Design of a Semiautonomous Biomimetic Underwater Vehicle for Environmental Monitoring.

Listak, Madis; Martin, Georg; Pugal, David; Aabloo, Alvo; Kruusmaa, Maarja

doi:10.1109/cira.2005.1554247

Cited by 23 publications

(9 citation statements)

References 15 publications

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“…Moreover, many of these biological systems can also hover in place with no forward locomotion, generate large enough forces to hold station under adverse environmental conditions, burst with incredible acceleration and have a significantly reduced noise signature compared to man-made AUVs (Fish & Lauder, 2006). Some form an exotic collection mimicking lamprey (Ayers et al, 2000;Crespi et al, 2004), tuna (Barrett et al, 1996;Yu et al, 2004;Anderson & Chhabra, 2002), and dolphins (Yu et al, 2007), while others are more conventional style AUV designs outfitted with bioinspired flapping propulsors (Fish et al, 2003;Low & Willy, 2006;Listak et al, 2005;Borgen et al, 2003;Mojarrad, 2000;Licht et al, 2004). To reach some of these goals, there is a spectrum of first generation BAUVs that have been developed.…”

Section: Bioinspired Roboticsmentioning

confidence: 99%

Batoid Fishes: Inspiration for the Next Generation of Underwater Robots

Moored¹,

Fish²,

Kemp³

et al. 2011

mar technol soc j

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A B S T R A C TFor millions of years, aquatic species have utilized the principles of unsteady hydrodynamics for propulsion and maneuvering. They have evolved high-endurance swimming that can outperform current underwater vehicle technology in the areas of stealth, maneuverability and control authority. Batoid fishes, including the manta ray, Manta birostris, the cownose ray, Rhinoptera bonasus, and the Atlantic stingray, Dasyatis sabina, have been identified as a high-performing species due to their ability to migrate long distances, maneuver in spaces the size of their tip-to-tip wing span, produce enough thrust to leap out of the water, populate many underwater regions, and attain sustained swimming speeds of 2.8 m/s with low flapping/ undulating frequencies. These characteristics make batoid fishes an ideal platform to emulate in the design of a bio-inspired autonomous underwater vehicle. The enlarged pectoral fins of each ray undergoes complex motions that couple spanwise curvature with a chordwise traveling wave to produce thrust and to maneuver. Researchers are investigating these amazing species to understand the biological principles for locomotion. The continuum of swimming motions-from undulatory to oscillatory-demonstrates the range of capabilities, environments, and behaviors exhibited by these fishes. Direct comparisons between observed swimming motions and the underlying cartilage structure of the pectoral fin have been made. A simple yet powerful analytical model to describe the swimming motions of batoid fishes has been developed and is being used to quantify their hydrodynamic performance. This model is also being used as the design target for artificial pectoral fin design. Various strategies have been employed to replicate pectoral fin motion. Active tensegrity structures, electro-active polymers, and fluid muscles are three structure/actuator approaches that have successfully demonstrated pectoral-finlike motions. This paper explores these recent studies to understand the relationship between form and swimming function of batoid fishes and describes attempts to emulate their abilities in the next generation of bio-inspired underwater vehicles.

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Section: Bioinspired Roboticsmentioning

confidence: 99%

Batoid Fishes: Inspiration for the Next Generation of Underwater Robots

Moored¹,

Fish²,

Kemp³

et al. 2011

mar technol soc j

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show abstract

“…They also leave a less noticeable wake than conventional underwater vehicles equipped with thrusters. Artificial aquatic creatures also help us to understand how their biological counterparts are functioning [1]. New propulsion methods are being considered to further improve existing designs.…”

Section: Introductionmentioning

confidence: 99%

Computational Study on Posture Control of Shape Memory Alloy Biomimetic Pectoral Fin

