Search Results (39)

In this study, we demonstrated that lrp6a, a co-receptor in the Wnt signaling pathway, is essential for proper median fin formation and somitogenesis in goldfish. We analyzed the gene’s sequence features and expression patterns in both wen-type and egg-type goldfish, uncovering distinct tissue-specific expression differences between the two varieties. To explore the functional role of lrp6a, we performed CRISPR/Cas9-mediated gene knockout using eight designed single-guide RNAs (sgRNAs), of which four showed effective targeting. Three high-efficiency sgRNAs were selected and co-injected into embryos to achieve complete gene disruption. Morphological assessments and X-ray microtomography (μCT) imaging of the resulting mutants revealed various abnormalities, including defects in the dorsal, caudal, and anal fins, as well as skeletal deformities near the caudal peduncle. These results confirm that lrp6a plays a key role in median fin development and axial patterning, offering new insights into the genetic regulation of fin formation in teleost fish. Full article

Integrating bioinspired design and additive manufacturing into engineering education fosters innovation to meet the growing demand for accessible, personalized assistive technologies. This paper presents the outcomes of an international course, “3D Prosthetics and Orthotics”, offered to undergraduate students in the Biomimetic program at Westfälische Hochschule (Germany), in collaboration with the 3D Orthotics and Prosthetics Laboratory at the Federal University of São Paulo—UNIFESP (Brazil). The course combined theoretical and hands-on modules covering digital modeling (CAD), simulation (CAE), and fabrication (CAM), enabling students to develop bioinspired assistive devices through a Project-based learning approach. Working in interdisciplinary teams, students addressed real-world rehabilitation challenges by translating biological mechanisms into engineered solutions using additive manufacturing. Resulting prototypes included a hand prosthesis based on the Fin Ray effect, a modular finger prosthesis inspired by tendon–muscle antagonism, and a cervical orthosis designed based on stingray morphology. Each device was digitally modeled, mechanically analyzed, and physically fabricated using open-source and low-cost methods. This initiative illustrates how biomimetic mechanisms and design can be integrated into education to generate functional outcomes and socially impactful health technologies. Grounded in the Mao3D open-source methodology, this experience demonstrates the value of combining nature-inspired principles, digital fabrication, Design Thinking, and international collaboration to advance inclusive, low-cost innovations in assistive technology. Full article

Currently, the most commonly used method to study the hydrodynamic performance of manta rays is computational fluid dynamics (CFD) simulation. In this research, we investigated the effects of kinematic parameters—specifically wave number, amplitude, and frequency—on the hydrodynamic performance of manta rays during the swimming process by constructing a 2D CFD model. First, we verified the reasonableness of the 2D simulation. Subsequently, a 2D simulation was used to study the hydrodynamic performance of manta ray pectoral fins, and it was concluded that using low-amplitude, high-frequency propulsion with an optimal wave number has better energy utilization. Finally, we conducted orthogonal experiments, which revealed that the thrust reaches a maximum value of 8.55 N at a frequency of 1 Hz, amplitude of 0.3 c, and wave number of 0.4, and the quasi-propulsive efficiency reaches a maximum value of 82.4% at a frequency of 0.8 Hz, amplitude of 0.3 c, and wave number of 0.4. In general, we can regulate the wave number to a range of 0.35 to 0.4, the frequency to between 0.7 and 0.9 Hz, and the amplitude to between 0.3 c and 0.325 c. This configuration yields a thrust exceeding 3.04 N and a quasi-propulsive efficiency surpassing 70.4%. Full article

The rapid advancement in soft robotics over the past decade has driven innovation across the industrial, medical, and agricultural sectors. Among various soft robotic designs, Fin Ray-inspired soft grippers have demonstrated remarkable adaptability and efficiency in handling delicate objects. However, the integration of force sensors in soft grippers remains a significant challenge, as conventional rigid sensors compromise the inherent flexibility and compliance of soft robotic systems. This study presents a parallel soft gripper based on the Fin Ray effect, incorporating an embedded mechano-optical force sensor capable of providing linear force measurements up to 150 N. The gripper is entirely 3D printed using thermoplastic elastomers (TPEs), ensuring a cost-effective, scalable, and versatile design. The proposed sensor architecture leverages a gyroid lattice structure, yielding a near-linear response with an $R^2$ value of 0.96 across two force regions. This study contributes to the development of sensorized soft grippers with improved force-sensing capabilities while preserving the advantages of soft robotic manipulators. Full article

