic force to remain in stable formations and meantime swim in desired path, only by their tail-beat flapping. The tail movement of the swimmers in the stable formations are irregular and asymmetrical, indicating the swimmers are carefully adjusting their body-kinematics to balance the hydrodynamic force. In addition, a significant decrease in the mean amplitude and the cost of transport is found for the followers, indicating these swimmers could maintain the swimming speed with less efforts. The results also show that the side-by-side formation is hydrodynamically more stable but energetically less efficient than other configurations, while the full-body staggered formation is energetically more efficient as a whole.

Despite their lack of a nervous system and muscles, plants are able to feel, regulate flow, and move. Such abilities are achieved through complex multi-scale couplings between biology, chemistry, and physics, making them difficult to decipher. A promising approach is to decompose plant responses in different blocks that can be modeled independently, and combined later on for a more holistic view. In this perspective, we examine the most recent strategies for designing plant-inspired soft devices that leverage poroelastic principles to sense, manipulate flow, and even generate motion. We will start at the organism scale, and study how plants can use poroelasticity to carry information in-lieu of a nervous system. Then, we will go down in size and look at how plants manage to passively regulate flow at the microscopic scale using valves with encoded geometric non-linearities. Lastly, we will see at an even smaller scale, at the nanoscopic scale, how fibers orientation in plants' tissues allow them to induce motion using water instead of muscles.

The inverted flag configuration is inspired by biological structures (e.g. leaves on a tree branch), showing rich dynamics associated with instabilities at lower flow speeds than the regular flag configuration. In the biological counterpart, the arrangement of leaves and twigs on foliage creates a complex interacting environment that promotes certain dynamic fluttering modes. While enabling a large amplitude response for reduced flow speeds is advantageous in emerging fields such as energy harvesting, still, little is known about the consequence of such interactions. In this work, we numerically study the canonical bio-inspired problem of the flow-structural interaction of a 2D inverted flag behind a cylindrical bluff body, mimicking a leaf behind a tree branch, to investigate its distinct fluttering regimes. The separation distance between the cylinder and flag is gradually modified to determine the effective distance beyond which small-amplitude or large-amplitude flapping occurs for different flow velocities. It is shown that the flag exhibits a periodic large amplitude−low frequency response mode when the cylinder is placed at a sufficiently large distance in front of the flag. At smaller distances, when the flag is within the immediate wake of the cylinder, the flag undergoes a high frequency−small amplitude response. Finally, the flag's piezoelectric power harvesting capability is investigated numerically and experimentally for varying geometrical and electrical parameters associated with these two conditions. Two separate optimal response modes with the highest energy output have also been identified.

Oscillatory swimming of a fishlike body, whose motion is essentially promoted by the flapping tail, has been studied almost exclusively in axial mode under an incoming uniform stream or, more recently, self-propelled under a virtual body resistance. Obviously, both approaches do not consider the unavoidable recoil motions of the real body which have to be necessarily accounted for in a design procedure for technological means. Actually, once combined with the prescribed kinematics of the tail, the recoil motions lead to a remarkable improvement on the resulting swimming performance. An inviscid impulse model, linear in both potential and vortical contributions, is a proper tool to obtain a deeper comprehension of the physical events with respect to more elaborated flow interaction models. In fact, at a first look, the numerical results seem to be quite entangled, since their trends in terms of the main flapping parameters are not easy to be identified and a fair interpretation is obtained by means of the model capability to separate the effects of added mass and vortex shedding. Specifically, a prevailing dependence of the potential contribution on the heave amplitude and of the vortical contribution on the pitch amplitude is instrumental to unravel their combined action. A further aid for a proper interpretation of the data is provided by accounting separately for a geometrical component of the recoil which is expected to follow from the annihilation of any spurious rigid motion in case no fluid interactions occur. The above detailed decomposition of the recoil motions shows, through the numerical results, how the single components are going to influence the main flapping parameters and the locomotion performance as a guide for the design of biomimetic swimmers.

