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Figure 5


Fig. 5. Wobble W measures unsteady turning maneuvers. Defined as the standard deviation of the angular acceleration experienced by the Tadro's hull, W includes acceleration from the yaw recoil of swimming and the turning maneuvers exercised by the Tadro as it seeks light and maintains station about the light source. (A) This hypothetical situation shows how angular velocity added to swimming yaw (dark line) yields the total angular velocity (red) line, the difference being the maneuvering velocity added to swimming. (B) Angular acceleration of the data from the hypothetical situation shows how W measures its dispersion about the mean value. Simple sinusoidal model of angular velocity with realistic values for tailbeat frequency (1.7 Hz) and W chosen as parameters (see Results). The value for unsteady turning maneuvers (0.17 Hz) was estimated from trials.





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