Journal ArticleDOI
Trends in biorobotic autonomous undersea vehicles
TLDR
In this article, a mechanistic understanding of the balance between cruising and maneuvering in swimming animals and undersea vehicles is given, where the potential in maneuvering and silencing is discussed.Abstract:
The emergence of biorobotic autonomous undersea vehicle (AUV) as a focus for discipline-integrated research in the context of underwater propulsion and maneuvering is considered within the confines of the Biorobotics Program in the Office of Naval Research. The significant advances in three disciplines, namely the biology-inspired high-lift unsteady hydrodynamics, artificial muscle technology and neuroscience-based control, are discussed in an effort to integrate them into viable products. The understanding of the mechanisms of delayed stall, molecular design of artificial muscles and the neural approaches to the actuation of control surfaces is reviewed in the context of devices based on the pectoral fins of fish, while remaining focused on their integrated implementation in biorobotic AUVs. A mechanistic understanding of the balance between cruising and maneuvering in swimming animals and undersea vehicles is given. All aquatic platforms, in both nature and engineering, except during short duration burst speeds that are observed in a few species, appear to lie within the condition where their natural period of oscillation equals the time taken by them to travel the distance of their own lengths. Progress in the development of small underwater experimental biorobotic vehicles is considered where the three aforementioned disciplines are integrated into one novel maneuvering device or propulsor. The potential in maneuvering and silencing is discussed.read more
Citations
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Journal ArticleDOI
Fish biorobotics: kinematics and hydrodynamics of self-propulsion
TL;DR: This paper discusses, using aquatic propulsion in fishes as a focal example, how using robotic models can lead to new insights in the study of aquatic propulsion, and uses two examples: pectoral fin function, and hydrodynamic interactions between dorsal and caudal fins.
Journal ArticleDOI
Free-Locomotion of Underwater Vehicles Actuated by Ionic Polymer Metal Composites
TL;DR: In this paper, a modeling framework for studying free-locomotion of biomimetic underwater vehicles propelled by vibrating ionic polymer metal composites (IPMCs) is developed.
Journal ArticleDOI
Geometric Methods for Modeling and Control of Free-Swimming Fin-Actuated Underwater Vehicles
TL;DR: Techniques from geometric mechanics and geometric nonlinear control theory are applied to modeling and construction of trajectory tracking algorithms for a free-swimming underwater vehicle that locomotes and maneuvers using a two-link actuated ldquotailrdquo and independently actuatedLdquopectoral fin thirdquo bow planes.
Journal ArticleDOI
Design and Locomotion Control of a Biomimetic Underwater Vehicle With Fin Propulsion
Chunlin Zhou,Kin Huat Low +1 more
TL;DR: In this paper, a robotic manta ray (RoMan-II) has been developed for potential marine applications, which can perform diversified locomotion patterns in water by manipulating two wide tins.
Journal ArticleDOI
Fish-inspired robots: design, sensing, actuation, and autonomy--a review of research.
Aditi Raj,Atul Thakur +1 more
TL;DR: A detailed comparison of various design features of fish-inspired robots reported in the past decade is presented, believing that by studying the existing robots, future designers will be able to create new designs by adopting features from the successful robots.
References
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Journal ArticleDOI
Adhesive force of a single gecko foot-hair
Kellar Autumn,Yiching A. Liang,S. Tonia Hsieh,Wolfgang Zesch,Wai Pang Chan,Thomas W. Kenny,Ronald S. Fearing,Robert J. Full +7 more
TL;DR: The first direct measurements of single setal force are reported by using a two-dimensional micro-electro-mechanical systems force sensor and a wire as a force gauge and revealed that a seta is ten times more effective at adhesion than predicted from maximal estimates on whole animals.
Journal ArticleDOI
Carbon Nanotube Actuators
Ray H. Baughman,Changxing Cui,Anvar A. Zakhidov,Zafar Iqbal,Joseph N. Barisci,G.M. Spinks,Gordon G. Wallace,Alberto Mazzoldi,Danillo de Rossi,Andrew G. Rinzler,Oliver Jaschinski,S. Roth,Miklos Kertesz +12 more
TL;DR: Predictions based on measurements suggest that actuators using optimized nanotube sheets may eventually provide substantially higher work densities per cycle than any previously known technology.
Journal ArticleDOI
Wing rotation and the aerodynamic basis of insect flight.
TL;DR: In this paper, the authors show that the enhanced aerodynamic performance of insects results from an interaction of three distinct yet interactive mechanisms: delayed stall, rotational circulation, and wake capture.
Wing rotation and the aerodynamic basis of insect flight
TL;DR: A comprehensive theory incorporating both translational and rotational mechanisms may explain the diverse patterns of wing motion displayed by different species of insects.