Acartia tonsa European Centre for Medium-Range Weather Forecasts Froude propulsion efficiency Kolmogorov National Centers for Environmental Information 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 locomotion