The population dynamics and the feeding of the scyphomedusa Aurelia aurita in Tapeng Bay, southwestern Taiman, were investigated from April, 1999 to April, 2000 and May, 2001 to April, 2002. A. aurita distributed mainly in the inner water of the Bay. The average abundance of A. aurita was 71¡Ó256 ind.100m¡Ð3, with higher abundance in winter and spring than in summer and autumn. The abundance of A. aurita showed no significant correlation with hydrographic features, but it seems to have one or two month¡¦s time lag with the seasonal distribution pattern of copepods. The main reproduction period of A. aurita was form autumn to next spring. The occurrence of ephyra was mainly in winter and spring, with maximum abundance of 328 ind./100m3. The average bell diameter of A. aurita was 13.9¡Ó4.2 cm. The size of bell diameter varied seasonally, generally had larger size in autumn and smaller size in spring. Seventeen zooplankton taxa were found in the stomach contents of A. aurita, copepods were the most dominant (70.3%), followed by copepods nauplius (20.1%), bivalve larva (3.0%) and fish eggs (2.3%). The average ingestion rate of A. aurita was 2165¡Ó2673 prey ind.-1 day-1 , the feeding impact of A. aurita on zooplankton was 14.69 % ~ 40.84 % %, with no significant difference among sizes.

Jellyfish blooms create problems worldwide, which may increase with global warming, water pollution, and over-fishing. Benthic polyps (scyphistomae) asexually produce buds and small jellyfish (ephyrae), and this process may determine the population size of the large, swimming scyphomedusae. Environmental factors that affect the asexual reproduction rates include food, temperature, salinity, and light. In the present study, polyps of Aurelia aurita (L.), originated from Tapong Bay, southwest Taiwan, were studied in different combinations of temperatures (T), light intensities (L), and salinities (S). In the T (20, 25, 30¢XC) ¡Ñ L (372, 56, and 0 lux) experiment which was with a 12 h light-12 h dark photoperiod, production of new buds decreased with warmer temperatures and stronger light intensity. Warm temperatures accelerated strobilation and increased the daily production of ephyrae. The proportion of ephyrae to total asexual reproduction (new buds + ephyrae) increased dramatically in warmer temperatures and stronger light. Survival period was reduced at the highest temperature. Strobilation did not occur at the lowest temperature in darkness. All measures of total asexual reproduction indicated that medium to high temperatures would lead to faster production of more jellyfish; however, continuous high temperatures might result in high polyp mortality. Light intensity affected asexual reproduction less than did temperature, only significantly accelerating the strobilation rate. Because the interactive effects of light and temperature were significant for polyp survival time and the production of jellyfish per polyp, combined light and temperature effects are likely important for strobilation in situ. In the T (27, 31, 35¢XC) ¡Ñ S (25, 30, and 35) experiment which was in dark environment, production of new buds decreased with higher temperatures and salinity. The proportion of ephyrae to total asexual reproduction (new buds + ephyrae) increased with warmer temperatures, but survival period was reduced at the highest salinity, and strobilation was substantially reduced, even though the temperature was warmer compared to the T ¡Ñ L experiment. Salinity affected asexual reproduction less than did temperature, only significantly affecting production of new buds, and slightly affecting survival period and the proportion of ephyrae to total asexual reproduction. According to these two experiments, warmer temperature may accelerate strobilation in light condition and lead to better yield of swimming jellyfish, however continuously warm temperature would reduce the yield by decreasing budding and higher mortality. Complete dark led to much less strobilation, especially at low temperatures, suggesting that the existence of light might be more important than light intensity. The effects of salinity on asexual reproduction were not as conspicuous as that of temperature and light.

This thesis presents the design and development of a novel biomimetic jellyfish robot that features ionic polymer metal composite actuators. The shape and swimming style of this underwater vehicle are based on oblate jellyfish species, which are known for their high locomotive efficiency. Ionic polymer metal composites (IPMC) are used as actuators in order to contract the bell and thus propel the jellyfish robot. This research focuses on translating the evolutionary successes of the natural species into a jellyfish robot that mimics the geometry, the swimming style, and the bell deformation cycle of the natural species. Key advantages of using IPMC actuators over other forms of smart material include their ability to exhibit high strain response due to a low voltage input and their ability to act as artificial muscles in water environment. This research specifically seeks to implement IPMC actuators in a biomimetic design and overcome two main limitations of these actuators: slow response rate and the material low blocking force. The approach presented in this document is based on a combination of two main methods, first by optimizing the performance of the IPMC actuators and second by optimizing the design to fit the properties of the actuators by studying various oblate species. Ionic polymer metal composites consist of a semi-permeable membrane bounded by two conductive, high surface area electrode. The IPMCs are manufactured is several variations using the Direct Assembly Process (DAP), where the electrode architecture is controlled to optimize the strain and stiffness of the actuators. The resulting optimized actuators demonstrate peak to peak strains of 0.8 % in air and 0.7 % in water across a frequency range of 0.1-1.0 Hz and voltage amplitude of 2 V. A study of different oblate species is conducted in order to attain a model system that best fits the properties of the IPMC actuators. The Aequorea victoria is chosen based on its bell morphology and kinematic properties that match the mechanical properties of the IPMC actuators. This medusa is characterized by it low swimming frequency, small bell deformation during the contraction phase, and high Froude efficiency. The bell morphology and kinematics of the Aequorea victoria are studied through the computation of the radius of curvature and thus the strain energy stored in the during the contraction phase. The results demonstrate that the Aequorea victoria stores lower strain energy compared to the other candidate species during the contraction phase. Three consecutive jellyfish robots have been built for this research project. The first generation served as a proof of concept and swam vertically at a speed of 2.2 mm/s and consumed 3.2 W of power. The second generation mimicked the geometry and swimming style of the Aurelia aurita. By tailoring the applied voltage waveform and the flexibility of the bell, the robot swam at an average speed of 1.5 mm/s and consumed 3.5 W of power. The third and final generation mimicked the morphology, swimming behavior, and bell kinematics of the Aequorea victoria. The resulting robot, swam at an average speed of 0.77 mm/s and consumed 0.7 W of power when four actuators are used while it achieved 1.5 mm/s and 1.1 W of power consumption when eight actuators are used. Key parameter including the type of the waveform, the geometry of the bell, and position and size of the IPMC actuators are identified. These parameters can be hit later in order to further optimize the design of an IPMC based jellyfish robot. / Master of Science