Research on control strategy of pneumatic soft bionic robot based on improved CPG.

To achieve the accuracy and anti-interference of the motion control of the soft robot more effectively, the motion control strategy of the pneumatic soft bionic robot based on the improved Central Pattern Generator (CPG) is proposed. According to the structure and motion characteristics of the robot, a two-layer neural network topology model for the robot is constructed by coupling 22 Hopfield neuron nonlinear oscillators. Then, based on the Adaptive Neuro-Fuzzy Inference System (ANFIS), the membership functions are offline learned and trained to construct the CPG-ANFIS-PID motion control strategy for the robot. Through simulation research on the impact of CPG-ANFIS-PID input parameters on the swimming performance of the robot, it is verified that the control strategy can quickly respond to input parameter changes between different swimming modes, and stably output smooth and continuous dynamic position signals, which has certain advantages. Then, the motion performance of the robot prototype is analyzed experimentally and compared with the simulation results. The results show that the CPG-ANFIS-PID motion control strategy can output coupled waveform signals stably, and control the executing mechanisms of the pneumatic soft bionic robot to achieve biological rhythms motion propulsion waveforms, confirming that the control strategy has accuracy and anti-interference characteristics, and enable the robot have certain maneuverability, flexibility, and environmental adaptability. The significance of this work lies in establishing a CPG-ANFIS-PID control strategy applicable to pneumatic soft bionic robot and proposing a rhythmic motion control method applicable to pneumatic soft bionic robot.

Energy Availability and Interstitial Fluid Glucose Changes in Elite Male Japanese Triathletes during Training Camp: A Case Study.

This study explored the impact of varying energy availability (EA) on the 24-h interstitial fluid glucose concentration (IGC) in five elite male Japanese triathletes at a training camp. Measurements of IGC, energy and macronutrient intake, and exercise energy expenditure (EEE) through metabolic equivalents (METs) from training logs were conducted. Three subjects were evaluated over two 4-day periods, and two subjects over one 4-day period. Findings revealed significant correlations of daily mean nocturnal IGC with daily EA (r = 0.553, p = 0.001) and energy intake (EI) (r = 0.595, p < 0.001). However, no significant correlation was found between mean daily nocturnal IGC and EEE (r = -0.278, p = 0.124). Daytime IGC was ≥110 mg/dL for >50% of the time in all subjects, except on 1 day in one subject, and never fell <70 mg/dL. Therefore, daily EA may influence nocturnal IGC in elite male triathletes, although high daytime IGC levels were maintained without hypoglycemia.

Trackoscope: A low-cost, open, autonomous tracking microscope for long-term observations of microscale organisms.

Cells and microorganisms are motile, yet the stationary nature of conventional microscopes impedes comprehensive, long-term behavioral and biomechanical analysis. The limitations are twofold: a narrow focus permits high-resolution imaging but sacrifices the broader context of organism behavior, while a wider focus compromises microscopic detail. This trade-off is especially problematic when investigating rapidly motile ciliates, which often have to be confined to small volumes between coverslips affecting their natural behavior. To address this challenge, we introduce Trackoscope, a 2-axis autonomous tracking microscope designed to follow swimming organisms ranging from 10µm to 2mm across a 325cm2 area (equivalent to an A5 sheet) for extended durations-ranging from hours to days-at high resolution. Utilizing Trackoscope, we captured a diverse array of behaviors, from the air-water swimming locomotion of Amoeba to bacterial hunting dynamics in Actinosphaerium, walking gait in Tardigrada, and binary fission in motile Blepharisma. Trackoscope is a cost-effective solution well-suited for diverse settings, from high school labs to resource-constrained research environments. Its capability to capture diverse behaviors in larger, more realistic ecosystems extends our understanding of the physics of living systems. The low-cost, open architecture democratizes scientific discovery, offering a dynamic window into the lives of previously inaccessible small aquatic organisms.

Correlation between bioluminescent blinks and swimming behavior in the splitfin flashlight fish Anomalops katoptron.

