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1. High Wing-Loading Correlates with Dive Performance in Birds, Suggesting a Strategy to Reduce Buoyancy

   Lapsansky, A; Warrick, D; Tobalske, B (July 2022, Integrative and comparative biology)

   Diving birds are regarded as a classic example of morphological convergence. Divers tend to have small wings extending from rotund bodies, requiring many volant species to fly with rapid wingbeats, and rendering others flightless. The high wing-loading of diving birds is frequently associated with the challenge of using forelimbs adapted for flight for locomotion in a “draggier” fluid, but this does not explain why species that rely exclusively on their feet to dive should have relatively small wings, as well. Therefore, others have hypothesized that ecological factors shared by wing-propelled and foot-propelled diving birds drive the evolution of high wing-loading. Following a reexamination of the aquatic habits of birds, we tested between hypotheses seeking to explain high wing-loading in divers using new comparative data and phylogenetically informed analyses. We found little evidence that wing-propelled diving selects for small wings, as wing-propelled and foot-propelled species share similar wing-loadings. Instead, our results suggest that selection to reduce buoyancy has driven high wing-loading in divers, offering insights for the development of bird-like aquatic robots. 

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2. High Wing-Loading Correlates with Dive Performance in Birds, Suggesting a Strategy to Reduce Buoyancy

   https://doi.org/10.1093/icb/icac117  

   Lapsansky, Anthony B.; Warrick, Douglas R.; Tobalske, Bret W. (July 2022, Integrative And Comparative Biology)

   Abstract Diving birds are regarded as a classic example of morphological convergence. Divers tend to have small wings extending from rotund bodies, requiring many volant species to fly with rapid wingbeats, and rendering others flightless. The high wing-loading of diving birds is frequently associated with the challenge of using forelimbs adapted for flight for locomotion in a “draggier” fluid, but this does not explain why species that rely exclusively on their feet to dive should have relatively small wings, as well. Therefore, others have hypothesized that ecological factors shared by wing-propelled and foot-propelled diving birds drive the evolution of high wing-loading. Following a reexamination of the aquatic habits of birds, we tested between hypotheses seeking to explain high wing-loading in divers using new comparative data and phylogenetically informed analyses. We found little evidence that wing-propelled diving selects for small wings, as wing-propelled and foot-propelled species share similar wing-loadings. Instead, our results suggest that selection to reduce buoyancy has driven high wing-loading in divers, offering insights for the development of bird-like aquatic robots. 

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3. Convergent evolution in dippers (Aves, Cinclidae): The only wing-propelled diving songbirds

   https://doi.org/10.1002/ar.24820  

   Smith, N.A.; Koeller, K.L.; Clarke, J.A.; Ksepka, D.T.; Mitchell, J.S.; Nabavizadeh, A.; Ridgley, R.C.; Witmer, L.M. (November 2021, The anatomical record advances in integrative anatomy and evolutionary biology)

   Of the more than 6,000 members of the most speciose avian clade, Passeriformes (perching birds), only the five species of dippers (Cinclidae, Cinclus) use their wings to swim underwater. Among nonpasserine wing-propelled divers (alcids, diving petrels, penguins, and plotopterids), convergent evolution of morphological characteristics related to this highly derived method of locomotion have been well-documented, suggesting that the demands of this behavior exert strong selective pressure. However, despite their unique anatomical attributes, dippers have been the focus of comparatively few studies and potential convergence between dippers and nonpasseriform wing-propelled divers has not been previously examined. In this study, a suite of characteristics that are shared among many wing-propelled diving birds were identified and the distribution of those characteristics across representatives of all clades of extant and extinct wing-propelled divers were evaluated to assess convergence. Putatively convergent characteristics were drawn from a relatively wide range of sources including osteology, myology, endocranial anatomy, integument, and ethology. Comparisons reveal that whereas nonpasseriform wing-propelled divers do in fact share some anatomical characteristics putatively associated with the biomechanics of underwater “flight”, dippers have evolved this highly derived method of locomotion without converging on the majority of concomitant changes observed in other taxa. Changes in the flight musculature and feathers, reduction of the keratin bounded external nares and an increase in subcutaneous fat are shared with other wing-propelled diving birds, but endocranial anatomy shows no significant shifts and osteological modifications are limited. Muscular and integumentary novelties may precede skeletal and neuroendocranial morphology in the acquisition of this novel locomotory mode, with implications for understanding potential biases in the fossil record of other such transitions. Thus, dippers represent an example of a highly derived and complex behavioral convergence that is not fully associated with the anatomical changes observed in other wing-propelled divers, perhaps owing to the relative recency of their divergence from nondiving passeriforms. 

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4. A numerical study of fish adaption behaviors in complex environments with a deep reinforcement learning and immersed boundary–lattice Boltzmann method

   https://doi.org/10.1038/s41598-021-81124-8  

   Zhu, Yi; Tian, Fang-Bao; Young, John; Liao, James_C; Lai, Joseph_C_S (January 2021, Scientific Reports)

   Abstract Fish adaption behaviors in complex environments are of great importance in improving the performance of underwater vehicles. This work presents a numerical study of the adaption behaviors of self-propelled fish in complex environments by developing a numerical framework of deep learning and immersed boundary–lattice Boltzmann method (IB–LBM). In this framework, the fish swimming in a viscous incompressible flow is simulated with an IB–LBM which is validated by conducting two benchmark problems including a uniform flow over a stationary cylinder and a self-propelled anguilliform swimming in a quiescent flow. Furthermore, a deep recurrent Q-network (DRQN) is incorporated with the IB–LBM to train the fish model to adapt its motion to optimally achieve a specific task, such as prey capture, rheotaxis and Kármán gaiting. Compared to existing learning models for fish, this work incorporates the fish position, velocity and acceleration into the state space in the DRQN; and it considers the amplitude and frequency action spaces as well as the historical effects. This framework makes use of the high computational efficiency of the IB–LBM which is of crucial importance for the effective coupling with learning algorithms. Applications of the proposed numerical framework in point-to-point swimming in quiescent flow and position holding both in a uniform stream and a Kármán vortex street demonstrate the strategies used to adapt to different situations. 

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5. Direct Tail Actuation vs Internal Rotor Propulsion in Aquatic Robots

   https://doi.org/10.1115/DSCC2017-5208  

   Pollard, Beau; Berkey, Tyler; Tallapragada, Phanindra (October 2017, ASME Dynamic Systems and Control Conference)

   It is common for scientists to look to nature for inspiration in developing robots. Many times biological creatures outperform even the best man made robots. We will be focusing on aquatic locomotion of robots inspired by the locomotion of fish. There are two different means of propulsion of the robots tested in this paper. One model of the robot is propelled only through the oscillations of an internal momentum wheel, while the other is propelled by the direct actuation of a tail structure. Both of these models achieve net propulsion through vortex shedding past their trailing edge, and two of the robots locomotion is also aided by the change in shape from either a passive or active tail. Tests were conducted to highlight the locomotion performance differences of the two different means of locomotion. 

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