Design and Experiments of a Robotic Fish Imitating Cow-Nosed Ray

Cai, Yueri; Bi, Shusheng; Zheng, Licheng

doi:10.1016/s1672-6529(09)60204-3

Cited by 79 publications

(48 citation statements)

References 18 publications

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“…However, the objective of this type of research is not always to make efficient actuators, but to investigate the hydrodynamics, logic and mechanism of biological systems; e.g. simple mimicry, where many underwater vehicles with biomimetic propulsors either quote poor total propulsion system efficiencies, Yu et al (2009) or total propulsion system efficiency is not quoted at all, Cai et al (2010); Suleman and Crawford (2008). In many cases a propeller driven AUV would be able to achieve the same speed as a vehicle using bio-inspired propulsion but at a lower propulsive system power, for example, Licht et al (2004b).…”

Section: <038mentioning

confidence: 99%

Nature in engineering for monitoring the oceans: comparison of the energetic costs of marine animals and AUVs

Phillips

Haroutunian

Man

et al. 2012

Further Advances in Unmanned Marine Vehicles

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The range of physiological adaptations possessed by marine animals allowing them to successfully operate in the marine environment is a plentiful source of inspiration for the designers of Autonomous Underwater Vehicles. This chapter compares the total energetic cost of straight line swimming for both marine animals and AUVs, using cost of transport (COT) as a comparative metric. COT is a normalised measure of the energetic cost of transporting the animal's or vehicle's mass over a unit distance. It includes non propulsion power requirements as well as considering the energy lost by actuators and mechanical couplings and energy lost in the wake. Comparisons presented in this chapter show that marine animals typically have higher optimum COT than engineered systems of equivalent size. However parallels may be drawn, for example, to increase range both marine animals and AUVs appear to favour reducing non-propulsion power costs and travelling slowly to ensure operating at the minimum COT.

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Section: <038mentioning

confidence: 99%

Nature in engineering for monitoring the oceans: comparison of the energetic costs of marine animals and AUVs

Phillips

Haroutunian

Man

et al. 2012

Further Advances in Unmanned Marine Vehicles

View full text Add to dashboard Cite

show abstract

“…However, the merits of the caudal fins had not been explored for the driving limitation of IPMC. There have also been many developed fish-like prototypes with dual pectoral fins, including the MPF-like robotic fishes [7][8][9] and BCF-like robotic fishes [12,40,41]. In the MPF-like robotic fishes, the long base of dual pectoral fins usually requires more DoFs, which increases the complexity of the structure.…”

Section: Discussionmentioning

confidence: 99%

“…Since the first robotic fish, RoboTuna, was developed in 1995 [1], there have been many robotic fishes that mimic various kinds of fishes in the past years. According to the location of propulsion mechanisms, the propulsion methods of robotic fishes can be classified into two categories [2]: (1) body and/or caudal fins propulsion (BCF) [3][4][5], and (2) middle and/or paired fins propulsion (MPF) [6][7][8][9][10][11]. However, the current most robotic fishes are far from duplicating the locomotion characteristics of real fishes, which also sets up an obstacle for their applications in engineering.…”

Section: Introductionmentioning

confidence: 99%

Design and Control of an Agile Robotic Fish With Integrative Biomimetic Mechanisms

Zhang

Qian

Pan

et al. 2016

IEEE/ASME Trans. Mechatron.

100

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Flying insects and swimming fishes have high efficiency and high maneuverability in air and water, respectively. Their wings and fins have evolved for many ages to adapt to propelling in the complex environment. In the paper, an integrative biomimetic robotic fish is proposed and developed, which combines the advantages of insect wings and fish fins to achieve a high agility underwater. In the robotic fish, two caudal fins were equipped at the tail of the robotic fish in parallel as the main propulsion mechanism, the opposite flapping of the two caudal fins generates mutually opposing lateral forces during cruising, which leads to a stable and high-performance swimming. In addition, two pectoral fins that mimic the function of insect wings were equipped at two sides of the robotic fish, which enhances the robotic fish maneuverability in vertical plane. Moreover, a central pattern generator (CPG) model was designed to achieve the versatile maneuvering motions, motion switching, and autonomous swimming with an obstacle avoiding ability. The experiments have demonstrated that the robotic fish can swim more stably and efficiently with versatile maneuver motions by taking advantage of the integrative propulsion mechanism. The developed robotic fish have many potential applications for its agility, stable swimming, and low-cost structure.

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“…Regarding the applications, the underlying hydrodynamic principles also inspire researchers to develop advanced equipment involving the interactions of unsteady flows and deformable bodies. Recently, the robotic models of fish swimming have been of great interest in ocean engineering, and a wide diversity of approaches have been taken for the mechanical design of fish-inspired systems [9][10][11], such as a carangiform fish robot [12,13] and a batoid-inspired robot [14][15][16]. Besides the active flow control mechanisms used in bionic propulsion, passive flapping or vibrating dynamics have also been applied in developing renewable energy harvesters, which are usually based on compliant materials, such as elastic-mounted cylinders and piezoelectric membranes [17][18][19].…”

Section: Introductionmentioning

confidence: 99%

Coupling Motion and Energy Harvesting of Two Side-by-Side Flexible Plates in a 3D Uniform Flow

2016

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Abstract:The fluid-structure interaction problems of two side-by-side flexible plates with a finite aspect ratio in a three-dimensional (3D) uniform flow are numerically studied. The plates' motions are entirely passive under the force of surrounding fluid. By changing the aspect ratio and transverse distance, the coupling motions, drag force and energy capture performance are analyzed. The mechanisms underlying the plates' motion and flow characteristics are discussed systematically. The adopted algorithm is verified and validated by the simulation of flow past a square flexible plate. The results show that the plate's passive flapping behavior contains transverse and spanwise deformation, and the flapping amplitude is proportional to the aspect ratio. In the side-by-side configuration, three distinct coupling modes of the plates' motion are identified, including single-plate mode, symmetrical flapping mode and decoupled mode. The plate with a lower aspect ratio may suffer less drag force and capture less bending energy than in the isolated situation. The optimized selection for obtaining higher energy conversion efficiency is the plate flapping in single-plate mode, especially the plate with a higher aspect ratio. The findings of this work provide several new physical insights into the understanding of fish schooling and are expected to inspire the developments of underwater robots or energy harvesters.

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Design and Experiments of a Robotic Fish Imitating Cow-Nosed Ray

Cited by 79 publications

References 18 publications

Nature in engineering for monitoring the oceans: comparison of the energetic costs of marine animals and AUVs

Nature in engineering for monitoring the oceans: comparison of the energetic costs of marine animals and AUVs

Design and Control of an Agile Robotic Fish With Integrative Biomimetic Mechanisms

Coupling Motion and Energy Harvesting of Two Side-by-Side Flexible Plates in a 3D Uniform Flow

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