Strouhal Number Measurement for Novel Biomimetic Folding Fins Using an Image Processing Method

Piskur, Paweł

doi:10.3390/jmse10040484

Cited by 12 publications

(8 citation statements)

References 30 publications

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“…The research was carried out by an expert using a designed model of the CyberSeal, designed depth controllers and various tuning methods. As a result of the preliminary study, the upper and bottom barriers assume the following values: (a) for PID controller [k p , k d , k i ]-bottom barrier equals [200, 10,000, −1] and upper barrier equals [600, 40,000, 1], (b) for SM controller [λ, k s , ϕ]-bottom barrier equals [−5, −100, −2] and upper barrier equals [5,100,2]. The main objective of the primary research was to compare two classic controllers, three methods optimized by fitness functions in response to changing the desired immersion value.…”

Section: Resultsmentioning

confidence: 99%

“…The development of bionics resulted in a new trend in the construction of underwater mobile robots, whose main idea is to imitate underwater animals. These vehicles are called biomimetic underwater vehicles (BUVs) [5,6], which mimic construction and motion kinematics. Most often, the prototype vehicle is inspired by the shape and movement of aquatic creatures, although there are designed based on manta rays, penguins and many others.…”

Section: Introductionmentioning

confidence: 99%

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Selection of the Depth Controller for the Biomimetic Underwater Vehicle

Przybylski

2023

Electronics

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The aim of this paper is to select a depth controller for innovative biomimetic underwater vehicle drives. In the process of optimizing depth controller settings, two classical controllers were used, i.e., the proportional–integral–derivative (PID) and the sliding mode controllers (SM). The parameters of the regulators’ settings were obtained as a result of optimization by three methods of the selected quality indicators in terms of the properties of the control signal. The starting point for the analysis was simulations conducted in the MATLAB environment for the three optimization methods on three types of indicators for three different desired depth values. The article describes the methods and quality indicators in detail. The paper presents the results of the fitness function obtained during the optimization. Moreover, the time courses of the vehicle position relative to the desired depth, the side fin deflection angles, the calculated parameters of the control signals, and the observations and conclusions formulated in the research were presented.

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Section: Resultsmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Selection of the Depth Controller for the Biomimetic Underwater Vehicle

Przybylski

2023

Electronics

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“…The second test consisted in combining data from two different sources: from sensors in the vehicle and obtained with the vehicle motion registered on video and then analysed in the Tracker software. Image analysis is a very popular solution in motion analysis of underwater robotic (Jurczyk et al, 2020;Piskur, 2022). In order to perform motion analysis of the vehicle, the GoPro® Hero 6 camcorder was placed on a stand under the water surface.…”

Section: Experimental Testsmentioning

confidence: 99%

A dynamic submerging motion model of the hybrid-propelled unmanned underwater vehicle: Simulation and experimental verification

Talarczyk

2023

International Journal of Applied Mathematics and Computer Scien

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Hybrid propulsion in underwater vehicles is the new idea of combining conventional propulsion systems such as screw propellers with other kinds of propulsion like oscillating biomimetic fins, glider wings or jet thrusters. Each of these propulsion systems has its own benefits and drawbacks, and the goal is to have them complement each other in certain conditions. This paper covers the topic of a dynamic model of the pitch and heave motion of the HUUV (hybrid unmanned underwater vehicle) using screw propellers and biomimetic lateral fins. Firstly, the simulation model of the vehicle performing depth and pitch change is presented. Secondly, the vehicle's hydrodynamic coefficients obtained from CFD simulations are discussed. Thirdly, the results of the HUUV experimental studies in a swimming pool are presented. Lastly, simulation results are compared with those of the experiment to verify the correctness of the model. The vehicle's motion in the swimming pool during the experiments was recorded using a submerged camcorder and then analysed using the Tracker software.

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“…Wings are vital for the maneuverability of underwater gliders [23]. An appropriate wing can effectively improve the motion performance of underwater vehicles [24]. Hence, despite extensive scholarly research on AUV water entry impact problems, an additional exploration of the impact characteristics of airdropped underwater gliders is warranted.…”

Section: Introductionmentioning

confidence: 99%

Investigation of the Impact Load Characteristics during Water Entry of Airdropped Underwater Gliders

Wu,

et al. 2024

JMSE

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Underwater gliders have emerged as effective tools for long-term ocean exploration. Employing aircraft for launching underwater gliders could significantly expand their application. Compared to slender underwater vehicles, the distinctive wing structure of underwater gliders may endure huge impact forces when entering water, leading to more intricate impact load characteristics and potential wing damage. This paper employs a computational fluid dynamics approach to analyze the water entry event of an airdropped underwater glider and its impact load behavior. The results indicate that the glider impact load is enhanced prominently by the wing, and that the extent of enhancement is influenced by the entry attitude. At an entry angle of 80°, the glider exhibits the maximum impact load during different water entry angles. In addition, a larger attack angle indicates a higher glider impact load. Our present study holds significant importance for both the hydrodynamic shape design and water entry strategy control of airdropped underwater gliders.

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Strouhal Number Measurement for Novel Biomimetic Folding Fins Using an Image Processing Method

Cited by 12 publications

References 30 publications

Selection of the Depth Controller for the Biomimetic Underwater Vehicle

Selection of the Depth Controller for the Biomimetic Underwater Vehicle

A dynamic submerging motion model of the hybrid-propelled unmanned underwater vehicle: Simulation and experimental verification

Investigation of the Impact Load Characteristics during Water Entry of Airdropped Underwater Gliders

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