A computational model is developed to investigate the jump of a self-propelled dolphin out of water. This model relies on the Navier–Stokes equations, where a fictitious domain approach with the volume penalization method is used for fluid-structure coupling, and the continuous surface force approach is used to model the water–air interface, the latter being tracked in a level-set framework. The dolphin's geometry is based on freely available data from the literature. While body deformation is imposed, the leading linear and angular displacements are computed from Newton's laws. Numerical simulations show that it is necessary to generate large propulsives forces to allow the jump out of water. When the dolphin is out of water, its trajectory follows a purely ballistic one.

Natural fliers like bats exploit the complex fluid–structure interaction between their flexible membrane wings and the air with great ease. Yet, replicating and scaling the balance between the structural and fluid-dynamical parameters of unsteady membrane wings for engineering applications remains challenging. In this study, we introduce a novel bio-inspired membrane wing design and systematically investigate the fluid–structure interactions of flapping membrane wings. The membrane wing can passively camber, and its leading and trailing edges rotate with respect to the stroke plane. We find optimal combinations of the membrane properties and flapping kinematics that out-perform their rigid counterparts both in terms of increased stroke-average lift and efficiency, but the improvements are not persistent over the entire input parameter space. The lift and efficiency optima occur at different angles of attack and effective membrane stiffnesses which we characterise with the aeroelastic number. At optimal aeroelastic numbers, the membrane has a moderate camber between 15% and 20% and its leading and trailing edges align favourably with the flow. Higher camber at lower aeroelastic numbers leads to reduced aerodynamic performance due to negative angles of attack at the leading edge and an over-rotation of the trailing edge. Most of the performance gain of the membrane wings with respect to rigid wings is achieved in the second half of the stroke when the wing is decelerating. The stroke-maximum camber is reached around mid-stroke but is sustained during most of the remainder of the stroke which leads to an increase in lift and a reduction in power. Our results show that combining the effect of variable stiffness and angle of attack variation can significantly enhance the aerodynamic performance of membrane wings and has the potential to improve the control capabilities of micro air vehicles.

In this paper, the applicability and accuracy of high-fidelity experimental and numerical approaches in the analysis of three-dimensional flapping (revolving and pitching) wings operating under hovering flight conditions, i.e. where unsteady and three-dimensional rotational effects are strong, are assessed. Numerical simulations are then used to explore the role of mass and frequency ratios on aerodynamic performance, wing dynamics and flow physics. It is shown that time-averaged lift increases with frequency ratio, up to a certain limit that depends on mass ratio and beyond which upward wing bending and flexibility induced phase lag between revolving an pitching motions at stroke reversal become strong and contribute to phases of negative lift that counterbalances the initial lift increase. This wing dynamics, which is dominated by spanwise bending, also affects wing–wake interactions and, in turn, leading edge vortex formation.

Crustacean and insect antennal scanning movements have been postulated to increase odorant capture but the exact mechanisms as well as measures of efficiency are wanting. The aim of this work is to test the hypothesis that an increase in oscillation frequency of a simplified insect antenna model translates to an increase of odorant capture, and to quantify by how much and through which mechanism. We approximate the antennal movements of bumblebees, quantified in a previous study, by a vertical oscillatory movement of a cylinder in a homogeneous horizontal flow with odorants. We test our multiphysics flow and mass transfer numerical model with dedicated experiments using particle image velocimetry. A new entire translating experimental measurement setup containing an oil tank enables us to work at appropriate Strouhal and Reynolds numbers. Increasing antennal oscillating frequency does increase the odorant capture rate, up to 200%, proving this behavior being active sensing. This result holds however only up to a critical frequency. A decrease of efficiency characterizes higher frequencies, due to molecules depletion within oversampled regions, themselves defined by overlaying boundary layers. Despite decades of work on thermal and mass transfer studies on oscillating cylinders, no analogy with published cases was found. This is due to the unique flow regimes studied here, resulting from the combination of organ small size and low frequencies of oscillations. A theory for such flow regimes is thus to be developed, with applications to fundamental research on animal perception up to bioinspired olfaction.