BACKGROUND: The light organs of the splitfin flashlight fish Anomalops katoptron are necessary for schooling behavior, to determine nearest neighbor distance, and to feed on zooplankton under dim light conditions. Each behavior is coupled to context-dependent blink frequencies and can be regulated via mechanical occlusion of light organs. During shoaling in the laboratory individuals show moderate blink frequencies around 100 blinks per minute. In this study, we correlated bioluminescent blinks with the spatio-temporal dynamics of swimming profiles in three dimensions, using a stereoscopic, infrared camera system. RESULTS: Groups of flashlight fish showed intermediate levels of polarization and distances to the group centroid. Individuals showed higher swimming speeds and curved swimming profiles during light organ occlusion. The largest changes in swimming direction occurred when darkening the light organs. Before A. katoptron exposed light organs again, they adapted a nearly straight movement direction. CONCLUSIONS: We conclude that a change in movement direction coupled to light organ occlusion in A. katoptron is an important behavioral trait in shoaling of flashlight fish.

Generating controlled gust perturbations using vortex rings.

To understand the locomotory mechanisms of flying and swimming animals, it is often necessary to develop assays that enable us to measure their responses to external gust perturbations. Typically, such measurements have been carried out using a variety of gusts which are difficult to control or characterize owing to their inherently turbulent nature. Here, we present a method of generating discrete gusts under controlled laboratory conditions in the form of a vortex rings which are well-characterized and highly controllable. We also provide the theoretical guidelines underlying the design of gust generators for specific applications. As a case study, we tested the efficacy of this method to study the flight response of freely-flying soldier flies Hermetia illucens. The vortex ring based method can be used to generate controlled gusts to study diverse phenomena ranging from a natural flight in insects to the artificial flight of insect-sized drones and micro-aerial vehicles.

Career factors related to winning Olympic medals in swimming.

To investigate associations between a swimmer's career progression and winning a medal at the Olympic Games (OG) or World Championships (WC). A total of 4631 swimming performances of 1535 top swimmers (653 women, 882 men) from 105 nationalities since1973 were extracted from FINA rankings. A panel of 12 predictor variables including nationality, gender, competition, age, number and timing of competitions, pattern of progressions and regressions in performance, and medal outcomes was established. Linear logistic regression was used to study the association between winning a medal and predictor variables. Logistic regression coefficients were obtained by training on 80% of the database, and prediction accuracy evaluated on the remaining 20%. Using the training set, a selection of 9 most relevant features for prediction of winning a medal (target variable) was obtained through exhaustive feature selection and cross-validation: nationality, competition, number of competitions, number of annual career progressions (nb_prog), maximum annual career progression (max-progr), number of annual career regressions (nb_reg), age at maximum annual progression, P6 (the level of performance six months before the World Championships or Olympic Games), and P2 (the level of performance two months before the World Championships or Olympic Games). A logistic regression model was built and retrained on the entire training set achieved an area under the ROC curve of ~90% on the test set. The odds of winning a medal increased by 1.64 (95% CI, 1.39-1.91) and 1.44 (1.22-1.72) for each unit of increase in max-progr and n-prog, respectively. Odds of winning a medal decreased by 0.60 (0.49-0.72) for a unit increase in n-reg. In contrast, the odds increased by 1.70 (1.39-2.07) and 4.35 (3.48-5.42) for improvements in the 6 and 2 months before competition (P<0.001, for all variables). The likelihood of a swimmer winning an international medal is improved by ~40-90% with progressions from season-to-season, and reducing the number of regressions in performance. The chances of success are also improved 2- to 4-fold by substantial improvements in performance in the months before competition.

Characterization of shark skin properties and biomimetic replication.

