Omnidirectional propulsion in a metachronal swimmer
Fig 3
Morphology and ctene row kinematics of a typical Bolinopsis vitrea.
(A) Top view showing the eight ctene rows, the ctene row position angle ε, and the sagittal and tentacular planes (dB = 7.6mm); the “sagittal rows” are the rows adjacent to the sagittal plane, while the “tentacular rows” are adjacent to the tentacular plane. (B) Side view showing the ctene rows along the body (LB = 7.4mm), and κ, the angle for the most aboral ctene. (C) Stylized example timeseries of ctene tip speed for one ctene over one beat cycle, where tp is the power stroke duration and tr the recovery stroke duration. (D) Ctene row close side view, showing a tracked ctene tip trajectory (Ae, solid white line), and the estimated ctene reachable space (Ao, red dashed ellipsoid inscribed in black half circle of radius l; shown elsewhere on the ctene row for clarity). Stroke amplitude (Φ) and the direction of the power stroke are also marked.