Design and development of modular magnetic bio-inspired autonomous underwater robot – MMBAUV

Wright, Marvin; Zhou, Yang; Dai, Saishuai; Post, Mark; Yue, Hong; Sarkar, Bodhi

doi:10.1016/j.oceaneng.2023.113968

Cited by 8 publications

(4 citation statements)

References 13 publications

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“…Consequently, thrust forces can be separately computed from drag forces, thereby allowing the determination of the proposed propulsive efficiency in Equation (5). The longitudinal forces acting on fish in Equation ( 7) are normalized by employing the resistance force, R, which is computed for a non-deformed fish (St = 0) and results in the net force coefficient C F (t), thrust coefficient T(t), and swimming drag coefficient D(t).…”

Section: Hydrodynamic Efficiency Metrics Power Consumption and Hydrod...mentioning

confidence: 99%

“…Among them, we can find flying devices, swimmers, etc. Many researchers have focused on studying fish swimming to understand the underlying principles and mechanics that can be applied to the design and development of biomimetics devices like autonomous underwater vehicles (AUVs) [ 4 , 5 ]. AUVs offer numerous benefits when used for challenging tasks.…”

Section: Introductionmentioning

confidence: 99%

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Numerical Investigation of Dimensionless Parameters in Carangiform Fish Swimming Hydrodynamics

Macías,

García-Ortiz,

Oliveira

et al. 2024

Biomimetics

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Research into how fish and other aquatic organisms propel themselves offers valuable natural references for enhancing technology related to underwater devices like vehicles, propellers, and biomimetic robotics. Additionally, such research provides insights into fish evolution and ecological dynamics. This work carried out a numerical investigation of the most relevant dimensionless parameters in a fish swimming environment (Reynolds Re, Strouhal St, and Slip numbers) to provide valuable knowledge in terms of biomechanics behavior. Thus, a three-dimensional numerical study of the fish-like lambari, a BCF swimmer with carangiform kinematics, was conducted using the URANS approach with the k-ω-SST transition turbulence closure model in the OpenFOAM software. In this study, we initially reported the equilibrium Strouhal number, which is represented by St∗, and its dependence on the Reynolds number, denoted as Re. This was performed following a power–law relationship of St∝Re(−α). We also conducted a comprehensive analysis of the hydrodynamic forces and the effect of body undulation in fish on the production of swimming drag and thrust. Additionally, we computed propulsive and quasi-propulsive efficiencies, as well as examined the influence of the Reynolds number and Slip number on fish performance. Finally, we performed a vortex dynamics analysis, in which different wake configurations were revealed under variations of the dimensionless parameters St, Re, and Slip. Furthermore, we explored the relationship between the generation of a leading-edge vortex via the caudal fin and the peak thrust production within the motion cycle.

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Section: Hydrodynamic Efficiency Metrics Power Consumption and Hydrod...mentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Numerical Investigation of Dimensionless Parameters in Carangiform Fish Swimming Hydrodynamics

Macías,

García-Ortiz,

Oliveira

et al. 2024

Biomimetics

View full text Add to dashboard Cite

show abstract

“…Addressing these challenges requires harnessing natural biological mechanisms and integrating intelligent technologies to enhance the adaptability, flexibility, and intelligence of rescue robots. Consequently, bio-inspired multi-legged robots, such as those resembling centipedes, have garnered attention for their superior adaptability in navigating complex terrains [1][2][3][4][5][6].…”

Section: Introductionmentioning

confidence: 99%

Self-Configurable Centipede-Inspired Rescue Robot

Hou,

Xue,

Liang

et al. 2024

Applied Sciences

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Drawing from the characteristics of centipedes, such as their low center of gravity, high stability in movement, adaptability to complex terrains, and ability to continue moving even after losing a limb, this paper designs a self-reconfigurable centipede-type rescue robot with relatively high stability while moving. The robot’s body can lift and traverse higher obstacles, and its multi-segmented structure enables self-disconnection and reconstruction for docking. Moreover, the proposed robot is adept at navigating diverse terrains and surmounting obstacles, equipped with a camera sensor facilitating life recognition, terrain surveying, scene understanding, and obstacle avoidance. Its capabilities prove advantageous for achieving challenging ground rescue missions. Motion stability tests, conducted across various terrains, showcase the robot’s ability to maintain a consistent movement path in rugged environments. Operating with a leg lift height of 0.02 m, the robot achieves a speed of 0.09 m per second. In simulated damaged conditions, the robot demonstrates the capacity to disconnect and reconnect its limbs swiftly, restoring movement capabilities within a single second. During environmental perception tasks, the robot processes and analyzes environmental data in real time at a rate of approximately 15 frames per second, with an 80% confidence level. With an F1 score exceeding 93% and an average precision rate surpassing 98%, the robot showcases its reliability and efficiency.

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“…With the growing interest in oceanic exploration, autonomous underwater vehicles (AUVs) play a vital role in marine research activities, such as ocean pollution monitoring [1], marine biology exploration [2], and pipeline inspection [3]. To maximize the AUV's efficiency, reliable navigation information is essential, and precise positioning is mandatory for effective navigation and control [4].…”

Section: Introductionmentioning

confidence: 99%

Development of Hydroacoustic Localization Algorithms for AUV Based on the Error-Corrected WMChan-Taylor Algorithm

Yang,

Gao,

et al. 2024

JMSE

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Autonomous underwater vehicles (AUVs) are susceptible to non-line-of-sight (NLOS) errors and noise bias at receiving stations during the application of hydroacoustic localization systems, leading to a degradation in positioning accuracy. To address this problem, this paper optimizes the Chan-Taylor algorithm. Initially, we propose the Weighted Modified Chan-Taylor (WMChan-Talor) algorithm, which introduces dynamic weights into the Chan algorithm to correct noise variance at measurement stations, thereby improving the accuracy of AUV positioning. Computer simulations validate the effectiveness of the WMChan-Taylor algorithm in enhancing positioning accuracy. To further address the accuracy degradation caused by noise deviations across different receiving stations, we introduce an error-corrected WMChan-Taylor algorithm. This algorithm utilizes a standard residual function to eliminate significant delays caused by large errors at receiving stations and applies standard residual weighting to improve the combined positioning solution. The performance of the error-corrected WMChan-Taylor algorithm is demonstrated through both computer and semi-physical simulation experiments, confirming its capability to isolate noisier stations and thus enhance overall positioning accuracy.

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Design and development of modular magnetic bio-inspired autonomous underwater robot – MMBAUV

Cited by 8 publications

References 13 publications

Numerical Investigation of Dimensionless Parameters in Carangiform Fish Swimming Hydrodynamics

Numerical Investigation of Dimensionless Parameters in Carangiform Fish Swimming Hydrodynamics

Self-Configurable Centipede-Inspired Rescue Robot

Development of Hydroacoustic Localization Algorithms for AUV Based on the Error-Corrected WMChan-Taylor Algorithm

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