How does it come about that alongside of the idea of ponderable matter, which is derived by abstraction from everyday life, the physicists set the idea of the existence of another kind of matter, the ether? The explanation is probably to be sought in those phenomena which have given rise to the theory of action at a distance, and in the properties of light which have led to the undulatory theor...

A computational model of finite-length undulatory swimmers is used to examine the physical origin of the effect of elasticity on swimming speed. We explore two distinct target swimming strokes: one derived from the motion of Caenorhabditis elegans, with large head undulations, and a contrasting stroke with large tail undulations. We show that both favorable stroke asymmetry and swimmer elastici...

We are developing a biomimetic robot based on the Sea Lamprey. The robot consists of a cylindrical electronics bay propelled by an undulatory body axis. Shape memory alloy (SMA) actuators generate propagating flexion waves in five undulatory segments of a polyurethane strip. The behavior of the robot is controlled by an electronic nervous system (ENS) composed of networks of discrete-time map-b...

A pneumatically-driven robot traverses surfaces with different traction by adopting an undulatory mode of locomotion. The robot is composed of soft elastomer (elastic modulus ∼100 kPa), an inextensible but flexible neutral plane, and embedded pneumatic channels. In contrast to conventional robots and wheeled vehicles, the robot deforms elastically to make ground contact over a relatively large ...

The ability to orient oneself in response to environmental cues is crucial to the survival and function of diverse organisms. One such orientation behavior is the alignment of aquatic organisms with (negative rheotaxis) or against (positive rheotaxis) fluid current. The questions of whether low-Reynolds-number, undulatory swimmers, such as worms, rheotax and whether rheotaxis is a deliberate or...

This work presents a novel method to assess the condition of Caenorhabditis elegans (C. elegans) through a resistance measurement of its undulatory locomotion speed inside a micro channel. As the worm moves over the electrode inside the micro channel, the length of the electrode changes, consequently behaving like a strain gauge. In this paper, the electrotaxis was applied for controlling the d...

Undulatory swimming animals exhibit diverse ranges of body shapes and motion patterns and are often considered as having superior locomotory performance. The extent to which morphological traits of swimming animals have evolved owing to primarily locomotion considerations is, however, not clear. To shed some light on that question, we present here the optimal shape and motion of undulatory swim...

We present a new scheme to estimate the elastic properties of biological membranes in computer simulations. The method analyzes the thermal fluctuations in terms of a coupled undulatory mode, which disentangle the mixing of the mesoscopic undulations and the high-q protrusions. This approach makes possible the accurate estimation of the bending modulus both for membranes under stress and in ten...

A fundamental issue in locomotion is to understand how muscle forcing produces apparently complex deformation kinematics leading to movement of animals like undulatory swimmers. The question of whether complicated muscle forcing is required to create the observed deformation kinematics is central to the understanding of how animals control movement. In this work, a forced damped oscillation fra...

Submitted for the DFD10 Meeting of The American Physical Society On Gray’s paradox and efficiency measures for swimming1 RAHUL BALE, MAX HAO, AMNEET BHALLA, NEELESH PATANKAR, Northwestern University — In 1936 Gray reported that the “drag” power of dolphins was substantially larger than the estimates of muscle power. We revisit this “paradox” in the context of undulatory swimming. We consider la...