Acartia tonsa European Centre for Medium-Range Weather Forecasts Froude propulsion efficiency Kolmogorov National Centers for Environmental Information Research & information: general Temora turbinata added mass coefficient animal movement arctic ocean chemosensory convergent evolution copepod copepods cost of transport cruising data analysis elastic collision escape behavior escape swimming feeding mode form-function relation hydrodynamics imaging immersed boundary method impulsive Stokeslet impulsive stresslet impulsively generated viscous vortex ring jellyfish kinematics