  It is shown that the system efficiency of a self-propelled flexible body is
ill-defined unless one considers the concept of quasi-propulsive efficiency,
defined as the ratio of the power needed to tow a body in rigid-straight
condition over the power it needs for self-propulsion, both measured for the
same speed. Through examples we show that the quasi-propulsive efficiency is
the only rational non-dimensional metric of the propulsive fitness of fish and
fish-like mechanisms. Using two-dimensional viscous simulations and the concept
of quasi-propulsive efficiency, we discuss the efficiency two-dimensional
undulating foils. We show that low efficiencies, due to adverse body-propulsor
hydrodynamic interactions, cannot be accounted for by the increase in friction
drag.