This paper introduces the TacFR-Gripper, a novel reconfigurable soft robotic gripper inspired by the Fin-Ray effect and equipped with tactile skin. The gripper incorporates a four-bar mechanism for accurate finger bending and a reconfigurable design to change the relative positions between the fingers and palm, enabling precise and adaptable object grasping. This 5-Degree-of-Freedom (DOF) soft gripper can facilitate dexterous manipulation of objects with diverse shapes and stiffness and is beneficial to the safe and efficient grasping of delicate objects. An array of Force Sensitive Resistor (FSR) sensors is embedded within each robotic fingertip to serve as the tactile skin, enabling the robot to perceive contact information during manipulation. Moreover, we implemented a threshold-based tactile perception approach to enable reliable grasping without accidental slip or excessive force. To verify the effectiveness of the TacFR-Gripper, we provide detailed workspace analysis to evaluate its grasping performance and conducted three experiments, including (i) assessing the grasp success rate across various everyday objects through different finger configurations, (ii) verifying the effectiveness of tactile skin with different control strategies in grasping, and (iii) evaluating the in-hand manipulation capabilities through object pose control. The experimental results indicate that the TacFR-Gripper can grasp a wide range of complex-shaped objects with a high success rate and deliver dexterous in-hand manipulation. Additionally, the integration of tactile skin is demonstrated to enhance grasp stability by incorporating tactile feedback during manipulations. Full article

Cownose rays typically swim close to the ocean floor, and the nearby substrate inevitably influences their swimming performance. In this research, we numerically investigate the propulsive capability of cownose rays swimming near the ground by resolving three-dimensional viscous unsteady Navier–Stokes equations. The ground effect generally has a favorable impact on swimming. The thrust and lift increase as the near-substrate distance decreases. Nevertheless, a body length is the recommended distance from the ground, at which the flapping efficiency and swimming stability obtain a good trade-off. The increase in lift is due to the pressure difference between the dorsal and ventral surfaces of the ray, and the thrust boost is due to the enhanced shear vortex at the fin’s leading edge when swimming near the substrate. Our results indicate that the ground effect is more noticeable when the fin flaps are symmetrical compared to asymmetrical. In asymmetric flapping, the hydrodynamic performance improves at a smaller value than the half-amplitude ratio (HAR). The frequency of flapping also significantly affects swimming performance. We find that a superior flapping frequency, at which maximum efficiency is reached, occurs when flapping close to the substrate, and this superior frequency is consistent with the behavior of our model’s biological counterpart. Full article

Oscillating fins are devices designed to produce thrust through periodic undulating movements. However, these structures lack flexibility and often provide thrust in only one fixed direction. Observation and biological references suggest that the dorsal fin rays of seahorses can tilt longitudinally in the spine direction, changing the thrust direction. This study aims to analyze the dynamic effects of seahorse dorsal fin inclining and design a flexible bionic thruster based on this principle. Computational fluid dynamics analysis hypothesizes that fin inclination controls the net force direction in the vertical plane. A force sensor and pulley system test platform were constructed to examine the influences of wave features and the inclination angle on thrust in both vertical and horizontal directions, with discrete fin surfaces used to eliminate force interference. Force testing and snapshots indicate that wave velocity positively impacts net force magnitude, while fin inclination allows for control over force orientation. This tiltable oscillating fin thruster possesses more degrees of freedom, leading to better flexibility and providing controllable thrust orientation. Full article

Since Teleostei fins have a strong regenerative capacity, further research was conducted on the regulation of gene expression during fin regeneration. This research focuses on miRNA, which is a key post-transcriptional regulatory molecule. In this study, a miRNA library for the fin regeneration of zebrafish was constructed to reveal the differential expression of miRNA during fin regeneration and to explore the regulatory pathway for fin regeneration. Following the injection of miRNA agomir into zebrafish, the proliferation of blastema cells and the overall fin regeneration area were significantly reduced. It was observed that the miRNAs impaired blastocyte formation by affecting fin regeneration through the inhibition of the expressions of genes and proteins associated with blastocyte formation (including yap1 and Smad1/5/9), which is an effect associated with the Hippo pathway. Furthermore, it has been demonstrated that miRNAs can impair the patterns and mineralization of newly formed fin rays. The miRNAs influenced fin regeneration by inhibiting the expression of a range of bone-related genes and proteins in osteoblast lineages, including sp7, runx2a, and runx2b. This study provides a valuable reference for the further exploration of morphological bone reconstruction in aquatic vertebrates. Full article