Mimosa pudica rapidly folds leaves when touched. Motion is created by pulvini, 'the plant muscles' that allow plants to produce various complex motions. Plants rely on local control of the turgor pressure to create on-demand motion. In this paper, the mechanics of a cellular material inspired from pulvinus of M. pudica is studied. First, the manufacturing process of a cell-controllable material is described. Its deformation behaviour when pressured is tested, focusing on three pressure patterns of reference. The deformations are modelled based on the minimisation of elastic energy framework. Depending on pressurisation pattern and magnitude, reversible buckling-induced motion may occur.

We present new measurements of non-uniformly flexible pitching foils fabricated with a rigid leading section joined to a flexible trailing section. This construction enables us to vary the bending pattern and resonance condition of the foils independently. A novel effective flexibility, defined as the ratio of added mass forces to elastic forces, is proposed and shown to provide a scaling for the natural frequencies of the fluid-structural system. Foils with very flexible trailing sections of EI < 1.81 × 10⁻⁵ N m² do not show a detectable resonance and are classified as 'non-resonating' as opposed to 'resonating' foils. Moreover, the non-resonating foils exhibit a novel bending pattern where the foil has a discontinuous hinge-like deflection instead of the smooth beam-like deflection of the resonating foils. Performance measurements reveal that both resonating and non-resonating foils can achieve high propulsive efficiencies of around 50% or more. It is discovered that non-uniformly flexible foils outperform their rigid and uniformly flexible counterparts, and that there is an optimal flexion ratio from 0.4 ⩽ λ ⩽ 0.7 that maximizes the efficiency. Furthermore, this optimal range coincides with the flexion ratios observed in nature. Performance is also compared under the same dimensionless flexural rigidity, R*, which highlights that at the same flexion ratio more flexible foils achieve higher peak efficiencies. Overall, to achieve high propulsive efficiency non-uniformly flexible hydrofoils should (1) oscillate above their first natural frequency, (2) have a flexion ratio in the range of 0.4 ⩽ λ ⩽ 0.7 and (3) have a small dimensionless rigidity at their optimal flexion ratio. Scaling laws for rigid pitching foils are found to be valid for non-uniformly flexible foils as long as the measured amplitude response is used and the deflection angle of the trailing section β is < 45°. This work provides guidance for the development of high-performance underwater vehicles using simple purely pitching bio-inspired propulsive drives.

This paper seeks to design, develop, and explore the locomotive dynamics and morphological adaptability of a bacteria-inspired rod-like soft robot propelled in highly viscous Newtonian fluids. The soft robots were fabricated as tapered, hollow rod-like soft scaffolds by applying a robust and economic molding technique to a polyacrylamide-based hydrogel polymer. Cylindrical micro-magnets were embedded in both ends of the soft scaffolds, which allowed bending (deformation) and actuation under a uniform rotating magnetic field. We demonstrated that the tapered rod-like soft robot in viscous Newtonian fluids could perform two types of propulsion; boundary rolling was displayed when the soft robot was located near a boundary, and swimming was displayed far away from the boundary. In addition, we performed numerical simulations to understand the swimming propulsion along the rotating axis and the way in which this propulsion is affected by the soft robot's design, rotation frequency, and fluid viscosity. Our results suggest that a simple geometrical asymmetry enables the rod-like soft robot to perform propulsion in the low Reynolds number (Re ≪ 1) regime; these promising results provide essential insights into the improvements that must be made to integrate the soft robots into minimally invasive in vivo applications.

Underwater robot sensing is challenging due to the complex and noisy nature of the environment. The lateral line system in fish allows them to robustly sense their surroundings, even in turbid and turbulent environments, allowing them to perform tasks such as shoaling or foraging. Taking inspiration from the lateral line system in fish to design robot sensors could help to power underwater robots in inspection, exploration, or environmental monitoring tasks. Previous studies have designed systems that mimic both the design and the configuration of the lateral line and neuromasts, but at high cost or using complex procedures. Here, we present a simple, low cost, bio-inspired sensor, that can detect passing vortices shed from surrounding obstacles or upstream fish or robots. We demonstrate the importance of the design elements used, and show a minimum 20% reduction in residual error over sensors lacking these elements. Results were validated in reality using a prototype of the artificial lateral line sensor. These results mark an important step in providing alternate methods of control in underwater vehicles that are simultaneously inexpensive and simple to manufacture.

