Ultra-fast escape maneuver of an octopus-inspired robot

We design and test an octopus-inspired flexible hull robot that demonstrates outstanding fast-starting performance. The robot is hyper-inflated with water, and then rapidly deflates to expel the fluid so as to power the escape maneuver. Using this robot we verify for the first time in laboratory testing that rapid size-change can substantially reduce separation in bluff bodies traveling several body lengths, and recover fluid energy which can be employed to improve the propulsive performance. The robot is found to experience speeds over ten body lengths per second, exceeding that of a similarly propelled optimally streamlined rigid rocket. The peak net thrust force on the robot is more than 2.6 times that on an optimal rigid body performing the same maneuver, experimentally demonstrating large energy recovery and enabling acceleration greater than 14 body lengths per second squared. Finally, over 53% of the available energy is converted into payload kinetic energy, a performance that exceeds the estimated energy conversion efficiency of fast-starting fish. The Reynolds number based on final speed and robot length is $Re \approx 700,000$. We use the experimental data to establish a fundamental deflation scaling parameter $\sigma^*$ which characterizes the mechanisms of flow control via shape change. Based on this scaling parameter, we find that the fast-starting performance improves with increasing size.Comment: Submitted July 10th to Bioinspiration & Biomimetic

Comparison of extended and ensemble based Kalman filters with low and high resolution primitive equation ocean models

International audienceKalman filters are widely used for data assimilation into ocean models. The aim of this study is to discuss the relevance of these filters with high resolution ocean models. This was investigated through the comparison of two advanced Kalman filters: the singular evolutive extended Kalman (SEEK) filter and its ensemble-based variant, called SEIK filter. The two filters were implemented with the Princeton Ocean model (POM) considering a low spatial resolution configuration (Mediterranean sea model) and a very high one (Pagasitikos Gulf coastal model). It is shown that the two filters perform reasonably well when applied with the low resolution model. However, when the high resolution model is considered, the behavior of the SEEK filter seriously degrades because of strong model nonlinearities while the SEIK filter remains remarkably more stable. Based on the assumption of prior Gaussian distributions, the linear analysis step of the latter can still be improved though

Phase-Field Material Point Method for dynamic brittle fracture with isotropic and anisotropic surface energy

A novel phase field material point method is introduced for robust simulation of dynamic fracture in elastic media considering the most general case of anisotropic surface energy. Anisotropy is explicitly introduced through a properly defined crack density functional. The particular case of impact driven fracture is treated by employing a discrete field approach within the material point method setting. In this, the equations of motion and phase field governing equations are solved independently for each discrete field using a predictor–corrector algorithm. Contact at the interface is resolved through frictional contact conditions. The proposed method is verified using analytical predictions. The influence of surface energy anisotropy and loading conditions on the resulting crack paths is assessed through a set of benchmark problems. Comparisons are made with the standard Phase Field Finite Element Method and experimental observations

Eastern Mediterranean biogeochemical flux model: simulations of the pelagic ecosystem

International audienceDuring the second phase (2003?2006) of the Mediterranean ocean Forecasting System Project (MFS) named Toward Environmental Predictions (MFSTEP) one of the three major aims was the development of numerical forecasting systems. In this context a generic Biochemical Flux Model (BFM) was developed and coupled with hydrodynamic models already operating at basin scale as well as at regional areas. In the Eastern Mediterranean basin the BFM was coupled with the Aegean Levantine Eddy Resolving MOdel (ALERMO). The BFM is a generic highly complex model based on ERSEM and although a detailed description of the model and its sub models is beyond the scope of this work a short presentation of the main processes, paying emphasis on the parameter values used is presented. Additionally the performance of the model is evaluated with some preliminary results being qualitatively compared against field observations. The model at its present form is rather promising reproducing all major important features even though there are inefficiencies mostly related to primary and bacterial productivity rates