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Guo J, Zhang W, Han P, Fish FE, Dong H. Thrust generation and propulsive efficiency in dolphin-like swimming propulsion. BIOINSPIRATION & BIOMIMETICS 2023; 18:056001. [PMID: 37414002 DOI: 10.1088/1748-3190/ace50b] [Citation(s) in RCA: 3] [Impact Index Per Article: 3.0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Received: 04/21/2023] [Accepted: 07/06/2023] [Indexed: 07/08/2023]
Abstract
Given growing interest in emulating dolphin morphology and kinematics to design high-performance underwater vehicles, the current research effort is dedicated to studying the hydrodynamics of dolphin-like oscillatory kinematics in forward propulsion. A computational fluid dynamics method is used. A realistic three-dimentional surface model of a dolphin is made with swimming kinematics reconstructed from video recording. The oscillation of the dolphin is found to enhance the attachment of the boundary layer to the posterior body, which then leads to body drag reduction. The flapping motion of the flukes is found to generate high thrust forces in both the downstroke and the upstroke, during which vortex rings are shed to produce strong thrust jets. The downstroke jets are found to be on average stronger than the upstroke jet, which then leads to net positive lift production. The flexion of the peduncle and flukes is found to be a crucial feature of dolphin-like swimming kinematics. Dolphin-inspired swimming kinematics were created by varying the flexion angle of the peduncle and flukes, which then resulted in significant performance variation. The thrust benefits and propulsive efficiency benefits are associated with a slight decrease and slight increase of the flexion of the peduncle and flukes, respectively.
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Affiliation(s)
- Jiacheng Guo
- Mechanical and Aerospace Engineering, University of Virginia, Charlottesville, VA 22903, United States of America
| | - Wei Zhang
- Mechanical and Aerospace Engineering, University of Virginia, Charlottesville, VA 22903, United States of America
| | - Pan Han
- Mechanical and Aerospace Engineering, University of Virginia, Charlottesville, VA 22903, United States of America
| | - Frank E Fish
- Department of Biology, West Chester University, West Chester, PA 19383, United States of America
| | - Haibo Dong
- Mechanical and Aerospace Engineering, University of Virginia, Charlottesville, VA 22903, United States of America
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2
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Liao X, Zhou C, Wang J, Fan J, Zhang Z. A Wire-driven Elastic Robotic Fish and its Design and CPG-Based Control. J INTELL ROBOT SYST 2023. [DOI: 10.1007/s10846-022-01797-9] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 01/02/2023]
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Coral W, Rossi C. Soft dorsal/anal fins pairs for roll and yaw motion in robotic fish. BIOINSPIRATION & BIOMIMETICS 2022; 18:016008. [PMID: 36347041 DOI: 10.1088/1748-3190/aca132] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Received: 06/03/2022] [Accepted: 11/08/2022] [Indexed: 06/16/2023]
Abstract
Fish has primarily served as a model for many bio-inspired underwater robots. However, most of the work on fish-inspired robots is focused on propulsion and turning in the horizontal plane. In this paper, we present our work on the 3D motion of bio-inspired underwater robots. A pair of actuated soft fins, mimicking the soft dorsal and anal fins of a live fish, have been designed and tested to generate lateral thrusts that aim to produce both roll and yaw motions. Furthermore, they can be used to provide vertical stabilization of the forward motion in the robot. These fins comprise shape memory alloy wires embedded in silicone. We demonstrate that these fins can provide a means for 3D maneuvering. In this work, we focus on roll and yaw motions. A key feature of the proposed design is that it is lightweight, compact, and waterproof.
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Affiliation(s)
- Willam Coral
- Centre for Automation and Robotics, Universidad Politécnica de Madrid-CSIC, Madrid, Spain
| | - Claudio Rossi
- Centre for Automation and Robotics, Universidad Politécnica de Madrid-CSIC, Madrid, Spain
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Liao X, Zhou C, Zou Q, Wang J, Lu B. Dynamic Modeling and Performance Analysis for a Wire-Driven Elastic Robotic Fish. IEEE Robot Autom Lett 2022. [DOI: 10.1109/lra.2022.3197911] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/09/2022]
Affiliation(s)
- Xiaocun Liao
- State Key Laboratory of Management and Control for Complex Systems, Institute of Automation, Chinese Academy of Sciences, Beijing, China
| | - Chao Zhou
- State Key Laboratory of Management and Control for Complex Systems, Institute of Automation, Chinese Academy of Sciences, Beijing, China
| | - Qianqian Zou
- State Key Laboratory of Management and Control for Complex Systems, Institute of Automation, Chinese Academy of Sciences, Beijing, China
| | - Jian Wang
- State Key Laboratory of Management and Control for Complex Systems, Institute of Automation, Chinese Academy of Sciences, Beijing, China
| | - Ben Lu
- State Key Laboratory of Management and Control for Complex Systems, Institute of Automation, Chinese Academy of Sciences, Beijing, China
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Blasiak R, Jouffray JB, Amon DJ, Moberg F, Claudet J, Søgaard Jørgensen P, Pranindita A, Wabnitz CCC, Österblom H. A forgotten element of the blue economy: marine biomimetics and inspiration from the deep sea. PNAS NEXUS 2022; 1:pgac196. [PMID: 36714844 PMCID: PMC9802412 DOI: 10.1093/pnasnexus/pgac196] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Grants] [Track Full Text] [Figures] [Subscribe] [Scholar Register] [Indexed: 02/01/2023]
Abstract
The morphology, physiology, and behavior of marine organisms have been a valuable source of inspiration for solving conceptual and design problems. Here, we introduce this rich and rapidly expanding field of marine biomimetics, and identify it as a poorly articulated and often overlooked element of the ocean economy associated with substantial monetary benefits. We showcase innovations across seven broad categories of marine biomimetic design (adhesion, antifouling, armor, buoyancy, movement, sensory, stealth), and use this framing as context for a closer consideration of the increasingly frequent focus on deep-sea life as an inspiration for biomimetic design. We contend that marine biomimetics is not only a "forgotten" sector of the ocean economy, but has the potential to drive appreciation of nonmonetary values, conservation, and stewardship, making it well-aligned with notions of a sustainable blue economy. We note, however, that the highest ambitions for a blue economy are that it not only drives sustainability, but also greater equity and inclusivity, and conclude by articulating challenges and considerations for bringing marine biomimetics onto this trajectory.
