A review of developments towards biologically inspired propulsion systems for autonomous underwater vehicles

Roper, Daniel; Sharma, Sanjay; Sutton, Robert I.; Culverhouse, Phil F.

doi:10.1177/1475090210397438

Cited by 96 publications

(57 citation statements)

References 47 publications

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“…The highest mean terminal speeds of *19.5 mm/s (0.30 BL/s) are attained for a joint of thickness equal to 0.85 mm a tail beat frequency of 8 Hz. This robotic fish speed is comparable with other larger prototypes ranging approximately from 0.1 to 1 BL/s (Roper 2011).…”

Section: Swimming Experimentssupporting

confidence: 79%

Design and characterization of a miniature free-swimming robotic fish based on multi-material 3D printing

Phamduy

Vazquez

Kim

et al. 2017

Int J Intell Robot Appl

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Research in animal behavior is increasingly benefiting from the field of robotics, whereby robots are being continuously integrated in a number of hypothesis-driven studies. A variety of robotic fish have been designed after the morphophysiology of live fish to study social behavior. Of the current design factors limiting the mimicry of live fish, size is a critical drawback, with available robotic fish generally exceeding the size of popular fish species for laboratory experiments. Here, we present the design and testing of a novel free-swimming miniature robotic fish for animal-robot studies. The robotic fish capitalizes on recent advances in multi-material three-dimensional printing that afford the integration of a range of material properties in a single print task. This capability has been leveraged in a novel design of a robotic fish, where waterproofing and kinematic functionalities are incorporated in the robotic fish. Particle image velocimetry is leveraged to systematically examine thrust production, and independent experiments are conducted in a water tunnel to evaluate drag. This information is utilized to aid the study of the forward locomotion of the robotic fish, through reduced-order modeling and experiments. Swimming efficiency and turning maneuverability is demonstrated through target experiments. This robotic fish prototype is envisaged as a tool for animal-robot interaction studies, overcoming size limitations of current design.

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Section: Swimming Experimentssupporting

confidence: 79%

Design and characterization of a miniature free-swimming robotic fish based on multi-material 3D printing

Phamduy

Vazquez

Kim

et al. 2017

Int J Intell Robot Appl

View full text Add to dashboard Cite

show abstract

“…For example see Draper Laboratory VCUUV robotic tuna, Anderson and Chhabra (2002), robotic dolphin, Yu et al (2009), Finnegan robotic turtle, Wolf et al (2006), Biomimetic Tuna, Suleman and Crawford (2008) and the review by Roper et al (2011). However the propulsive efficiency only considers the ability of the motion of the propulsor to generate hydrodynamic thrust (and shaft losses for AUVs).…”

Section: Propulsion Powermentioning

confidence: 99%

Nature in engineering for monitoring the oceans: comparison of the energetic costs of marine animals and AUVs

Phillips

Haroutunian

Man

et al. 2012

Further Advances in Unmanned Marine Vehicles

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The range of physiological adaptations possessed by marine animals allowing them to successfully operate in the marine environment is a plentiful source of inspiration for the designers of Autonomous Underwater Vehicles. This chapter compares the total energetic cost of straight line swimming for both marine animals and AUVs, using cost of transport (COT) as a comparative metric. COT is a normalised measure of the energetic cost of transporting the animal's or vehicle's mass over a unit distance. It includes non propulsion power requirements as well as considering the energy lost by actuators and mechanical couplings and energy lost in the wake. Comparisons presented in this chapter show that marine animals typically have higher optimum COT than engineered systems of equivalent size. However parallels may be drawn, for example, to increase range both marine animals and AUVs appear to favour reducing non-propulsion power costs and travelling slowly to ensure operating at the minimum COT.

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“…), the robotic fish exhibits an average speed of 13.7 cm/s, or 0.30 body lengths per second (BL/s), which is comparable with the speed of other robotic fish designs based on caudal fin propulsion, ranging from 0.17-1.2 BL/s [38].…”

Section: Manual Modementioning

confidence: 52%

Robotic Fish: Design and Characterization of an Interactive iDevice-Controlled Robotic Fish for Informal Science Education

Phamduy¹,

LeGrand²,

Porfiri

2015

IEEE Robot. Automat. Mag.

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I n this article, we present the design, development, and characterization of a biomimetic robotic fish remotely controlled by an iDevice application (app) for use in informal science education. By leveraging robots, biomimicry, and iDevices, we seek to establish an engaging and unique experience for free-choice learners visiting aquariums, zoos, museums, and other public venues. The robotic fish incorporates a three-degree-of-freedom tail along with a combined pitch and buoyancy control system, allowing for high maneuverability in an underwater three-dimensional (3-D) space. The iDevice app implements three modes of control that offer a vividly colored, intuitive, and user-friendly theme to enhance the user experience when controlling the biomimetic robotic fish. In particular, the implemented modes vary in the degree of autonomy of the robotic fish, from fully autonomous to remotely controlled. A series of tests are conducted to assess the performance of the robotic fish and the interactive control modes. Finally, a usability study on elementary school students is performed to learn about students' perception of the platform and the various control modes. Robotic Fish ExhibitsTechnology facilitates learning and expression in both academic and nonacademic environments [1], [2]. In particular, the use of robotics in university-level classes and museums has been shown to effectively excite and educate students and free-choice learners [3], [4]. In the context of underwater robotics, various robotic fish have been developed and displayed for the entertainment and education of the general public in exhibits at aquariums [5], expositions [6], and water gardens [7]. Although these robots have generated considerable interest from onlookers, none of the exhibits offered opportunities for people to directly interact with the robotic fish.Interactivity in exhibits is a crucial part of science learning in informal settings, whereby interactive components are recognized to improve subject retention and enhance both sociability and curiosity in participants [8], [9]. To this end, smart devices have become increasingly popular as a tool for enhancing education through the use of interactive applications [10], [11]. Young participants have been shown to prefer the use of smart devices over traditional mediums, and better educational outcomes are attained with this growing technology [12]. To actively engage participants, museums, galleries,

show abstract

A review of developments towards biologically inspired propulsion systems for autonomous underwater vehicles

Cited by 96 publications

References 47 publications

Design and characterization of a miniature free-swimming robotic fish based on multi-material 3D printing

Design and characterization of a miniature free-swimming robotic fish based on multi-material 3D printing

Nature in engineering for monitoring the oceans: comparison of the energetic costs of marine animals and AUVs

Robotic Fish: Design and Characterization of an Interactive iDevice-Controlled Robotic Fish for Informal Science Education

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