Inspired by natural creatures, soft robots possess the unique advantages of large actuation and excellent adaptability. Untethered designs of soft robots are drawing more attention to researchers, ...but current research is limited. Also, there is an increasing need to improve the performance of bio-mimetic robots. This work describes an untethered soft robotic jellyfish with high mobility that can mimic a natural jellyfish's performance. The electrode of the robotic jellyfish is made by sandwiching carbon grease between two layers of dielectric elastomer film. The frame of the material, where six plastic paddles are attached, is made from a silicone elastomer. The robotic jellyfish has a maximum recorded swim speed of up to 1 cm s−1, with a peak thrust force of 0.000 12 N. A finite element simulation is developed to study the performance of the robotic jellyfish in a theoretical manner. By embedding a compact remote-controlled power source, the robotic jellyfish is made autonomous. In this case, the max peak speed is around 0.5 cm s−1. Ultimately, the working principles of the bio-mimetic robotic jellyfish can be useful in field studies and to guide the design of soft robots and flexible devices.
•A novel low potential energy barrier bistable jellyfish-inspired oscillator is proposed.•A low-frequency broadband jellyfish-inspired bistable piezoelectric-triboelectric hybrid generator is ...designed.•The impact of parameters on the mechanical properties of the bistable system is analyzed.•An electromechanical coupling model incorporating triboelectric and piezoelectric mechanisms is established.•The high output performance of the generator in terms of low-frequency broadband is confirmed by the experiment.
In pursuit of enhancing the output power of energy harvesters, this paper introduces a novel jellyfish-inspired bistable piezoelectric-triboelectric hybrid generator (JIB-PTHG) with low potential energy barrier characteristics and low-frequency, broadband energy harvesting capabilities. The JIB-PTHG comprises two flexible beams, and two rigid links, connected via a spring. Utilizing the harmonic balance method and Runge-Kutta fourth-order algorithm, a comprehensive analysis of the mechanical properties of the low-barrier bistable structure is conducted. Static equilibrium bifurcation and dynamic response analysis are performed. Subsequently, an electromechanical coupling model incorporating piezoelectricity and triboelectricity is developed to theoretically predict the output voltage of the two modules, revealing a positive correlation between displacement and output voltage. Experiment validation demonstrated that adjusting the length of the rigid links can effectively increase the deformation of the piezoelectric beam and the relative displacement of the triboelectric layers, thus improving the generator's output performance. Specifically, the TENG module exhibited exceptional energy harvesting performance within the frequency range of 3.5–6.5 Hz, achieving a voltage of 1050 V, a power of 1.84 mW, and the ability to illuminate 70 LED lights under an excitation amplitude of 17.5 mm and a frequency of 5.5 Hz. The PEG module, displayed high output performance within the frequency range of 4-7 Hz, reaching a voltage of 6.2 Vs and a power of 12.8 μW at an excitation frequency of 7 Hz and an amplitude of 17.5 mm. Both theoretical and experimental findings indicate that the JIB-PTHG has achieved improved output power within the frequency range of 3.5–6.5 Hz. Furthermore, the JIB-PTHG has the potential to harness bridge vibration energy and convert it into useful electrical energy for powering wireless sensor nodes in bridge health monitoring systems.