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Affiliation(s)
- Robert Blasiak
- Stockholm Resilience Centre, Stockholm University, 106 91 Stockholm, Sweden
- Graduate School of Agricultural and Life Sciences, The University of Tokyo, 1-1-1, Yayoi, Bunkyo-ku, Tokyo 113-8657, Japan
| | | | - Diva J Amon
- SpeSeas, D'Abadie, Trinidad and Tobago
- Marine Science Institute, University of California, Santa Barbara, CA 93106, USA
| | - Fredrik Moberg
- Stockholm Resilience Centre, Stockholm University, 106 91 Stockholm, Sweden
| | - Joachim Claudet
- National Center for Scientific Research, PSL Université Paris, CRIOBE, CNRS-EPHE-UPVD, Maison de l'Océan, 195 rue Saint-Jacques, 75005 Paris, France
| | - Peter Søgaard Jørgensen
- Stockholm Resilience Centre, Stockholm University, 106 91 Stockholm, Sweden
- The Global Economic Dynamics and the Biosphere Academy Program, Royal Swedish Academy of Science, 104 05 Stockholm, Sweden
| | - Agnes Pranindita
- Stockholm Resilience Centre, Stockholm University, 106 91 Stockholm, Sweden
| | - Colette C C Wabnitz
- Stanford Center for Ocean Solutions, Stanford University, 473 Via Ortega, Stanford, CA 94305, USA
- Institute for the Oceans and Fisheries, The University of British Columbia, 2202 Main Mall, Vancouver, BC V6T1Z4, Canada
| | - Henrik Österblom
- Stockholm Resilience Centre, Stockholm University, 106 91 Stockholm, Sweden
- Graduate School of Agricultural and Life Sciences, The University of Tokyo, 1-1-1, Yayoi, Bunkyo-ku, Tokyo 113-8657, Japan
- South American Institute for Resilience and Sustainability Studies, CP 20200 Maldonado, Uruguay
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Bioinspired Central Pattern Generator and T-S Fuzzy Neural Network-Based Control of a Robotic Manta for Depth and Heading Tracking. JOURNAL OF MARINE SCIENCE AND ENGINEERING 2022. [DOI: 10.3390/jmse10060758] [Citation(s) in RCA: 2] [Impact Index Per Article: 1.0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 01/27/2023]
Abstract
Aiming at the difficult problem of motion control of robotic manta with pectoral fin flexible deformation, this paper proposes a control scheme that combines the bioinspired Central Pattern Generator (CPG) and T-S Fuzzy neural network(NN)-based control. An improved CPG drive network is presented for the multi-stage fin structure of the robotic manta. Considering the unknown dynamics and the external environmental disturbances, a sensor-based classic T-S Fuzzy NN controller is designed for heading and depth control. Finally, a pool test demonstrates the effectiveness and robustness of the proposed controller: the robotic manta can track the depth and heading with an error of ±6 cm and ±6°, satisfying accuracy requirements.
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Wen L, Sun W. Editorial: Focus on research from China in Bioinspiration & Biomimetics. BIOINSPIRATION & BIOMIMETICS 2022; 17:030202. [PMID: 35297381 DOI: 10.1088/1748-3190/ac5e82] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Key Words] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Received: 03/04/2022] [Accepted: 03/16/2022] [Indexed: 06/14/2023]
Affiliation(s)
- Li Wen
- School of Mechanical Engineering and Automation, Beihang University, Beijing 100191, People's Republic of China
- Beijing Advanced Innovation Center for Biomedical Engineering, Beihang University, Beijing, 100191, People's Republic of China
| | - Wenguang Sun
- School of Mechanical Engineering and Automation, Beihang University, Beijing 100191, People's Republic of China
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