Zhang

Yang

Low

2007

2007 International Conference on Mechatronics and Automation

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Fishes that generate thrust mainly based on fins have a surprising maneuverability. Researchers in and abroad pay more and more attention to it. Using smart material to develop biomimetic fish fin that mimic vivid fish fin motion has gradually become to one of the research hotspot. This paper first introduces a formerly developed undulatory biomimetic fin driven by shape memory alloy. And analyzes four basic posture (flat, upward, downward, sine form undulatory motion) that can be achieved by this biomimetic fin. Meanwhile, present a detailed comparison and discussion on the force generation (drag and lift force) of each fin posture. Finally, a comparison is carried out between static sine form fin posture and dynamic sine form undulatory motion posture of the biomimetic fin to check the influence of undulatory fin motion on drag reduction. This paper provides meaningful conclusions for the potential application of the robotic fish fin. Index Terms -biomimetic fish fin; shape memory alloy (SMA); computational fluid dynamics (CFD); posture control; computational study

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“…. 따라서, 군사적 감시활동, 해 저탐사 [5] , 수중환경 감시, 생태학적 연구 등의 수중 임무 수행을 위한 차세대 수중 운행체 [6] 를 개발하기 위한 방 편으로 물고기 모방 로봇을 개발하기 위한 많은 연구들이 이루어지고 있다. 1994년에 개발된 MIT의 RobotTuna [7] 를 시작으로 많은 물고기 모방 로봇들이 개발되었다.…”

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Analysis on the Propulsion Force of an Ostraciiform Fish Robot with Elastically Jointed Double Caudal Fins and Effect of Joint Position on the Propulsion Force

Kang¹

2011

The Journal of Korea Robotics Society

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A simplified linearized dynamic equation for the propulsion force generation of an Ostraciiform fish robot with elastically jointed double caudal fins is derived in this paper. The caudal fin is divided into two segments and connected using an elastic joint. The second part of the caudal fin is actuated passively via the elastic joint connection by the actuation of the first part of it. It is demonstrated that the derived equation can be utilized for the design of effective caudal fins because the equation is given as an explicit form with several physical parameters. A simple Ostraciiform fish robot was designed and fabricated using a microprocessor, a servo motor, and acrylic plastics. Through the experiment with the fish robot, it is demonstrated that the propulsion force generated in the experiment matches well with the proposed equation, and the propulsion speed can be greatly improved using the elastically jointed double fins, improving the average speed more than 80%. Through numerical simulation and frequency domain analysis of the derived dynamic equations, it is concluded that the main reason of the performance improvement is resonance between two parts of the caudal fins. . 따라서, 군사적 감시활동, 해 저탐사 [5] , 수중환경 감시, 생태학적 연구 등의 수중 임무 수행을 위한 차세대 수중 운행체 [6] 를 개발하기 위한 방 편으로 물고기 모방 로봇을 개발하기 위한 많은 연구들이 이루어지고 있다. 1994년에 개발된 MIT의 RobotTuna [7] 를 시작으로 많은 물고기 모방 로봇들이 개발되었다.RobotTuna의 뒤를 이어 RoboPike 자율 수중 운행체라고 할 수 있다 [9,10] . 이 외에도 California Institute of Technology [11] , University of California San Diego 및 Northeastern University [12] , University of California Berkley [13] , Essex University [14] , Tokai University 및 National Maritime Research Institute (NMRI) [15] , Peking University [16] , 서울대학교 [29] , 건국대학교 [17,22] , 충주대학교 [18] , Institute Technology Bandung [19] , 울산대학교 [28] 등에서 물고기 로봇 관련 연 구들이 이루어지고 있다.

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Design of a Semiautonomous Biomimetic Underwater Vehicle for Environmental Monitoring.

Cited by 23 publications

References 15 publications

Batoid Fishes: Inspiration for the Next Generation of Underwater Robots

Batoid Fishes: Inspiration for the Next Generation of Underwater Robots

Computational Study on Posture Control of Shape Memory Alloy Biomimetic Pectoral Fin

Analysis on the Propulsion Force of an Ostraciiform Fish Robot with Elastically Jointed Double Caudal Fins and Effect of Joint Position on the Propulsion Force

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