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A hypoxia event occurred in the nearshore of the northern Yellow Sea in summer 2016, and a bloom of small jellyfish occurred in June of this year. As a key copepod species in the Yellow Sea, Calanus ...sinicus exhibits early recruitment mainly in this nearshore area. Therefore, this study assessed the effects of these two phenomena on C. sinicus especially on their early recruitment. Sampling in nearshore waters was performed every month from May to December, except for October 2016. The numerical abundance of eggs and nauplii (E + N), copepodites and adults (C + A) of C. sinicus was determined in relation to environmental factors. Results showed that dissolved oxygen (DO) concentrations decreased from June on, attaining a minimum in August, and showed a significant positive relationship with C. sinicus E + N abundance. This suggested that decreasing DO had potential negative effects on early recruitment of C. sinicus. The abundance of small jellyfish, dominated by Sugiura chengshanense (Hydromedusa), also showed a significant positive relationship with C. sinicus E + N abundance, indicating a potential predator-prey relationship between them. Spatial relationships were also examined between E + N abundance and DO concentration in July and with small jellyfish abundance in June. Both bottom DO (B-DO) and E + N abundance in inshore waters were significantly lower than those in offshore water in July, indicating a potential negative effect of low B-DO (<6 mg L−1) in nearshore water. Spatial variation of small jellyfish abundance showed no correlation with C. sinicus abundance in June, but the non-overlapping patchy distribution also suggested their potential predator-prey relationship. Together, both the seasonal and spatial results indicated that low DO and a small jellyfish bloom in nearshore waters had detrimental effects on early recruitment of C. sinicus. These negative effects thus have the potential to indirectly impact the trophodynamics of fishery resources in the northern Yellow Sea.
•DO decrease exerted potential negative effects on the early recruitment of C. sinicus from July to November.•Detrimental effect of decreasing DO was first evidenced in Sishili Bay bottom waters in July.•Seasonal variation pattern in small jellyfish and early stages of C. sinicus indicated a predator-prey relationship.•Small jellyfish bloom had a potential negative effect on C. sinicus’s early recruitment.
Jellyfish are energy-efficient swimmers due to the muscle-powered flapping of their soft bell that facilitates a unique energy recapture mechanism. In this paper, we present a bio-inspired jellyfish ...robot named Poly-Saora that mimics the swimming behavior of the jellyfish species Black sea nettle (Chrysaora achlyos). An assembly-based fabrication method is used to create the Poly-Saora that is developed mainly with polymeric materials (95% of the robot by volume). Twisted and coiled polymer (TCP) actuators are successfully implemented in this robot and show great potential for underwater applications. The influence of different parameters such as the amplitude of the input power, the actuation frequency, and the lifecycle of the actuator are investigated underwater. A full characterization of 6-ply TCP muscles is demonstrated. An actuation strain of ∼10% is achieved in water at a frequency of 0.1 Hz and 50 kPa load. When integrated into the jellyfish, the TCP was able to bend a single bell by 17°. Poly-Saora was able to swim a vertical distance of 180 mm in 220 s with four TCP actuators each confined in a separate conduit. The robot mimics the swimming behavior of a real jellyfish by contracting the bell segments through the activation of the actuators, which generates forced water circulation under the bell in a pulsating rhythm, consequently creating a vertical movement of the robot. Overall, Poly-Saora presents a model of an underwater system that is driven by stimuli-responsive polymer materials and has unique advantages over conventional rigid robots due to their lightweight, muscle-like structures, silent actuation and ease of manufacturing. This robot can be used for safe interaction with other underwater species and their natural habitats when fully developed.
Scyphozoan jellyfish blooms display high interannual variability in terms of timing of appearance and size of the bloom. To understand the causes of this variability, the conditions experienced by ...the polyps prior to the production of ephyrae in the spring were examined. Polyps reared from planula larvae of
Aurelia aurita
medusae collected from southern England (50°49′58.8; − 1°05′36.9) were incubated under orthogonal combinations of temperature (4, 7, 10 °C) and duration (2, 4, 6, 8 weeks), representing the range of winter conditions in that region, before experiencing an increase to 13 °C. Timing and success of strobilation were recorded. No significant production of ephyrae was observed in any of the 2- and 4-week incubations, or in any 10 °C incubation. Time to first ephyra release decreased with longer winter incubations, and more ephyrae were produced following longer and colder winter simulations. This experiment indicates that
A. aurita
requires a minimum period of cooler temperatures to strobilate, and contradicts claims that jellyfish populations will be more prevalent in warming oceans, specifically in the context of warmer winter conditions. Such investigations on population-specific ontogeny highlights the need to examine each life stage separately as well as in the context of its environment.