This review explores the present knowledge of the unique properties of shark skin and possible applications of its functionalities, including drag reduction and swimming efficiency. Tooth-like denticles, with varied morphologies, sizes, and densities across the shark's body, significantly influence the flow and interaction of fluids. Examining dermal denticle morphology, this study unveils the functional properties of real shark skin, including mechanical properties such as stiffness, stress-strain characteristics, and denticle density's impact on tensile properties. The adaptive capabilities of the Mako shark scales, especially in high-speed swimming, are explored, emphasizing their passive flow-actuated dynamic micro-roughness. This research contains an overview of various studies on real shark skin, categorizing them into skin properties, morphology, and hydrodynamics. The paper extends exploration into industrial applications, detailing fabrication techniques and potential uses in vessels, aircraft, and water pipes for friction reduction. Three manufacturing approaches, bio-replicated forming, direct fabrication, and indirect manufacturing, are examined, with 3D printing and photoconfiguration technology emerging as promising alternatives. Investigations into the mechanical properties of shark skin fabrics reveal the impact of denticle size on tensile strength, stress, and strain. Beyond drag reduction, the study highlights the shark skin's role in enhancing thrust and lift during locomotion. The paper identifies future research directions, emphasizing live shark testing and developing synthetic skin with the help of 3D printing incorporating the bristling effect.

Effects of physical training on the metabolic profile of rats exposed to chronic restraint stress.

INTRODUCTION: Despite strong evidences supporting the protective role of exercise against stress-induced repercussions, the literature remains inconclusive regarding metabolic aspects. Therefore, this study aimed to evaluate the effect of Physical Training (PT) by swimming on the metabolic parameters of rats subjected to restraint stress. METHODS: Wistar rats (n = 40) were divided into four groups: Control (C), Trained (T), Stressed (S), and Trained/Stressed (TS). The restraint stress protocol involved confining the animals in PVC pipes for 60 minutes/day for 12 weeks. Concurrently, the swimming PT protocol was performed without additional load in entailed sessions of 60 minutes conducted five days a week for the same duration. The following parameters were analyzed: fitness progression assessed by the physical capacity test, body mass, serum level of glucose, triglyceride, cholesterol and corticosterone, as well as glycemic tolerance test, evaluated after glucose administration (2 g/kg, i.p.). RESULTS: Trained groups (T and TS) exhibited enhanced physical capacity (169 ± 21 and 162 ± 22% increase, respectively) compared to untrained groups (C: 9 ± 5 and S: 11 ± 13% increase). Corticosterone levels were significantly higher in the S group (335 ± 9 nmoL/L) compared to C (141 ± 3 nmoL/L), T (174 ± 3 nmoL/L) and TS (231 ± 7 nmoL/L), which did not differ from each other. There were no significant changes in serum glucose, cholesterol, and triglyceride levels among the groups. However, the glycemic curve after glucose loading revealed increased glycemia in the S group (area under curve 913 ± 30 AU) but the TS group exhibited values (673 ± 12 AU) similar to the groups C (644 ± 10 AU) and T (649 ± 9 AU). CONCLUSION: Swimming-based training attenuated stress-induced corticosterone release and prevented glucose intolerance in rats, reinforcing the importance of exercise as a potential strategy to mitigate the pathophysiological effects of stress.

The effect of forced even pacing and an opponent on end-spurt behaviour in freestyle pool swimming.

To investigate the effect of forced even pacing through virtual pacing assistance and an opponent in a competitive setting on end-spurt behaviour in freestyle swimmers, including related physiological underpinnings. Twenty-seven competitive swimmers and triathletes were recruited. There were four 1500 m freestyle trials: (i) familiarisation time trial, (ii) self-paced time trial (STT), (iii) head-to-head competition time trial (CTT) and (iv) forced even pacing through virtual pacing assistance time trial (FET). Eventually, 12 swimmers met the criteria for the CTT and FET to be included in the analysis. Changes in end-spurt behaviour, finishing time and physiological parameters (lactate, cortisol, noradrenaline and heart rate) were analysed using a linear mixed model with fixed effects for trials and a random effect for swimmer identity. A separate linear model was computed for competition outcome. The end-spurt for each race was determined by means of an end-spurt indicator (ESI; ESI > 0 greater end-spurt). Swimmers demonstrated a significantly greater ESI in FET (+2.6; p < 0.001) and CTT (+1.4; p = 0.022) compared to STT. Blood lactate concentration in FET (+1.0 mmol L-1; p < 0.001) and CTT (+1.6 mmol L-1; p < 0.001) was significantly higher than in STT. Winners had a significantly greater ESI than losers in CTT (+1.6 and p = 0.005). Swimmers utilised a greater end-spurt through metabolically optimal forced even pacing by virtual pacing assistance and in a head-to-head competition due a larger mobilisation of anaerobic reserves as indicated by greater blood lactate concentrations. Winners had a significantly greater end-spurt than losers despite similar metabolic disturbances.

