Study of the thrust–drag balance with a swimming robotic fish

Gibouin, Florence; Raufaste, Christophe; Bouret, Yann; Argentina, Médéric

doi:10.1063/1.5043137

Cited by 35 publications

(17 citation statements)

References 44 publications

(67 reference statements)

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“…Larger steepness of undulation can also provide higher resistance, which is qualitatively consistent with our reasoning that vertical flow and hindrance caused by the undulatory locomotion increase due to larger lateral displacement of the body. According to the increasing relationship shown in Figure 5, we assumed that there was a quadratic relationship between C DP and σ, which is given as C DP ∝ σ 2 , and was similar to results in existing research [50][51][52].…”

Section: -6supporting

confidence: 52%

Hydrodynamic scaling law in undulatory braking locomotion

2021

Sci. China Phys. Mech. Astron.

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Flow over a fish-like airfoil is numerically investigated to elaborate the hydrodynamics of the undulatory braking locomotion for an elongated eel-like body or long-based fin. For undulation with low frequency, we find that boundary layer separation occurs in a parameter region with wakes in which two vortex pairs are formed per undulatory period. The physical mechanism of separation is governed by the slip (the ratio of swimming-to-body-wave speed), and the critical value of the slip in an inertial flow regime is approximately 4/3 rather than 1, which is independent of steepness (or amplitude). The relationship between pressure drag and relative velocity (between phase speed and free stream velocity) changes from linear to quadratic, corresponding to two different flow structures; this happens due to boundary layer separation, and the piecewise scaling relationship between pressure drag and relative velocity is explicitly clarified. Considering the viscosity effects, the separation criterion and the scaling relationship in the case of an undulatory brake are both synthetically modified using the Reynolds number, with all the required parameters clearly expressed. The results of this study provide physical insight into understanding the flow structures and hydrodynamics of the undulatory braking locomotion, which has instructional significance to brake design.

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Section: -6supporting

confidence: 52%

Hydrodynamic scaling law in undulatory braking locomotion

2021

Sci. China Phys. Mech. Astron.

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“…Robotic platforms designed to emulate aquatic locomotion have typically focused on lower-frequency swimming, replicating the basic undulatory body and fin kinematics of fishes when they swim slowly (1)(2)(3)(4)(5)(6)(7). Efforts to recreate fish propulsion using an undulating and deformable body have shown some success (3,(8)(9)(10)(11)(12), and yet there is still much to learn from biology to successfully implement solutions that can closely match the performance of high-speed biological systems.…”

Section: Introductionmentioning

confidence: 99%

“…Last, most fish-like robotic systems operated in the frequency range of 0.25 to 3 Hz and achieved body velocities of ~0.25 to 1.5 BL/s (Fig. 1) (1,2,5,6). A few platforms have extended the range of operating frequencies above 3 Hz [e.g., (42,44)]; however, swimming speeds at these higher frequencies were often less than 1 BL/s, and power consumption was high [e.g., 16 Hz, 0.8 BL/s, and 20 W in (44)].…”

Section: Introductionmentioning

confidence: 99%

Tuna robotics: A high-frequency experimental platform exploring the performance space of swimming fishes

et al. 2019

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Tuna and related scombrid fishes are high-performance swimmers that often operate at high frequencies, especially during behaviors such as escaping from predators or catching prey. This contrasts with most fish-like robotic systems that typically operate at low frequencies (< 2 hertz). To explore the high-frequency fish swimming performance space, we designed and tested a new platform based on yellowfin tuna (Thunnus albacares) and Atlantic mackerel (Scomber scombrus). Body kinematics, speed, and power were measured at increasing tail beat frequencies to quantify swimming performance and to study flow fields generated by the tail. Experimental analyses of freely swimming tuna and mackerel allow comparison with the tuna-like robotic system. The Tunabot (255 millimeters long) can achieve a maximum tail beat frequency of 15 hertz, which corresponds to a swimming speed of 4.0 body lengths per second. Comparison of midline kinematics between scombrid fish and the Tunabot shows good agreement over a wide range of frequencies, with the biggest discrepancy occurring at the caudal fin, primarily due to the rigid propulsor used in the robotic model. As frequency increases, cost of transport (COT) follows a fish-like U-shaped response with a minimum at ~1.6 body lengths per second. The Tunabot has a range of ~9.1 kilometers if it swims at 0.4 meter per second or ~4.2 kilometers at 1.0 meter per second, assuming a 10–watt-hour battery pack. These results highlight the capabilities of high-frequency biological swimming and lay the foundation to explore a fish-like performance space for bio-inspired underwater vehicles.

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“…Scientific instruments built using automated computer control and robots are becoming more widespread [8][9][10] . In this work we use a differential drive robot to keep track of the walker.…”

Section: Introductionmentioning

confidence: 99%

An autonomous robot for continuous tracking of millimetric-sized walkers

Serrano-Muñoz

Frayle-Pérez

Reyes

et al. 2019

Review of Scientific Instruments

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The precise and continuous tracking of millimetric-sized walkers -such as ants-is quite important in behavioral studies. However, due to technical limitations, most studies concentrate on trajectories within areas no more than 100 times bigger than the size of the walker or longer trajectories at the expense of either accuracy or continuity. Our work describes a scientific instrument designed to push the boundaries of precise and continuous motion analysis up to 1000 body lengths or more. It consists of a mobile robotic platform that uses Digital Image Processing techniques to track the targets in real time by calculating their spatial position. During the experiments, all the images are stored, and afterwards processed to estimate with higher precision the path traced by the walkers. Some preliminary results achieved using the proposed tracking system are presented.

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Study of the thrust–drag balance with a swimming robotic fish

Cited by 35 publications

References 44 publications

Hydrodynamic scaling law in undulatory braking locomotion

Hydrodynamic scaling law in undulatory braking locomotion

Tuna robotics: A high-frequency experimental platform exploring the performance space of swimming fishes

An autonomous robot for continuous tracking of millimetric-sized walkers

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