Efficiency-based optimisation of a 2-DOF robotic fish model

Masoomi, Sayyed Farideddin; Gutschmidt, Stefanie; Chen, Xiaoqi; Sellier, Mathieu

doi:10.1504/ijbbr.2013.058736

Cited by 3 publications

(3 citation statements)

References 31 publications

(30 reference statements)

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“…Bio-inspired technique in the sense design and fabrication of fin extracted from nature for modelling in accordance to nature stated by Masoomi et al (2013). Two major types of swimming locomotion (anguilliform, carangiform) require specific mathematical model to exactly illustrate the dynamics of motion.…”

Section: Background Workmentioning

confidence: 99%

Optimisation of multi-body fishbot undulatory swimming speed based on SOLEIL and BhT simulators

Mohamed¹,

Raviraj²

2020

IJISC

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Robotic fish design is an upcoming and interesting research area with lot of challenging tasks due to the impulsive dynamics of water space. In this paper an evolutionary computational approach is performed to design caudal fins under carangi form and sub-carangi form swimming modes. Size and Shape with SOLEIL and multi-body evolutionary experiments were carried out using Euler-Lagrangian equation-based BhT tool to experiment and validate the hydrodynamic effects of caudal fin by avoiding complex and time consuming CFD simulations to achieve realistic motion. To improve average velocity of robotic fish two approaches have been suggested, one is a hill climbing algorithm to find optimal shape with standard stiffness whereas the second approach considers both shape and stiffness together in a genetic algorithm. Finally simulated fin models are compared against physical models to identify the correlation and performances of both to accurately approximate real world performances in a simulated environment leading to design optimised caudal fins for robotic fish.

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Section: Background Workmentioning

confidence: 99%

Optimisation of multi-body fishbot undulatory swimming speed based on SOLEIL and BhT simulators

Mohamed¹,

Raviraj²

2020

IJISC

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“…These all involve the continuous development of underwater robots, which can be used instead of human beings. 1 Designing the swimming robots to behave like real fish in terms of movement and maneuvering requires a deep knowledge of swimming mode mechanisms and behaviors. Different types of fish use different types of fins as their main locomotor.…”

Section: Introductionmentioning

confidence: 99%

“…A large number of applications require the use of swimming robots such as aquatic life monitoring, military intervention, water pollution detection, and commercial applications. These all involve the continuous development of underwater robots, which can be used instead of human beings . Designing the swimming robots to behave like real fish in terms of movement and maneuvering requires a deep knowledge of swimming mode mechanisms and behaviors.…”

Section: Introductionmentioning

confidence: 99%

Design, modeling, and experimental validation of a concave‐shape pectoral fin of labriform‐mode swimming robot

Naser

Rashid

2019

Engineering Reports

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The pectoral fin shape, size, and speed are the three main parameters for the proposed design. The influence of the geometrical shape of pectoral fin in labriform‐mode swimming mechanism is evaluated with the aid of computational fluid dynamics (CFD) method, which could be considered as a first step before building the complete robot prototype. The simulated results obtained are then validated experimentally. Two concave‐shape fins were designed with high precision, and each one of them is attached to a servomotor arm, which is, in turn, connected to a servomotor that is sliding on a pair of parallel shafts fixed at the center of a pool. The mathematical model of the proposed design is derived and then simulated by SolidWorks software. A different number of fin oscillating angles are tested with different power‐to‐recovery ratios. The generated thrust and drag force components under different working conditions are investigated, and hence, the drag coefficient is obtained experimentally. Body velocity and motor torque are calculated and compared with theoretical analysis. The results indicate that for each angle of rotation, there exists an optimal ratio that produces a maximum thrust during power stroke and maintains a minimum drag during recovery stroke.

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Effect of Reynold Number and Angle of Attack on the Hydrodynamic Forces Generated from A Bionic Concave Pectoral Fins

Naser

Rashid

2020

IOP Conf. Ser.: Mater. Sci. Eng.

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The pectoral fin shape, diameter and speed are the three main parameters for our robotic fish design. The influence of geometrical shape of pectoral fin in labriform mode swimming mechanism is evaluated with the aid of CFD method which is considered as a first step before building the complete design prototype. Two concave shape fins were designed precisely, each of them was attached to a servo motor arm which is in turn connected to a servo motor that is sliding on pair of shafts to work as robot straighter. The two servo motors along with their pectoral fins are placed in lm × 0.5m × 0.5m pool. Different number of angles of attack were tested and the results showed the optimum value is 50°. Further analysis based on Reynold number and its effect on the drag coefficient was investigated carefully. The hydrodynamic forces will be increases with the increasing of angle of attack for all Reynold numbers, which will in turn speed up the overall velocity of the body.

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Efficiency-based optimisation of a 2-DOF robotic fish model

Cited by 3 publications

References 31 publications

Optimisation of multi-body fishbot undulatory swimming speed based on SOLEIL and BhT simulators

Optimisation of multi-body fishbot undulatory swimming speed based on SOLEIL and BhT simulators

Design, modeling, and experimental validation of a concave‐shape pectoral fin of labriform‐mode swimming robot

Effect of Reynold Number and Angle of Attack on the Hydrodynamic Forces Generated from A Bionic Concave Pectoral Fins

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