Race Dynamics in Triathlon Mixed-Team-Relay Meaningfully Changes with The New Regulation Towards Paris 2024.

Mixed-Team-Relay (MTR) triathlon is a novel Olympic discipline whose performance determinants and tactical behaviors have barely been studied. Additionally, a regulatory change has been made to the male and female relay order for the Paris 2024 Olympics. Therefore, this study aimed to determine the performance determinants and race dynamics as a function of competitive level on the new regulated MTR triathlon. Results from 129 national teams, (516 elite triathletes) across five MTR World Triathlon Series and two MTR European Championships in 2022 and 2023, were analyzed. Split times, average speeds, time behind the race leader (gap), partial and finishing positions, pack position as well as the rank positions of every segment, relay leg, and overall race were computed. Decision tree analyses were conducted as a predictive method for the overall results, and correspondence analyses were conducted to examine the relationship between the different relay legs and segments and the finishing positions. The performance of the fourth leg was the most relevant for overall result (30%), as well as the fourth running leg (16%) and the female legs performance (7%). Medallist relay teams were characterized by displaying a differential speed lower than 0.5 and 0.83 km/h, respectively, from the best-ranking athletes in the Legs 1 and 4. Furthermore, staying in the front pack after the second swimming leg showed a great relationship with achieving a medal position. New MTR triathlon rules shift race dynamics, emphasizing individual efforts in cycling and swimming, while maintaining the crucial importance of running.

The interplay of group size and flow velocity modulates fish exploratory behaviour.

Social facilitation is a well-known phenomenon where the presence of organisms belonging to the same species enhances an individual organism's performance in a specific task. As far as fishes are concerned, most studies on social facilitation have been conducted in standing-water conditions. However, for riverine species, fish are most commonly located in moving waters, and the effects of hydrodynamics on social facilitation remain largely unknown. To bridge this knowledge gap, we designed and performed flume experiments where the behaviour of wild juvenile Italian riffle dace (Telestes muticellus) in varying group sizes and at different mean flow velocities, was studied. An artificial intelligence (AI) deep learning algorithm was developed and employed to track fish positions in time and subsequently assess their exploration, swimming activity, and space use. Results indicate that energy-saving strategies dictated space use in flowing waters regardless of group size. Instead, exploration and swimming activity increased by increasing group size, but the magnitude of this enhancement (which quantifies social facilitation) was modulated by flow velocity. These results have implications for how future research efforts should be designed to understand the social dynamics of riverine fish populations, which can no longer ignore the contribution of hydrodynamics.

Between-session reliability of dry-land and in-water tests to measure inter-limb asymmetries in swimmers.

The aims of the present study were to: i) analyse the between-session reliability of dry-land and in-water swimming tests, and ii) investigate the prevalence of meaningful asymmetries in swimming athletes. Twenty-eight swimmers (21 males, 7 females) performed anthropometric, shoulder range of motion (ROM), countermovement jump, shoulder isokinetic torque, and 15-s tethered swimming tests two times, 1 week apart. Inter-limb asymmetries were calculated for each variable. Raw data reliability was determined using the intraclass coefficient correlation (ICC) and the typical error of measurement (TEM), and effect size (ES) was used to determine systematic bias between test sessions. At an individual level, inter-limb asymmetries were compared to the coefficient of variation (CV) to determine whether they were real. The between-session reliability was good to excellent (0.75 to 1.00) for most of the raw data, except for ROM. Between-session ES was predominately "trivial" or "small" for raw data and asymmetries, reinforcing that the values did not change significantly between the sessions. In addition, real asymmetries were seen in some tested metrics, depending on the test. In conclusion, the tested variables presented good levels of between-session reliability and were able to detect real and consistent asymmetries.