This work considers the two-dimensional flow field of an incompressible viscous fluid in a parallel-sided channel. In our study, one of the walls is fixed whereas the other one is elastically mounted, and sustained oscillations are induced by the fluid motion. The flow that forces the wall movement is produced as a consequence that one of the ends of the channel is pressurized, whereas the opposite end is at atmospheric pressure. The study aims at reducing the complexity of models for several physiological systems in which fluid-structure interaction produces large deformation of the wall. We report the experimental results of the observed self-sustained oscillations. These oscillations occur at frequencies close to the natural frequency of the system. The vertical motion is accompanied by a slight trend to rotate the moving mass at intervals when the gap height is quite narrow. We propose a simplified analytical model to explore the conditions under which this motion is possible. The analytical approach considers asymptotic solutions of the Navier–Stokes equation with a perturbation technique. The comparison between the experimental pressure measured at the midlength of the channel and the analytical result issued with a model neglecting viscous effects shows a very good agreement. Also, the rotating trend of the moving wall can be explained in terms of the quadratic dependence of the pressure with the streamwise coordinate that is predicted by this simplified model.

It is of interest to investigate how a swimming animal performs in a density-stratified fluid. This paper studies a simplified swimmer, a pitching NACA0015 airfoil, considering its locomotion in both homogeneous, or unstratified, and stratified fluid flows. A direct comparison is made between these two conditions through two-dimensional numerical simulations. Our numerical results show that the stratification modifies the dynamics of the pitching foil in both its wake structures and the drag force, or thrust, as well as its propulsive performance. We suggest that the effects of stratification on flapping performance or propulsive efficiency can be categorized according to the Froude number, or the level of stratification. First, in the range of high Froude numbers, notable modification of the flow structure can be observed, which however does not greatly affect the propulsive performance. Second, at a very low Froude number, i.e., Fr = 1, the propulsive efficiency drops markedly compared to its homogeneous counterpart, attributed to the pronounced internal waves induced by the strong stratification. Moreover, at a moderate Froude number Fr = 2, we find an increase in the propulsive efficiency, which can be explained by the unique variation in the wake structure. At A_D = 2.50, the propulsive efficiency peaks at Fr = 2, with its efficiency 18.3% higher than its homogeneous counterpart, exhibiting a favourable influence of the stratification on a swimmer.

Nature has evolved a vast array of strategies for propulsion at the air-fluid interface. Inspired by a survival mechanism initiated by the honeybee (Apis mellifera) trapped on the surface of water, we here present the SurferBot: a centimeter-scale vibrating robotic device that self-propels on a fluid surface using analogous hydrodynamic mechanisms as the stricken honeybee. This low-cost and easily assembled device is capable of rectilinear motion thanks to forces arising from a wave-generated, unbalanced momentum flux, achieving speeds on the order of centimeters per second. Owing to the dimensions of the SurferBot and amplitude of the capillary wave field, we find that the magnitude of the propulsive force is similar to that of the honeybee. In addition to a detailed description of the fluid mechanics underpinning the SurferBot propulsion, other modes of SurferBot locomotion are discussed. More broadly, we propose that the SurferBot can be used to explore fundamental aspects of active and driven particles at fluid interfaces, as well as in robotics and fluid mechanics pedagogy.

Fire ants survive flash floods by linking their bodies together to build waterproof rafts. Most studies of fire ant rafts consider static water conditions, but here, we consider the influence of flow. In particular, when floating on shallow water, the raft can run aground on vegetation, generating stresses in the raft as the water continues to flow around it. In this combined experimental and numerical study, we film the 10 h response of a fire ant raft caught on an anchor and subjected to water flows of 6 cm s⁻¹. In this situation, ant rafts elongate from circular to more streamlined shapes, doubling in aspect ratio before eventually contracting back into smaller circular shapes as they enter dormancy. Ants in upstream regions of the raft exhibit less exploration activity than those downstream, suggesting that ants migrate to areas of lower fluid stress. While the raft is rough, hydrophobic, and heterogeneous in height, we may gain some insight by performing both fluid-structure interaction and agent based simulations on smooth rafts. Elongation to the degree observed is associated with a 48% drag reduction. Moreover, a purely elastic raft does not elongate, but conversely increases its bluff body cross-sectional area. We conclude that ant raftsmust reconfigure to generate the elongated shape observed. This work may provide insights into designing intelligent robotic swarms that can adapt to fluid flows.