In East Asian waters, concern about giant jellyfish blooms, including
Nemopilema
nomurai
(Cnidaria: Scyphozoa: Rhizostomeae), has increased in recent decades. Based on surveys in 2012 and 2013, as a ...part of the Chinese Jellyfish 973 Program, we investigated the life cycle in situ of the planktonic stages of this species in the Yellow Sea and the East China Sea. We found the following results: (1) Offshore of the Changjiang River is one of its principal breeding places, and is the area where the pelagic stages of
N. nomurai
appear earliest in the YS and ECS. (2) The general distribution pattern of pelagic stages of
N. nomurai
described previously in the YS and ECS is confirmed from the 2012 and 2013 surveys: From this small area (31.50–33.00°N, 122.00–122.75°E) usually in late May and early June, it expanded into the 31.5–36°N sea area (aggregating in 32–34°N) in June, then continued to expand northward and southward to 30–37°N by August, and then shrank to 34–37°N in October. (3) The biomass and abundance of
N. nomurai
in 2012 both in June and August were higher than those in 2013. (4) We confirmed that almost all pelagic stages of
N. nomurai
in the YS and ECS were confined north of 30°N. The breeding places, population dynamics, and mechanism of formation of the distribution pattern of
N. nomurai
in the YS and ECS in recent years are presented.
Blooms of the Rhizostomeae Nemopilema nomurai and the Semaeostomeae Cyanea nozakii have become more prominent in the coastal waters of China since the end of the 20th century. However, the trophic ...ecology of these jellyfish species remain incompletely understood. In this study, the trophic characterizations of N. nomurai and C. nozakii populations were assessed using stable isotope analysis (SIA), with a focus on the important bloom area offshore of the Yangtze Estuary. Our results indicated obvious trophic differences between two scyphomedusae. The higher trophic position of the C. nozakii population in the coastal planktonic food web was reflected by its relatively large δ15N value compared to that of N. nomurai. The MixSIAR model indicated that small copepods (<1000 μm) and seston were important food sources for N. nomurai, and showed a stable dietary, irrespective of N. nomurai size. Conversely, C. nozakii exhibited a more diverse diet composition, and gelatinous organisms also were an important part of the diet of C. nozakii. Moreover, a pronounced ontogenetic shift in the diet of C. nozakii was observed, consisting of an increase in the proportion of zooplanktonic prey (excluding seston) in the C. nozakii diet with diameter. This study provides isotopic evidence of the substantial difference in trophic ecology between N. nomurai and C. nozakii, which resulted from the variations in SI values and diet compositions. Inconsistent size-based variation patterns were observed in trophic ontogenetic shifts within the N. nomurai and C. nozakii groups, highlighting a need for further investigation. These results will give insights into the characteristics of trophic ecology and functional roles of Rhizostomeae and Semaeostomeae, and indicate the need for a more careful consideration of the representations of Rhizostomeae and Semaeostomeae in coastal ecosystems, so as not to underestimate the knowledge of taxon-specific ecological effects on energy flow.
•Significant differences in trophic ecology of N. nomurai and C. nozakii.•Large δ15N values reflect the higher trophic position of C. nozakii population.•Divergent size-based variation patterns in trophic ecology.
