This paper focuses on the development and control issues of a self-propelled robotic fish with multiple artificial control surfaces and an embedded vision system. By virtue of the hybrid propulsion capability in the body plus the caudal fin and the complementary maneuverability in accessory fins, a synthesized propulsion scheme including a caudal fin, a pair of pectoral fins, and a pelvic fin i...

To study the genetic regulation of growth control and pattern formation during fin development and regeneration, we have analysed the expression of four homeobox genes, msxA, msxB, msxC and msxD in zebrafish fins. The median fin fold, which gives rise to the unpaired fins, expresses these four msx genes during development. Transcripts of the genes are also present in cells of the presumptive pe...

Parapercis randalli sp. nov. is described on the basis of four specimens collected in southern Taiwan by angling at a depth of 5–150 m. It differs from its congeners in having five broad reddish brown saddles on the dorsal surface; both jaws and anterior portion of snout reddish orange; a yellow bar with red margin on cheek; a series of 8 red bars below body axis; configuration of spots on head...

The caudal fins of adult zebrafish are supported by multiple bony rays that are laterally interconnected by soft interray tissue. Little is known about the fin's mechanical properties that influence bending in response to hydrodynamic forces during swimming. Here, we developed an experimental setup to measure the elastic properties of caudal fins in vivo by applying micro-Newton forces to obtai...

Fish propelled by body and/or caudal fin (BCF) locomotion can achieve high-efficiency and high-speed swimming performance, changing their motion to interact with external fluids. This flexural be prescribed through its curvature profile. work indicates that when the fish swims high efficiency, amplitude reaches a maximum at peduncle. In case of swimming, shows three maxima on entire length. It ...

We investigate the optimal morphologies for fast and efficient anguilliform swimmers at intermediate Reynolds numbers, by combining an evolution strategy with threedimensional viscous vortex methods. We show that anguilliform swimmer shapes enable the trapping and subsequent acceleration of regions of fluid transported along the entire body by the midline travelling wave. A sensitivity analysis...

Members of the family Embiotocidae exhibit a distinct gait transition from exclusively pectoral fin oscillation to combined pectoral and caudal fin propulsion with increasing swimming speed. The pectoral-caudal gait transition occurs at a threshold speed termed U(p-c). The objective of this study was to partition aerobic and anaerobic swimming costs at speeds below and above the U(p-c) in the s...