A flexible foil undergoing pitching oscillations is studied experimentally in a wind tunnel with different imposed free stream velocities. The chord-based Reynolds number is in the range 1600–4000, such that the dynamics of the system is governed by inertial forces and the wake behind the foil exhibits the reverse Bénard–von Kármán vortex street characteristic of flapping-based propulsion. Particle image velocimetry (PIV) measurements are performed to examine the flow around the foil, whilst the deformation of the foil is also tracked. The first natural frequency of vibration of the foil is within the range of flapping frequencies explored, determining a strongly-coupled dynamics between the elastic foil deformation and the vortex shedding. Cluster-based reduced order modelling is applied on the PIV data in order to identify the coherent flow structures. Analysing the foil kinematics and using a control-volume calculation of the average drag forces from the corresponding velocity fields, we determine the optimal flapping configurations for thrust generation. We show that propulsive force peaks occur at dimensionless frequencies shifted with respect to the elastic resonances that are marked by maximum trailing edge oscillation amplitudes. The thrust peaks are better explained by a wake resonance, which we examine using the tools of classic hydrodynamic stability on the mean propulsive jet profiles.

The goal of this work is to present a method based on fluid–structure interactions to enforce a desired trajectory on a passive double pendulum. In our experiments, the passive double pendulum represents human thigh and shank segments, and the interaction between the fluid and the structure comes from a hydrofoil attached to the double pendulum and interacting with the vortices that are shed from a cylinder placed upstream. When a cylinder is placed in flow, vortices are shed in the wake of the cylinder. When the cylinder is forced to rotate periodically, the frequency of the vortices that are shed in its wake can be controlled by controlling the frequency of cylinder's rotation. These vortices exert periodic forces on any structure placed in the wake of this cylinder. In our system, we place a double pendulum fitted with a hydrofoil at its distal end in the wake of a rotating cylinder. The vortices exert periodic forces on this hydrofoil which then forces the double pendulum to oscillate. We control the cylinder to rotate periodically, and measure the displacement of the double pendulum. By comparing the joint positions of the double pendulum with those of human hip, knee and ankle joint positions during walking, we show how the system is able to generate a human walking gait cycle on the double pendulum only using the interactions between the vortices and the hydrofoil.

Experimental and numerical results are reported for the internal and external flow fields evolving in a bio-inspired snapping plunger. The experimental evidence underlines the nature of the dynamic-coupling between the processes taking place inside and outside the device. Two main structures dictate the properties of the external flow field: a strong jet which is followed by a vortex ring. Internally, complex patterns of cavitating structures are simultaneously produced in the chamber and the venturi-like conduit. We find the cavitation cycle to be suitably described by the Rayleigh–Plesset model and, thus, proceed to characterize the coupling of both fields in terms of the fluctuations of the velocity. All main parameters, as well as the energy released to the fluid during the collapse, are found to be within the same order-of-magnitude of previously known experimental results for isolated bubbles of comparable size.

Flying insects could perform robust flapping-wing dynamics under various environments while minimizing the high energetic cost by using elastic flight muscles and motors. Here we propose a fluid-structure interaction model that couples unsteady flapping aerodynamics and three-torsional-spring-based elastic wing-hinge dynamics to determine passive and active mechanisms (PAM) in bumblebee hovering. The results show that a strategy of active-controlled stroke, passive-controlled wing pitch and deviation enables an optimal elastic storage. The flapping-wing dynamics is robust, which is characterized by dynamics-based passive elevation-rotation and aerodynamics-based passive feathering-rotation, capable of producing aerodynamic force while achieving high power efficiency over a broad range of wing-hinge stiffness. A force-impulse model further confirms the capability of external perturbation robustness under the PAM-based strategy.