2D Contractile Water Jet Thruster Characterization for Bio-Inspired Underwater Robot Locomotion

Shaari, Muhammad Farid; Samad, Z.

doi:10.4028/www.scientific.net/amm.490-491.1099

Cited by 3 publications

(5 citation statements)

References 7 publications

(6 reference statements)

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“…However, it is difficult to measure the mass of the ejected fluid. Thus, equation 2 could be expanded to equation 3, where the mass of the ejected fluid could be determined by multiplying the density of the fluid, ρ and the volume of the ejected fluid, Vt [11]. In order to ensure the AUV moves forward, the thrust must overwhelm the drag.…”

Section: Resultsmentioning

confidence: 99%

See 1 more Smart Citation

Drag Analysis of Contractile Water Jet Locomoted Micro AUV in Laminar Fluid

Shaari

2015

AMM

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Abstract. Drag analysis is vital to measure the performance of the autonomous underwater vehicle (AUV) as well as the AUV thruster. Most of the previous drag studies is regarding to the shape and swimming method that contribute to the AUV performance. However, few attention was given on drag which influence the development of thruster. Hence, this research was conducted to analyze the drag of the micro AUV in a laminar fluid flow in order to find the optimum thrust that must be gained by a contractile water jet thruster (CWJT). Besides, these studies also focus on the dynamic pressure and skin friction that forms the total drag which acted on the AUV surface. Drag was measured by using pull technique and simulation technique for AUV speed below 0.5ms -1 . The results show that the recorded drag was between 9.0 x 10 -4 N and 1.8 x 10 -1 N. The trend line between the simulation data and experimental data has no significant difference and thus it shows that the simulation data were verified. Both results exhibits that the drag increase tremendously regarding to the AUV speed increment.

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Section: Resultsmentioning

confidence: 99%

“…A digital pull scale (model Micro Mark) with 0.028N resolution was applied to measure the tensile force of the cable that represents the drag. The drag coefficient C d could be determined by equation 1 [11],…”

Section: Methodsmentioning

confidence: 99%

Drag Analysis of Contractile Water Jet Locomoted Micro AUV in Laminar Fluid

Shaari

2015

AMM

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“…Table 1 shows the sets of the contraction frequency that utilized in the experiments. The relation between contraction frequency and the actuation cycle time can be presented as Equation 1. …”

Section: Methodsmentioning

confidence: 99%

“…Contractile Water Jet Thruster (CWJT) is a thruster that inspired from the squid contractile mechanism [1]. The ejected water jet produces thrust in one direction and accelerates the thruster body in the opposite direction.…”

Section: Introductionmentioning

confidence: 99%

Feasibility Study on IPMC Actuated Contractile Water Jet Thruster Body Contraction

et al. 2016

Self Cite

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Abstract. This research was conducted to investigate the feasibility of Ionic Polymer Metal Composite (IPMC) as the actuator for Contractile Water Jet Thruster (CWJT). The thrust that generated from the accelerated volume of ejected fluid depends on the IPMC actuator contraction performance. During this investigation, the variation of contraction frequency and nozzle aperture influence on the body deformation was carried out. The results of the experiments exhibit that the body contraction decreased tremendously from 0.05 Hz to 0.15 Hz. The body contraction has no apparent decrement for more than 0.15 Hz of contraction frequency. Besides, larger nozzle aperture has relatively more body contraction than smaller nozzle aperture. These results show that the fixed actuation force and the contraction frequency have a significant influence on the CWJT body contraction.

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“…It is a well known fact that, in nature, the fish propels itself by the coordinate motion of its body, fins, and tail, achieving higher propulsive efficiency and better maneuverability than the conventional AUVs powered by rotary propellers with the same power consumption [2]. To improve the efficiency of AUVs, more research studies are performed on application, design, and control of underwater robotic fish in recent years [3][4][5][6][7][8][9].…”

Section: Introductionmentioning

confidence: 99%

An Environmental Perception Framework for Robotic Fish Formation Based on Machine Learning Methods

Yang

et al. 2019

Applied Sciences

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Autonomous Underwater Vehicle (AUV) has become a hotspot in the field of robot in recent years. As a special kind of AUV, the robotic fish can achieve better propulsion efficiency and maneuverability than traditional AUVs. Studies show that robotic fish formation can save energy and perform more complex tasks than single robotic fish, but it is difficult to maintain a stable formation because the nearby environmental condition is hard to obtain. Inspired by the lateral line system (LLS) of fish, this paper constructs a predictive model of flow velocity and a judgement model of spacing between individual platforms for robotic fish formation through monitoring sensors on robotic fish surface. The models are built by methods of polynomial fitting and neural networks based on Computational Fluid Dynamics (CFD) simulation. The results show that the flow velocity predicted by our model could reduce the error to 0.4%, and the spacing judgement accuracy could reach at least 80%. The findings are useful for maintaining a stable formation and will provide significant guidance for the control of robotic fish formation and sensor installation position on the robotic fish surface.

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2D Contractile Water Jet Thruster Characterization for Bio-Inspired Underwater Robot Locomotion

Cited by 3 publications

References 7 publications

Drag Analysis of Contractile Water Jet Locomoted Micro AUV in Laminar Fluid

Drag Analysis of Contractile Water Jet Locomoted Micro AUV in Laminar Fluid

Feasibility Study on IPMC Actuated Contractile Water Jet Thruster Body Contraction

An Environmental Perception Framework for Robotic Fish Formation Based on Machine Learning Methods

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