An analytical approach for better swimming efficiency of slender fish robots based on Lighthill's model

Zhou, Chunlin; Low, Kian Hsiang; Chong, C. W.

doi:10.1109/robio.2009.5420418

Cited by 9 publications

(12 citation statements)

References 15 publications

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“…The distance between these two points is found to be 0.482765046 units which is also the shortest distance (normal between the two planes). In the Lighthill quadratic wave equation, the amplitude constants c 1 and c 2 have been assumed to have a value [27] with little information on their choice. Our present research looks into the real kinematics of carangiform tuna fish in [17] as well as in the kinematic formulation of the Robotuna [17].…”

Section: Resultsmentioning

confidence: 99%

Kinematic study and implementation of a bio-inspired robotic fish underwater vehicle in a Lighthill mathematical framework

et al. 2014

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This paper has focused on the formulation of the biological fish propulsion mechanism given by Sir J. Lighthill mathematical slender body theory for a bio-inspired robotic fish. A 2-joint, 3-link multibody vehicle model biologically inspired by a body caudal fin (BCF) carangiform fish propulsion is designed. The objective is to investigate and show that a machine mimicking real fish behavior can navigate efficiently over a given distance with a good balance of speed and maneuverability. The robotic fish model (kinematics and dynamics) is integrated with the Lighthill (LH) mathematical model framework. Different mathematical propulsive waveforms are combined with an inverse kinematics-based approach for generating fish body motion. Comparative studies are undertaken among a non-LH model, a LH model, and the proposed propulsive wave models based on a distance-based performance index. Proposed LH cubic and NURB quadratic functions are found to be 16.32% and 17.94% efficient than a non-LH function, respectively. With the help of the simulation results, closed-loop experiments are done and an operating region is established for critical kinematic parameters tail-beat frequency and propulsive wavelength. The simulation and experimental plots are compared and found to be similar to the kinematic behavior study of the biological yellowfin tuna.

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Section: Resultsmentioning

confidence: 99%

Kinematic study and implementation of a bio-inspired robotic fish underwater vehicle in a Lighthill mathematical framework

et al. 2014

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“…The velocities have been measured at different tailbeat frequencies ranging from 0.05 hz to 0.8 Hz. Compared to the other simulated forward velocity [10] (u = 0.12 m/s at f = 0.1Hz) and (u = 0.115m/s at f = 0.64 Hz), present result seems evenly realistic and even reaches a maximum of 1.1 BL/s (body length per second), i.e., u max = 0.138 m/s at f = 0.33 Hz, which may demonstrate the oscillatory caudal fin contributing more to thrust generation. The simulation results verify the real time kinematic studies reported by Dewar [8] in accordance with Lighthill theory.…”

Section: A Oscillatory Frequency (Tail Beat Frequency Tbf) Based Conmentioning

confidence: 97%

“…The literature [10] reports the increase of swimming speed with the oscillating frequency f, and it approaches a constant value i.e. a steady speed is achieved.…”

Section: A Oscillatory Frequency (Tail Beat Frequency Tbf) Based Conmentioning

confidence: 99%

Kinematics study and implementation of a biomimetic robotic-fish underwater vehicle based on Lighthill slender body model

