Swimming near the substrate: a simple robotic model of stingray locomotion

Blevins, Erin; Lauder, George V.

doi:10.1088/1748-3182/8/1/016005

Cited by 66 publications

(57 citation statements)

References 36 publications

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“…The finding that wall effect can enhance cruising speed is in consistency with the results from Quinn et al [11] and FernandezPrats et al [12], where free-swimming experiments were conducted on flexible pitching (or plunging) foils near a solid boundary. However, the current finding is in contrast with that from Blevins and Lauder [13], where almost no gain in the cruising speed was found in a stingray-inspired robotic model swimming near the substrate. As to the propulsive efficiency, it seems that inconsistency exists between our finding and that of Quinn et al [11], where the propulsive economy was found to be unaffected by the presence of a solid boundary.…”

Section: Wall Effect On Propulsive Performancecontrasting

confidence: 99%

Self-propelled swimming of a flexible plunging foil near a solid wall

Dai

Zhang

2016

Bioinspir. Biomim.

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Numerical simulations are conducted to investigate the influences of a solid wall on the self-propelled swimming of a flexible plunging foil. It is found that the presence of a solid wall enhances the cruising speed, with the cost of increasing input power. Rigid foil can achieve high percentage increase in cruising speed when swimming near a solid wall, but the propulsive efficiency may be reduced. Foils with some flexibility can enjoy the enhancements in both cruising speed and propulsive efficiency. Another advantage of the flexible foils in near-wall swimming is that smaller averaged lateral forces are produced. The effects of wall confinement on the wake structure and the vortex dynamics are also studied in this paper. The results obtained in this study shed some light on the unsteady wall effect experienced by aquatic animals and also inform the design of bio-mimetic underwater vehicles which are capable of exploiting the wall effect.

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Section: Wall Effect On Propulsive Performancecontrasting

confidence: 99%

Self-propelled swimming of a flexible plunging foil near a solid wall

Dai

Zhang

2016

Bioinspir. Biomim.

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“…Third, batoids are increasingly serving as subjects for robotic models of aquatic propulsion (e.g. Blevins and Lauder, 2013;Cloitre et al, 2012;Dewey et al, 2012;Krishnamurthy et al, 2010;Moored et al, 2011a,b;Park et al, 2016), and yet threedimensional biological data on how the wing moves are extremely limited. Such data are needed to provide a template for programming robotic ray wing surface motions, and we aim to provide a new kinematic data set on wing-based aquatic propulsion for this purpose.…”

Section: Introductionmentioning

confidence: 99%

Batoid locomotion: effects of speed on pectoral fin deformation in the little skate, Leucoraja erinacea

Santo

Blevins

Lauder

2017

Journal of Experimental Biology

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Most batoids have a unique swimming mode in which thrust is generated by either oscillating or undulating expanded pectoral fins that form a disc. Only one previous study of the freshwater stingray has quantified three-dimensional motions of the wing, and no comparable data are available for marine batoid species that may differ considerably in their mode of locomotion. Here, we investigate threedimensional kinematics of the pectoral wing of the little skate, Leucoraja erinacea, swimming steadily at two speeds [1 and 2 body lengths (BL) s]. We measured the motion of nine points in three dimensions during wing oscillation and determined that there are significant differences in movement amplitude among wing locations, as well as significant differences as speed increases in body angle, wing beat frequency and speed of the traveling wave on the wing. In addition, we analyzed differences in wing curvature with swimming speed. At 1 BL s −1 , the pectoral wing is convex in shape during the downstroke along the medio-lateral fin midline, but at 2 BL s −1 the pectoral fin at this location cups into the flow, indicating active curvature control and fin stiffening. Wing kinematics of the little skate differed considerably from previous work on the freshwater stingray, which does not show active cupping of the whole fin on the downstroke.

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“…Digital movies of flow over the foils were obtained using a Photron PCI-1024 high-speed video camera (Photron Inc., San Diego, CA, USA; 1024×1024 pixel resolution). DPIV images were recorded at a sample rate of 1000 Hz and were analyzed with DaVis 7.2 software (LaVision Inc., Goettingen, Germany) as in our previous research (Blevins and Lauder, 2013;Quinn et al, 2014;Wen and Lauder, 2013).…”

Section: Analysis Of Foil Static Drag and Self-propelled Swimmingmentioning

confidence: 99%

Biomimetic shark skin: design, fabrication and hydrodynamic function

Wen

Weaver

Lauder

2014

Journal of Experimental Biology

381

284

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Although the functional properties of shark skin have been of considerable interest to both biologists and engineers because of the complex hydrodynamic effects of surface roughness, no study to date has successfully fabricated a flexible biomimetic shark skin that allows detailed study of hydrodynamic function. We present the first study of the design, fabrication and hydrodynamic testing of a synthetic, flexible, shark skin membrane. A three-dimensional (3D) model of shark skin denticles was constructed using micro-CT imaging of the skin of the shortfin mako (Isurus oxyrinchus). Using 3D printing, thousands of rigid synthetic shark denticles were placed on flexible membranes in a controlled, linear-arrayed pattern. This flexible 3D printed shark skin model was then tested in water using a robotic flapping device that allowed us to either hold the models in a stationary position or move them dynamically at their self-propelled swimming speed. Compared with a smooth control model without denticles, the 3D printed shark skin showed increased swimming speed with reduced energy consumption under certain motion programs. For example, at a heave frequency of 1.5 Hz and an amplitude of ±1 cm, swimming speed increased by 6.6% and the energy cost-of-transport was reduced by 5.9%. In addition, a leadingedge vortex with greater vorticity than the smooth control was generated by the 3D printed shark skin, which may explain the increased swimming speeds. The ability to fabricate synthetic biomimetic shark skin opens up a wide array of possible manipulations of surface roughness parameters, and the ability to examine the hydrodynamic consequences of diverse skin denticle shapes present in different shark species.

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Swimming near the substrate: a simple robotic model of stingray locomotion

Cited by 66 publications

References 36 publications

Self-propelled swimming of a flexible plunging foil near a solid wall

Self-propelled swimming of a flexible plunging foil near a solid wall

Batoid locomotion: effects of speed on pectoral fin deformation in the little skate, Leucoraja erinacea

Biomimetic shark skin: design, fabrication and hydrodynamic function

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