The FinRay soft gripper achieves passive enveloping grasping through its functional flexible structure, adapting to the contact configuration of the object to be grasped. However, variations in beam position and thickness lead to different behaviors, making it important to research the relationship between structure and force. Conventional research using FEM simulations has tested various virtual FinRay models but replicating phenomena such as buckling and slipping has been challenging. While hardware-based methods that involve installing sensors on the gripper and the object to analyze their states have been attempted, no studies have focused on the tangential contact force related to slipping. Therefore, we developed a 16-way object contact force measurement device incorporating two-axis force sensors into each of the 16 segmented objects and compared the normal and tangential components of the enveloping grasping force of the FinRay soft gripper under two types of contact friction conditions. In the first experiment, the proposed device was compared with a device containing a six-axis force sensor in one segmented object, confirming that the proposed device has no issues with measurement performance. In the second experiment, comparisons of the proposed device were made under various conditions: two contact friction states, three object contact positions, and two object motion states. The results demonstrated that the proposed device could decompose and analyze the grasping force into its normal and tangential components for each segmented object. Moreover, low friction conditions result in a wide contact area with lower tangential frictional force and a uniform normal pushing force, achieving effective enveloping grasping. Full article

Subcritical water (SCW) hydrolysis was applied to valorize the low-valued ray-finned fish (Labeobarbus nedgia) into valuable protein hydrolysates, employing N₂ and CO₂ as pressurization agents at varying temperatures (140, 160, 180, and 200 °C). The degree of hydrolysis (DH) and total free amino acid content increased with temperature for both pressurizing agents. The highest DH (54.5 ± 0.4%) and total free amino acid content (210 ± 1 mg/g_prot) were observed at 200 °C when CO₂ gas was used as the pressurizing agent. Predominantly, glycine and alanine were released for both pressurizing agents. The antioxidant activity, evaluated through three different assays, increased with temperature and was found to be the highest at 200 °C. This study illustrated the advantages of the intensified SCW technology by using CO₂ as a pressurization agent in valorizing low-valued ray-finned fish (Labeobarbus nedgia), as animal residue rich in proteins, for the production of valuable protein hydrolysates with a high fraction of valuable free amino acids, which could offer potential applications as a functional ingredient in the food industry. Full article

The manta ray, exemplifying an agile swimming mode identified as the median and paired fin (MPF) mode, inspired the development of underwater robots. Robotic manta typically comprises a central rigid body and flexible pectoral fins. Flexible fins provide excellent maneuverability. However, due to the complexity of material mechanics and hydrodynamics, its dynamics are rarely studied, which is crucial for the advanced control of robotic manta (such as trajectory tracking, obstacle avoidance, etc.). In this paper, we develop a multibody dynamic model for our novel manta robot by introducing a pseudo-rigid body (PRB) model to consider passive deformation in the spanwise direction of the pectoral fins while avoiding intricate modeling. In addressing the rigid-flexible coupling dynamics between flexible fins and the actuation mechanism, we employ a sequential coupling technique commonly used in fluid-structure interaction (FSI) problems. Numerical examples are provided to validate the MPF mode and demonstrate the effectiveness of the dynamic model. We show that our model performs well in the rigid-flexible coupling analysis of the manta robot. In addition to the straight-swimming scenario, we elucidate the viability of tailoring turning gaits through systematic variations in input parameters. Moreover, compared with finite element and CFD methods, the PRB method has high computational efficiency in rigid-flexible coupling problems. Its potential for real-time computation opens up possibilities for future model-based control. Full article

The Fin Ray-type soft gripper (FRSG) is a typical soft gripper structure and applies the deformation characteristics of the Fin Ray structure. This structure functions to stabilize the grasping of an object by passive deformation due to external forces. To analyze the performance of detailed force without compromising the actual FRSG characteristics, it is effective to incorporate multiple force sensors into the grasping object without installing them inside the Fin Ray structure. Since the grasping characteristics of the FRSG are greatly affected by the arrangement of the crossbeams, it is also important to understand the correspondence between the forces and the geometry. In addition, the grasping characteristics of an angular object have not been verified in actual equipment. Therefore, in this study, a contact force measurement device with 16 force sensors built into the grasping object and a structural deformation measurement device using camera images were used to analyze the correspondence between force and structural deformation on an actual FRSG. In the experiment, we analyzed the influence of the crossbeam arrangement on the grasping force and the grasping conditions of the square (0°) and rectangular (45°) shapes, and state that an ideal grasp in a square-shaped (45°) grasp is possible if each crossbeam in the FRSG is arranged at a different angle. Full article

