Journal ArticleDOI
Effect of flapping orientation on caudal fin propelled bio-inspired underwater robots
Santhosh Ravichandran,Srikanth Dharwada,Aman Agarwal,Prabhu Rajagopal +3 more
- Vol. 9, Iss: 1, pp 55-68
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TLDR
It is found that dorso-ventral flapping could lead to better self-stabilizing effects and lesser energy consumption compared to sideways flapping, and is an appealing advantage for underwater surveying robots carrying cameras and sensors as controlled body oscillations could yield better results from its payloads.Abstract:
Aquatic animals and mammals in nature, in particular, the Body and/or Caudal Fin (BCF) swimmers swim either by flapping their fins in the sideways direction or the dorso-ventral direction. Not much literature is available on the effects of the performance of these robots based on the choice of its flapping orientation. In this research, it is found that dorso-ventral flapping could lead to better self-stabilizing effects and lesser energy consumption compared to sideways flapping. It is also found that the choice of dorso-ventral flapping offers the possibility of controlling the body’s oscillation amplitude while flapping. This is an appealing advantage for underwater surveying robots carrying cameras and sensors as controlled body oscillations could yield better results from its payloads. The main body of results is obtained with simulations for underwater vehicle dynamics with the coefficients of the REMUS underwater vehicle, while stability analysis for a generalised case is also presented.read more
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Journal ArticleDOI
Modeling, Trajectory Analysis and Waypoint Guidance System of a Biomimetic Underwater Vehicle Based on the Flapping Performance of Its Propulsion System
Juan Antonio Algarín-Pinto,Luis E. Garza-Castañón,Adriana Vargas Martinez,Luis I. Minchala-Avila +3 more
TL;DR: In this article , a mathematical modeling and waypoint guidance system for a biomimetic autonomous underwater vehicle (BAUV) is proposed, where the BAUV achieves sideways and dorsoventral thunniform motion by flapping its caudal fin through a parallel mechanism.
Journal ArticleDOI
Development and Performance Analysis of Pneumatic Soft‐Bodied Bionic Flipper
TL;DR: In this article , a pneumatic soft-bodied bionic flipper with strong underwater mobility, good environmental adaptability, and flexible attitude transformation is drawn, combined with the large deformation and hyperelastic properties of silicone.
References
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Book ChapterDOI
Stability and Maneuverability
TL;DR: The relationship between fish form and swimming performance go back several millennia, an interest stimulated by the high speeds achieved by some fishes and their ability to hover and move smoothly in spite of numerous perturbations arising from the surrounding water as well as an intrinsic tendency by many species to roll belly up as discussed by the authors.
Journal ArticleDOI
Center of mass motion in swimming fish: effects of speed and locomotor mode during undulatory propulsion
Grace Xiong,George V. Lauder +1 more
TL;DR: Analysis of magnitude and frequency components of COM motion in three dimensions in three fish species swimming with four locomotor modes at three speeds using high-speed video and an image cross-correlation technique suggests that fish have relatively low COM oscillations for their body size.
Journal ArticleDOI
Numerical study on the hydrodynamics of thunniform bio-inspired swimming under self-propulsion.
Ningyu Li,Huanxing Liu,Yumin Su +2 more
TL;DR: This study enables a detailed quantitative analysis of the force production of the thunniform mode as well as its connection to the self-propelled swimming kinematics and vortex wake structure and indicates that for achieving a desired swimming speed increasing θm seems more efficiently than increasing Ap.
Journal ArticleDOI
Stability versus Maneuvering: Challenges for Stability during Swimming by Fishes
Paul W. Webb,Daniel Weihs +1 more
TL;DR: It is postulate that control of the angle of orientation, θ, of the trailing edge is especially important in the evolution and lifestyles of fishes, but studies are few.
Journal ArticleDOI
Analysis of biomimetic caudal fin shapes for optimal propulsive efficiency
TL;DR: Numerical simulations are performed assuming laminar flow and the underlying mechanisms and the cause for high thrust and power consumption are discussed in detail, with more focus on relating such parameters directly with the geometrical features such as the amount of forking and fin leading edge angle.