Can the swimming thrust of BCF biomimetics fish be enhanced?

et al. 2011

Int. J. Human. Robot.

Swimming performance is one of the primary concerns and applications to the underwater robots, such as thrust force relating to swimming velocity. As fish's swimming involves the kinematics of its own body and the hydrodynamic interaction with the surrounding fluid, it is difficult to formulate a precise mathematical model by purely analytical approaches. In order to avoid tedious parameter studies in evaluating its performance, this paper proposes a semi-empirical method to model the steady-state swimming performance of a BCF (body and/or caudal fin) biomimetic robotic robot. By using a dimensional analysis method, the semi-empirical model for predicting the thrust force generated by a BCF-oscillating swimming mode is derived. Thereafter, the swimming velocity prediction model is established based on the predictive thrust model together with the use of fundamental theory on drag force and the regression analysis on the experimental data. The model shows a reasonable prediction capability as the resultant predicted results are in good agreement with experiment data. Therefore, the proposed modeling method can be used for a quick prediction of the swimming performance in terms of thrust and velocity. The proposed methodology can be extended to other types of fish robots in real environment, by including changes to relevant parameters.

“…A fish robot, Nanyang Awana-II (NAF-II) 6 as shown in Fig. 3, will be considered and used in the model derivation in the present work.…”

Section: Prototype Of a Fish Robotmentioning

confidence: 99%

Section: Determination Of Model Constantsmentioning

confidence: 99%

A Performance Predictive Model for Steady Swimming of a Fish Robot

Low

Chong

et al. 2011

Int. J. Human. Robot.

“…A water tunnel apparatus. The observation of fish sample [19] and the robotic fish experiment are conducted in the Test Section. The flow rate is measure through a volumetric flow rate sensor.…”

Section: A Experiments Setupmentioning

confidence: 99%

Study and implementation of station-holding performance on a fish robot in adverse unsteady flow

2010 IEEE/RSJ International Conference on Intelligent Robots and Systems

Low

2010

In the present work we study the station-holding performance exhibited by real fish and implement the similar performance onto a biomimetic fish robot. The aim is to make the swimming of a fish robot capable of holding its station in one-dimensional unsteady adverse flow, i.e. to obtain adaptation to the variations of flow rate. With the sensory feedbacks including water environment information and the displacement of fish robot, a closed-loop swimming control scheme is developed. Firstly, inspired by a real carp fish swimming in adverse flow, control laws that regulate the tail beat frequency and amplitude of fish robots are formulated. A non-linear oscillator is applied to model the periodic swimming gaits. As controlling parameters of the oscillator, frequency and amplitude are dynamically tuned by the feedback control laws. The output of the oscillator that generates the adaptive swimming gaits is adjusted accordingly. The control method is verified through simulation and experiments on a BCF type fish robot.

“…As much as inspiring to build flying machines, which are learnt from the birds, man is also curious in building machines that are learnt from the marine life which navigate through the water [1]. The Nanyang Awana (NAF-I) is an example of a biomimetic robot, which combines fish-like propulsive mechanism and robotic technology [2].…”

Section: Introductionmentioning

confidence: 99%

Performance predict model for a body and caudal fin (BCF) biomimetics fish robot

Zhang

Chong

2009 IEEE/ASME International Conference on Advanced Intelligent Mechatronics

et al. 2009

This paper offers a method to model the performance of a BCF (body and/or caudal fin) biomimetic robotic fish. By using a dimensional analysis method, a semi-empirical model for predicting the thrust force generated by a BCF oscillation swimming mode is derived. This model shows good prediction capability, and the predicted results are in good agreement with the experiment data. Therefore, the proposed modeling method can be used to solve the engineering problem concerned without a complex theory derivation.