Optimal gaits for inertia-dominated swimmers with passive elastic joints.

Animals and some robots locomote by interacting with the environment through cyclic shape changes, or gaits. Many animals make significant use of passive dynamics with flexible tails or pendulum action to reduce the effort required to execute these gaits. Although geometric tools have been developed to study optimal passive gaits for swimmers in drag-dominated physics regimes, they have not yet been used to study larger-scale swimmers whose physics are dominated by inertial effects. In this paper, we leverage previous work in the geometric mechanics field to examine passive-elastic inertial swimmers and show that geometric mechanics can be used to rapidly determine many classes of optimal gaits for such systems. We also discuss how considering swimmer metabolic costs in addition to the mechanical costs of driving actuation is useful for discussing swimmer efficiency. In particular, we focus on two models of active-passive swimming inertial systems: the perfect-fluid three-link swimmer, and a swimmer with a passively flexible tail.

Web Vibrations in Intraspecific Contests of Female Black Widow Spiders, Latrodectus hesperus.

Female black widow spiders, Latrodectus hesperus Chamberlin and Ivie (Araneae: Theridiidae), are solitary predators of arthropods with no tolerance for intruders on the webs. In California, L. hesperus are found in urban and agricultural settings and can be a phytosanitary pest in fresh produce. Spatial separation of L. hesperus webs could be determined by seasonal population densities, with territorial competition expected under high densities in the environment. However, little is known about female-female communication behaviors in this species. In 1-hr laboratory observations, displays of female-female rivalry included production of vibrational signals in a majority (20 of 30) of trials. The number of signals produced by both females was highest during the initial 10 min of trials, with signaling rate (time interval between signals) peaking during the 40-50 min observation period. The overall ratio of signals produced by the resident female and the introduced female was about 5:1, with the number of signals produced by the resident female higher than the number of signals produced by the introduced female. Analysis of rivalry signals showed a peak in magnitude (about 0.4 m/s) ranging from 6 to 23 Hz and smaller peaks at about 29, 38, and 47 Hz. Collectively, these results demonstrate that female L. hesperus exhibit territorial rivalry and that female-female rivalry is mediated by emission of vibrational signals through the web. Understanding the mechanisms of intraspecific competition in L. hesperus is required for elucidating interspecific interactions in the environment and may lead to development of novel methods to prevent spiders from colonizing crops.

Validation of a Novel Stereo Vibrometry Technique for Spiderweb Signal Analysis.

From courtship rituals, to prey identification, to displays of rivalry, a spider's web vibrates with a symphony of information. Examining the modality of information being transmitted and how spiders interact with this information could lead to new understanding how spiders perceive the world around them through their webs, and new biological and engineering techniques that leverage this understanding. Spiders interact with their webs through a variety of body motions, including abdominal tremors, bounces, and limb jerks along threads of the web. These signals often create a large enough visual signature that the web vibrations can be analyzed using video vibrometry on high-speed video of the communication exchange. Using video vibrometry to examine these signals has numerous benefits over the conventional method of laser vibrometry, such as the ability to analyze three-dimensional vibrations and the ability to take measurements from anywhere in the web, including directly from the body of the spider itself. In this study, we developed a method of three-dimensional vibration analysis that combines video vibrometry with stereo vision, and verified this method against laser vibrometry on a black widow spiderweb that was experiencing rivalry signals from two female spiders.