Analysis of Flow around Robotic Fish by Three-dimensional Fluid-structure Interaction Simulation and Evaluation of Propulsive Performance

Takada, Yogo; Ochiai, Toshinori; Fukuzaki, Noboru; Tajiri, Tomoki; Wakisaka, Tomoyuki

doi:10.5226/jabmech.3.57

Cited by 8 publications

(5 citation statements)

References 10 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…In section 2, we calculate the two-dimensional crosssection using a genetic algorithm (GA), which is a semioptimization method and is incorporated in the GTT code [5] [6] for computation fluid dynamics (CFD) developed in this laboratory. Therefore, we obtain an improved cross-sectional shape for the rotor.…”

Section: Instructionsmentioning

confidence: 99%

Investigation of Rotors Imitating Bird Wings to Reduce Electricity Consumption of HORNET

et al. 2019

Self Cite

View full text Add to dashboard Cite

To address the deterioration of bridges and buildings, we have developed a robot, HORNET, to inspect building walls. This robot travels on the wall surface using propellers with wheels on the wall. As the running duration is short on smooth surfaces, the crosssectional shape of the rotor was designed to reduce the power consumption using two-dimensional numerical analysis using a genetic algorithm. Furthermore, we manufactured several kinds of rotors imitating birds and performed experiments to determine the ideal shape to reduce electricity consumption. Experiments were also conducted to evaluate the performance when the rotor was attached to HORNET. First, we developed HORNET's dynamic model and evaluated the performance by running a simulation on a route imitating the actual inspection route. Additionally, by installing a new rotor in HORNET, we evaluated the running performance on the up and down paths.

show abstract

Section: Instructionsmentioning

confidence: 99%

Investigation of Rotors Imitating Bird Wings to Reduce Electricity Consumption of HORNET

et al. 2019

Self Cite

View full text Add to dashboard Cite

show abstract

“…In the field of robotic fish, CFD has been used by a number of researchers to explore the effects of flexibility or stiffness of the fin [20,21], evaluating the hydrodynamic coefficients [22] and optimize gaits of robots [23,24]. Other applications include validating the analytical model [25], obtaining the fluid effects caused by undulation [26], optimizing the fish morphology design [27] and studying formation control of paired fish [15].…”

Section: Introductionmentioning

confidence: 99%

CFD based parameter tuning for motion control of robotic fish

Tian

Wang

et al. 2020

Bioinspir. Biomim.

View full text Add to dashboard Cite

After millions of years of evolution, fishes have been endowed with agile swimming ability to accomplish various behaviourally relevant tasks. In comparison, robotic fish are still quite poor swimmers. One of the unique challenges facing robotic fish is the difficulty in tuning the motion control parameters on the robot directly. This is mainly due to the complex fluid environment robotic fish need to contend with and endurance limitations (i.e. battery capacity limitations). To overcome these limitations, we propose a computational fluid dynamics (CFD) simulation platform to first tune the motion control parameters for the computational robotic fish and then refine the parameters by experiments on robotic fish. Within the simulation platform, the body morphology and gait control of the computational robotic fish are designed according to a robotic fish. The gait control is implemented by a central pattern generator (CPG); The CFD model is solved by using a hydrodynamic-kinematics strong-coupling method. We tested our simulation platform with three basic tasks under active disturbance rejection control (ADRC) and try-and-error-based parameter tuning. Trajectory comparisons between the computational robotic fish and robotic fish verify the effectiveness of our simulation platform. Moreover, power costs and swimming efficiency under the motion control are also analyzed based on the outputs from the simulation platform. Our results indicate that the CFD based simulation platform is powerful and robust, and shed new light on the efficient design and parameter optimization of the motion control of robotic fish.

show abstract

“…At present, many researchers use numerical simulation methods to study underwater robots, avoiding the limitations of experimental conditions. Furthermore, this method can provide a more intuitive hydrodynamic phenomenon, which can provide guidance for the shape design and control of the underwater robots [17][18][19]. There is evidence to show that fish-like underwater robots have better motion ability [20][21][22][23].…”

Section: Introductionmentioning

confidence: 99%

Numerical Simulation and Analysis of Fish-Like Robots Swarm

et al. 2019

Applied Sciences

View full text Add to dashboard Cite

Artificial fish-like robot is an important branch of underwater robot research. At present, most of fish-like robot research focuses on single robot mechanism behavior, some research pays attention to the influence of the hydro-environment on robot crowds but does not reach a unified conclusion on the efficiency of fish-like robots swarm. In this work, the fish-like robots swarm is studied by numerical simulation. Four different formations, including the tandem, the phalanx, the diamond, and the rectangle are conducted by changing the spacing between fishes. The results show that at close spacing, the fish in the back can obtain a large wake from the front fish, but suffers large lateral power loss from the lateral fish. On the contrary, when the spacing is large, both the wake and pressure caused by the front and side fishes become small. In terms of the average swimming efficiency of fish swarms, we find that when the fish spacing is less than 1.25 L (L is the length of the fish body), the tandem swarm is the best choice. When the spacing is 1.25 L , the tandem, diamond and rectangle swarms have similar efficiency. When the spacing is larger than 1.25 L , the rectangle swarm is more efficient than other formations. The findings will provide significant guidance for the control of fish-like robots swarm.

show abstract

Analysis of Flow around Robotic Fish by Three-dimensional Fluid-structure Interaction Simulation and Evaluation of Propulsive Performance

Cited by 8 publications

References 10 publications

Investigation of Rotors Imitating Bird Wings to Reduce Electricity Consumption of HORNET

Investigation of Rotors Imitating Bird Wings to Reduce Electricity Consumption of HORNET

CFD based parameter tuning for motion control of robotic fish

Numerical Simulation and Analysis of Fish-Like Robots Swarm

Contact Info

Product

Resources

About