Chowdhury

Prasad

Vishwanathan

et al. 2012

2012 IEEE/OES Autonomous Underwater Vehicles (AUV)

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Sir J. Lighthill mathematical slender body swimming model formulates the biological fish propulsion mechanism (undulation) in fluid environment. The present research has focused on the relevance of Lighthill (LH) based biomimetic robotic propulsion. The objective of this paper is to mimic the propulsion mechanism of the BCF mode carangiform swimming style to show the fish behavior navigating efficiently over large distances at impressive speeds and its exceptional characteristics. The robotic fish model (kinematics and dynamics) is integrated with the Lighthill (LH) mathematical model framework. Comparative studies are undertaken between a LH model based and a non-LH based model. A comprehensive propulsion mechanism study of the different parameters namely the tail-beat frequency (TBF), the propulsive wavelength, and the caudal amplitude are studied under this framework. Yaw angle study for the underwater robotic fish vehicle is also carried out as it describes the course of the robotic fish vehicle. Inverse kinematics based approach is incorporated for trajectory generation of the robotic fish vehicle motion. Analysis of these critical parameters affecting the kinematics study of the vehicle vis a vis the real fish kinematic study [8] is carried out for a given trajectory. TBF is found to be the effective controlling parameter for the forward speed of the vehicle over a wide operating conditions. Performances and comparative results of propulsive wavelength and amplitude variations are also shown and discussed.

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“…In the kinematic experiments [14,19], the emphasis was on the derivation of forward speed ranges and configuration (work) space of the vehicle during the undulatory motion of the posterior part. An efficiency term/performance factor associated to the overall locomotion mechanism was also proposed [16,19]. Expected and suitable values of hydrodynamic parameters like drag coefficient, Reynolds number were assumed to obtain the net forces and, therefore, the forward velocity of the body.…”

Section: Cfd Modeling Of Lighthill Undulatory Motionmentioning

confidence: 99%

“…In 1960s a series of pioneering work on swimming mechanism by Sir Lighthill [5] emphasized on the adaptability of morphological traits as the major reason behind the hydrodynamic efficiency of fish slender body swimming. Therefore, it is shown and believed that Lighthill (LH) slender body swimming mathematical model [5] can play a vital role to envisage the undulatory wave propulsion mechanism of a biomimetic robotic fish [11,15,16]. Fishes propel themselves by exerting force against fluid (aqueous) and balancing energy with the surrounding.…”

Section: Introductionmentioning

confidence: 99%

Hydrodynamics study of a BCF mode bioinspired robotic-fish underwater vehicle using Lighthill’s slender body model

et al. 2015

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This paper investigates the hydrodynamic characteristics of the rectilinear motion of a robotic fish underwater vehicle. This 2-joint, 3-link multibody vehicle model is biologically inspired by a body caudal fin carangiform fish propulsion mechanism. Navier-Stokes equations are used to compute the unsteady flow fields generated due to the interaction between the vehicle and the surrounding incompressible and Newtonian fluid (water) environment. The NACA 0014 airfoil aerodynamic profile has been designed to boost the swimming efficiency by reducing drag as the vehicle undergoes an undulatory/ oscillatory motion. Using the Lighthill slender body model, a traveling wave mathematical function is defined to undulate the robotic fish posterior (caudal) region while the motion tracking is carried out by dynamic meshing technique. The results obtained show that though the net lift force approaches to zero, the net thrust or negative drag coefficient maintains a finite value dependent on kinematic parameters like tail beat frequency (TBF) and amplitude span (AS) at a given propulsive wavelength and the forward velocity of the vehicle. The results reveal the effects of TBF and AS on the coefficient of drag friction and the thrust force. Drag coefficients obtained from the simulations are compared and validated with the experimental results. The hydrodynamic results are found to be similar to the kinematic study results and suggest that TBF and AS play the most effective roles in the bioinspired propulsion technique. Relation of these parameters with propelling thrust force and forward velocity is also in conjunction over a given range of TBF and AS values.

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An analytical approach for better swimming efficiency of slender fish robots based on Lighthill's model

Cited by 9 publications

References 15 publications

Kinematic study and implementation of a bio-inspired robotic fish underwater vehicle in a Lighthill mathematical framework

Kinematic study and implementation of a bio-inspired robotic fish underwater vehicle in a Lighthill mathematical framework

Kinematics study and implementation of a biomimetic robotic-fish underwater vehicle based on Lighthill slender body model

Hydrodynamics study of a BCF mode bioinspired robotic-fish underwater vehicle using Lighthill’s slender body model

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