The Acute Effects of a Preload Upper-Body Power Exercise on 50-m Freestyle Performance in Youth Swimmers.

ABSTRACT: Hill, V, Patterson, S, Buckthorpe, M, and Legg, HS. The acute effects of a preload upper-body power exercise on 50-m freestyle performance in youth swimmers. J Strength Cond Res 38(7): 1295-1299, 2024-This study aimed to investigate the acute effects of a medicine ball slam and the optimal recovery time required to induce a postactivation performance enhancement (PAPE) response on 50-meter freestyle swimming performance. Twenty-four (13 female, 11 male) competitive, adolescent swimmers (mean ± SD: age, 16.7 ± 1.2 years; height, 173.3 ± 6.7 cm; mass, 63.1 ± 6.4 kg) participated in a randomized crossover study. After the PAPE intervention (3 × 5 medicine ball slams), subjects had 1-minute, 4-minute, and 8-minute recovery periods before a 50-m maximal freestyle swim. A 1-way repeated-measures ANOVA revealed that different recovery times elicited changes in 50-m performance (F = 12.12, p < 0.0005). After 4 minutes of recovery, 50-m performance was 1.6% (0.47 seconds) faster (95% confidence interval [CI] [0.17-0.77], p < 0.001). When the data were split by sex, after 4 minutes of recovery, 50-m performance was 2% (0.64 seconds) faster for women (95% CI [0.279-0.998], p < 0.001). In conclusion, an upper-body power exercise, before performance, can induce a PAPE response and enhance 50-m freestyle performance after a 4-minute recovery period.

Effects of 8 weeks parent-accompanied swimming on physical capacity and intelligence in preschool children.

This study aimed to explore the potential effects of 8-week parents-accompanied swimming on the physical capacity and intelligence of preschool children in China. Thirty-six boys (mean age 3.56 ± 0.27 years) were divided into three groups: the traditional physical exercise group (TP, n = 12), the accompanied swimming group (AS, n = 12) and the independent swimming group (IS, n = 12). Participants' physical capacity was assessed before and after the intervention using the following indicators: height, weight, distance of tennis ball throw, standing long jump distance, time for the 10-meter shuttle run, time for a two-legged continuous jump, sit-and-reach distance, and time on the walking balance beam. Intelligence was assessed at three points: pre-test, mid-test after 4 weeks, and post-test. Data were analyzed using a two-way repeated measures ANOVA, Bonferroni test (p < 0.05) and effect size. The time of the AS and IS groups to walk the balance beam was significantly lower than the TP group, with a difference of 1.81 s (p < 0.01, [95% CI -3.22 to -0.40], ES = 1.53) and 1.25 s (p < 0.05, [95% CI -2.66 to 0.16], ES = 0.81). At the mid-test, the IQ scores of the TP group were lower than the AS group (p < 0.05, [95% CI -12.45 to -0.96], ES = 0.89). Additionally, at post-test, the IQ scores of the TP group were significantly lower than those of both AS (p < 0.01, [95% CI -14.12 to -2.74], ES = 1.15) and IS groups (p < 0.01, [95% CI -12.53 to -3.31], ES = 1.21). Swimming enhances children's balance and IQ scores more than traditional physical exercises. Involving parents in swimming leads to a more significant increase in IQ scores within 4 weeks of initial swimming exercise.

Neuromuscular Adaptations in Endurance-Trained Male Adolescents Versus Untrained Peers: A 9-Month Longitudinal Study.

