Numerical Study on Swimming Performance Based on Flapping Orientations of Caudal Fins for Bio-robotic Systems
02 Jul 2019-
TL;DR: Dorso-ventral flapping with a positive metacentric height is shown to yield better self-stabilizing effects and lesser energy consumption compared to sideways flapping, and stability analysis for a generalised case is presented.
Abstract: Set in the context of the development of bioinspired robotics systems, this paper seeks to understand the influence of the choice of the flapping orientation of fins on the propulsive performance of small underwater vehicles. In particular, the thunniform mode of Body and/or Caudal Fin (BCF) propelled systems is studied. This research is motivated by the fact that not much literature is available on the influence of flapping orientation of marine organisms and a number of mechanisms are found in nature. Dorso-ventral flapping with a positive metacentric height is shown to yield better self-stabilizing effects and lesser energy consumption compared to sideways flapping. Moreover, with dorso-ventral flapping, the choice of metacentric height could lead to the possibility of adjusting the body's rotational oscillation amplitudes to positively affect the downstream fluid interactions for the caudal fin. This is not possible with sideways flapping where the designer would be forced to change the flapping kinematics or the body shape in the sagittal plane, to adjust the body oscillation amplitudes. While the main body of results are obtained using simulations for underwater vehicle dynamics with coefficients of the REMUS underwater vehicle, stability analysis for a generalised case is also presented.
Citations
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01 Nov 2002
TL;DR: In this article, the authors developed and verified a non-linear simulation model for the REMUS AUV, the first such model for this platform, where the external forces and moments resulting from hydrostatics, hydrodynamic lift and drag, added mass, and the control inputs of the vehicle propeller and fins are all defined in terms of vehicle coefficients.
Abstract: Describes the development and verification of a six degree of freedom, non-linear simulation model for the REMUS AUV, the first such model for this platform. In this model, the external forces and moments resulting from hydrostatics, hydrodynamic lift and drag, added mass, and the control inputs of the vehicle propeller and fins are all defined in terms of vehicle coefficients. The paper briefly describes the derivation of these coefficients. The equations determining the coefficients, as well as those describing the vehicle rigid-body dynamics, are left in non-linear form to better simulate the inherently non-linear behavior of the vehicle. Simulation of the vehicle motion is achieved through numeric integration of the equations of motion. The simulator output is then verified against vehicle dynamics data collected in experiments performed at sea. The simulator is shown to accurately model the motion of the vehicle. The paper concludes with recommendations for future model validation experiments.
113 citations
01 Jun 2014
TL;DR: IMU can be helpful to diagnose of musculoskeletal disorders by range of motion and develop of customized rehabilitation program and help to diagnose early therapy for a musculo-knee disorders.
Abstract: This research aims to measure and analyze of range of motion in real time with inertial measurement unit(IMU). It can provided help to diagnose early therapy for a musculoskeletal disorders. Also, IMU can be evaluated state of joint motion in each direction, transverse, sagittal and coronal, respectively. As a result, it can be helpful to diagnose of musculoskeletal disorders by range of motion and develop of customized rehabilitation program.
18 citations
TL;DR: In this paper , a serial split-hull underwater vehicle with symmetric hulls is analyzed and an optimal turning configuration is proved where the need for lateral thrust is minimal compared to the axial one.
2 citations
References
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01 Jun 2014
TL;DR: IMU can be helpful to diagnose of musculoskeletal disorders by range of motion and develop of customized rehabilitation program and help to diagnose early therapy for a musculo-knee disorders.
Abstract: This research aims to measure and analyze of range of motion in real time with inertial measurement unit(IMU). It can provided help to diagnose early therapy for a musculoskeletal disorders. Also, IMU can be evaluated state of joint motion in each direction, transverse, sagittal and coronal, respectively. As a result, it can be helpful to diagnose of musculoskeletal disorders by range of motion and develop of customized rehabilitation program.
18 citations
"Numerical Study on Swimming Perform..." refers background in this paper
...This is more important considering that many of the IMUs are unreliable or inaccurate in the yaw axis [11] in the presence of electromagnetic interferences....
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...For instance, in the event of an inertial measurement unit (IMU) [10] failure, a vehicle with sideways flapping would suffer in even maintaining a straight-line path....
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