Mesoscale fronts occur frequently in many coastal areas and often are sites of elevated productivity; however, knowledge of the fine-scale distribution of zooplankton at these fronts is lacking, ...particularly within the mid-trophic levels. Furthermore, small (<13 cm) gelatinous zooplankton are ubiquitous, but are under-studied, and their abundances underestimated due to inadequate sampling technology. Using the In Situ Ichthyoplankton Imaging System (ISIIS), we describe the fine-scale distribution of small gelatinous zooplankton at a sharp salinity-driven front in the Southern California Bight. Between 15 and 17 October 2010, over 129000 hydromedusae, ctenophores, and siphonophores within 44 taxa, and nearly 650000 pelagic tunicates were imaged in 5450 m³ of water. Organisms were separated into 4 major assemblages which were largely associated with depth-related factors. Species distribution modeling using boosted regression trees revealed that hydromedusae and tunicates were primarily associated with temperature and depth, siphonophores with dissolved oxygen (DO) and chlorophyll a fluorescence, and ctenophores with DO. The front was the least influential out of all environmental variables modeled. Additionally, except for 6 taxa, all other taxa were not aggregated at the front. Results provide new insights into the biophysical drivers of gelatinous zooplankton distributions and the varying influence of mesoscale fronts in structuring zooplankton communities.
Incidents of bathers being stung by jellyfish on the coast of southern Brazil have been monitored from 2012 to 2022 to identify the species involved and to search for patterns of behavior in ...different summer seasons. For 10 years of monitoring, data on occurrence, density and the crossing with the abiotic variables of temperature and salinity of the water and wind direction were obtained. During the investigated period, seven species of macro jellyfish were recorded out, four of them were urticating species, in wich Olindias sambaquiensis was the most frequent and abundant. Based on physical-chemical data on the seawater in this area, the cohorts, and consequently the success in the recruitment and the density of the O. sambaquiensis, may be related with years of low salinity of these Coastal Water. This hydrozoan was also the only species that showed a correlation between average annual density values and incidents of bathers being stung in subsequent summers. Likewise, on a monthly time scale, incidents of stings were correlated with winds from the south quadrant that could promote the transport of organisms to the beach region. A predictive model of the occurrence of jellyfish stinging events is presented and applied for the summer of 2023.
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•Three out of the four species of urticating jellyfish show spring reproductive peaks.•O.sambaquiensis Is the most abundant species of macro jellyfish in southern Brazil.•Success of jellyfish recruitment seems to be related to the salinity of the water.•Transport of jellyfish to the beach is associated with southerly winds.•A predictive model for the occurrence of stings outbreaks in bathers is proposed.
The excess input of nutrients that triggers eutrophication processes is one of the main destabilizing factors of coastal ecosystems, being coastal lagoons prone to suffer these effects and present ...dystrophic crises. This process is aggravated by the current trend of rising temperatures and more frequent torrential rains due to climate change. We observed that the Mar Menor lagoon had a great capacity for self-regulation of its trophic web and resistance to the eutrophication process, but after 30 years of nutrient input due to the change in the agricultural regime in its drainage basin in the 1990s, the lagoon ecosystem has suffered several of these events. In this work, we characterize the seasonal dynamic of the pelagic system during the last dystrophic crises. Phosphorus and nitrogen alternate as the limiting nutrient for phytoplankton proliferation. The entrance of phosphorus is mainly related to vacation periods, while nitrogen inputs, both superficial and sub-superficial, are more related to chronic high nitrates concentration in the water table after the agricultural activities carried out in the area changed. Our analysis reveals that the summer season is prone to suffer periodical hypoxia events when the N/P ratio decreases, and the temperature rises. In the Mar Menor, the ecological balance has been maintained in recent decades thanks to, among other mechanisms, the spatial and temporal segregation of top-down control over phytoplankton exerted by three species of jellyfish. However, the deep reduction in the abundance of the summer jellyfish species and the excessive proliferation of phytoplankton has meant the loss of this control. Moreover, we have registered a decline in the abundance of all the other zooplanktonic groups during the dystrophic crises. We suggest that management actions should address the input sources of water and nutrients, and an integrated management of the activities carried out throughout the watershed.
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•Eutrophication promotes the transition from top-down to bottom-up control.•The jellyfish's control of eutrophication can be overcome by phytoplankton blooms.•During dystrophic crises, primary production can be limited by nitrogen.•Phosphate input acts as a trigger for the dystrophic crisis.•Summer season is prone to dystrophic crises when and where N/P decreases below the Redfield ratio.
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