BACKGROUND: Neuromuscular function is considered as a determinant factor of endurance performance during adulthood. However, whether endurance training triggers further neuromuscular adaptations exceeding those of growth and maturation alone over the rapid adolescent growth period is yet to be determined. OBJECTIVE: The present study investigated the concurrent role of growth, maturation, and endurance training on neuromuscular function through a 9-month training period in adolescent triathletes. METHODS: Thirty-eight 13- to 15-year-old males (23 triathletes [~6 h/week endurance training] and 15 untrained [<2 h/week endurance activity]) were evaluated before and after a 9-month triathlon training season. Maximal oxygen uptake (V̇O2max) and power at V̇O2max were assessed during incremental cycling. Knee extensor maximal voluntary isometric contraction torque (MVCISO) was measured and the voluntary activation level (VAL) was determined using the twitch interpolation technique. Knee extensor doublet peak torque (T100Hz) and normalized vastus lateralis (VL) electromyographic activity (EMG/M-wave) were also determined. VL and rectus femoris (RF) muscle architecture was assessed using ultrasonography. RESULTS: Absolute V̇O2max increased similarly in both groups but power at V̇O2max only significantly increased in triathletes (+13.8%). MVCISO (+14.4%), VL (+4.4%), and RF (+15.8%) muscle thicknesses and RF pennation angle (+22.1%) increased over the 9-month period in both groups similarly (p < 0.01), although no changes were observed in T100Hz, VAL, or VL EMG/M-wave. No changes were detected in any neuromuscular variables, except for coactivation. CONCLUSION: Endurance training did not induce detectible, additional neuromuscular adaptations. However, the training-specific cycling power improvement in triathletes may reflect continued skill enhancement over the training period.

The evolution of olfactory sensitivity, preferences, and behavioral responses in Mexican cavefish is influenced by fish personality.

Animals are adapted to their natural habitats and lifestyles. Their brains perceive the external world via their sensory systems, compute information together with that of internal states and autonomous activity, and generate appropriate behavioral outputs. However, how do these processes evolve across evolution? Here, focusing on the sense of olfaction, we have studied the evolution in olfactory sensitivity, preferences, and behavioral responses to six different food-related amino acid odors in the two eco-morphs of the fish Astyanax mexicanus. To this end, we have developed a high-throughput behavioral setup and pipeline of quantitative and qualitative behavior analysis, and we have tested 489 six-week-old Astyanax larvae. The blind, dark-adapted morphs of the species showed markedly distinct basal swimming patterns and behavioral responses to odors, higher olfactory sensitivity, and a strong preference for alanine, as compared to their river-dwelling eyed conspecifics. In addition, we discovered that fish have an individual 'swimming personality', and that this personality influences their capability to respond efficiently to odors and find the source. Importantly, the personality traits that favored significant responses to odors were different in surface fish and cavefish. Moreover, the responses displayed by second-generation cave × surface F2 hybrids suggested that olfactory-driven behavior and olfactory sensitivity is a quantitative genetic trait. Our findings show that olfactory processing has rapidly evolved in cavefish at several levels: detection threshold, odor preference, and foraging behavior strategy. Cavefish is therefore an outstanding model to understand the genetic, molecular, and neurophysiological basis of sensory specialization in response to environmental change.

Universal wing- and fin-beat frequency scaling.

We derive an equation that applies for the wing-beat frequency of flying animals and to the fin-stroke frequency of diving animals like penguins and whales. The equation states that the wing/fin-beat frequency is proportional to the square root of the animal's mass divided by the wing area. Data for birds, insects, bats, and even a robotic bird-supplemented by data for whales and penguins that must swim to stay submerged-show that the constant of proportionality is to a good approximation the same across all species; thus the equation is universal. The wing/fin-beat frequency equation is derived by dimensional analysis, which is a standard method of reasoning in physics. We finally demonstrate that a mathematically even simpler expression without the animal mass does not apply.

Multiflagellate Swimming Controlled by Hydrodynamic Interactions.

Many eukaryotic microorganisms propelled by multiple flagella can swim very rapidly with distinct gaits. Here, we model a three-dimensional mutiflagellate swimmer, resembling the microalgae. When the flagella are actuated synchronously, the swimming efficiency can be enhanced or reduced by interflagella hydrodynamic interactions (HIs), determined by the intrinsic tilting angle of the flagella. The asynchronous gait with a phase difference between neighboring flagella can reduce oscillatory motion via the basal mechanical coupling. In the presence of a spherical body, simulations taking into account the flagella-body interactions reveal the advantage of anterior configuration compared with posterior configuration, where in the latter case an optimal flagella number arises. Apart from understanding the role of HIs in the multiflagellate microorganisms, this work could also guide laboratory fabrications of novel microswimmers.