Currently, the bionic robotic fish is primarily devoted to the bionic appearance of fish and rarely involves the bionic swimming posture. However, biological studies have proved that fish have extraordinary swimming ability, so it is necessary to imitate the swimming posture of fish. This paper introduces a manta ray robot driven by three fin rays, with its pectoral fins being structurally simulated using silicone rubber. According to the manta ray’s integrated gliding and flapping propulsion characteristics, we established a central-pattern-generator-based (CPG-based) biomimetic-motion-control method to realize the manta ray robot’s integrated gliding and flapping propulsion control. We designed an evaluation method of motion–posture similarity for the manta ray robot and optimized the control parameters to enhance the resemblance to the manta ray robot. The experimental results show that the online similarity-optimization method based on particle swarm optimization enhances the resemblance to 86.93%, and its swimming stability is also improved to some extent, which verifies the effectiveness of the optimization method. This study provides a new idea for optimizing motion control of the manta ray robot and realizing environmental affinity. Full article

The lack of data on the age, growth, and reproduction of the Atlantic Goliath Grouper Epinephelus itajara off the coasts of Florida (USA) makes it difficult to estimate the extent of their population recovery following the 1990 fishery closure, as well as the potential effects of the recent (2023) opening of a fishery for juveniles. Goliath Grouper from the Atlantic coast of Florida were non-lethally sampled for size (total length, TL), age (via fin rays), and sex and reproductive stage (via gonad biopsies, milt/egg expression, gonopores) from May to October 2010–2016. Of 653 unique fish captured (not including 118 recaptures), 257 (39.4%) were females (122–228 cm TL; 5–20 years old), 264 (40.0%) were males (104–225 cm TL; 4–22 years old), 100 (15.3%) were unsexed (82–211 cm TL; 3–15 years old), and 32 (4.9%) were protogynous hermaphrodites (108–209 cm TL; 5–20 years old). Protogyny was conclusively determined in two fish recaptured and re-biopsied that had transitioned from female to male. However, an overlap in the age and size of males and females, a 1:1 sex ratio, and the presence of relatively small, young, mature males, in combination with an apparently low functional sex change rate, all indicated that the sexual pattern of Goliath Grouper was functionally gonochoristic with the potential for diandric protogyny. Females > 10 years old were larger-at-age than males, and Goliath Grouper from the Atlantic coast were larger-at-age than fish from the Gulf of Mexico. These differences in age, growth, and reproductive strategy—as well as the nascent fishery for juveniles—need to be monitored closely so that the current and future reproductive capacity of the population continues to ensure growth and sustainability. Full article

Difficulty in water injection during the water injection development (water injection production refers to the injection of water into the reservoir from injection wells during the development process of an oil field; due to its good economic efficiency and high feasibility, it has become the main method of oil field development) process of the G block reservoir is an important problem to solve. Three cores of the G block are used as the object of this study, and the laser particle size test is conducted on the target core to obtain the particle size distribution of the core. X-ray diffraction mineral content analysis is used to obtain the proportion of different mineral contents. On this basis, online nuclear magnetic technology is used to carry out the research on the change of reservoir physical properties during the high-magnification water injection process. The experiment shows that three cores (cores 8-2, 16-1, and 9) are identified as medium sandy fine sandstone with silt (the three-level naming method was adopted and the name has been changed to medium sandy fine sandstone containing silt, because the proportion of fine sand is greater than 50%, the content of medium sand is between 25%~50%, and the content of silt is between 10%~25%), medium sandy fin sandstone containing silt, and silt fine sandstone, by laser particle size testing. Their clay mineral contents are 2.47%, 2.51%, and 4.76%, respectively; the permeability (water) of the three cores continues to decrease with the increase in water injection, but the nuclear magnetic porosity and the signal intensity of different fluids in the nuclear magnetic T2 and nuclear magnetic two-dimensional spectrum show different variation patterns with the increase in water injection. The clay minerals of core 8-2 and core 16-1 are relatively small. The nuclear magnetic porosity increases rapidly to the maximum value and then decreases slowly with the increase in water injection. The right peak signal intensity in the T2 spectrum rises first and then drops, while the clay mineral content of core 9 is relatively high. The change trend of nuclear magnetic porosity is firstly decreasing and then increasing, and the signal intensity of the right peak in the T2 spectrum decreases first and then increases. The research concludes that in the early stage of water injection, clay minerals undergo hydration and a small amount of particle migration; in the later stage of water injection, due to the scouring effect of water, the fine silt and clay minerals in the cement easily fall off and migrate to the pore throat to the block. Some damage to the pore throat leads to a decrease in permeability, thus affecting the development effect. Full article