Fluid dynamics of a self-propelled biomimetic underwater vehicle with pectoral fins

Li, Ningyu; Zhuang, Jiayuan; Zhu, Yingtao; Su, Guangsheng; Su, Yumin

doi:10.1016/j.joes.2020.08.002

Cited by 27 publications

(4 citation statements)

References 63 publications

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“…Before the analysis of the drag force is carried out on the DSIB, the flow regime of the seawater needs be determined by Reynolds number value Re when the DSIB is ascending or diving. Reynolds number is expressed as follows [ 14 ]:

where D is the diameter of the spherical pressure hull, D = 0.432 m. μ is the dynamic coefficient of viscosity,

. ρ is the density of seawater.…”

Section: Estimation and Analysis Of The Dsib’s Hydrodynamicsmentioning

confidence: 99%

Depth-Keeping Control for a Deep-Sea Self-Holding Intelligent Buoy System Based on Inversion Time Constraint Stability Strategy Optimization

Wang

Qiu

et al. 2022

Sensors

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Based on the nonlinear disturbance observer (NDO), the inversion time-constraint stability strategy (ITCS) is designed to make the deep-sea self-holding intelligent buoy (DSIB) system hovered at an appointed depth within a specified time limit. However, it is very challenging to determine the optimal parameters of an ITCS depth controller. Firstly, a genetic algorithm based on quantum theory (QGA) is proposed to obtain the optimal parameter combination by using the individual expression form of quantum bit and the adjustment strategy of quantum rotary gate. To improve the speed and accuracy of global search in the QGA optimization process, taking the number of odd and even evolutions as the best combination point of the genetic and chaos particle swarm algorithm (GACPSO), an ITCS depth controller based on GACPSO strategy is proposed. Besides, the simulations and hardware-in-the-loop system experiments are conducted to examine the effectiveness and feasibility of the proposed QGA–ITCS and GACPSO–ITCS depth controller. The results show that the proposed GACPSO–ITCS depth controller provides higher stability with smaller steady-state error and less settling time in the depth-control process. The research of the proposed method can provide a stable operation condition for the marine sensors carried by the DSIB.

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where D is the diameter of the spherical pressure hull, D = 0.432 m. μ is the dynamic coefficient of viscosity,

. ρ is the density of seawater.…”

Section: Estimation and Analysis Of The Dsib’s Hydrodynamicsmentioning

confidence: 99%

Depth-Keeping Control for a Deep-Sea Self-Holding Intelligent Buoy System Based on Inversion Time Constraint Stability Strategy Optimization

Wang

Qiu

et al. 2022

Sensors

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show abstract

“…The pectoral fins play an auxiliary role in propulsion by flexion of the body to achieve maneuverability such as a change of direction and postural stability, but they also serve as an organ that further enhances the propulsive performance of aquatic organisms. The pectoral fins contribute to propulsion velocity and pectoral fin vortices reduce drag on the body [ 14 , 15 ]. Recently, the effect of pectoral fin flexibility on swimming was reported [ 16 , 17 , 18 , 19 ], and the pectoral fin is expected to improve the propulsive performance of aquatic organisms.…”

Section: Introductionmentioning

confidence: 99%

Three-Dimensional Numerical Study of Hydrodynamic Interactions between Pectoral Fins and the Body of Aquatic Organisms

Morifusa,

Fukui

2024

Biomimetics

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Fish swimming has attracted attention as a locomotion system with excellent propulsive efficiency. They swim by moving their body, fins, and other organs simultaneously, which developed during evolution. Among their many organs, the pectoral fin plays a crucial role in swimming, such as forward–backward movement and change of direction. In order to investigate the hydrodynamic interaction between pectoral fins and fish bodies, we examined the asymmetric flapping motion of the pectoral fin concerning the body axis and investigated the effect of the pectoral fin on the propulsive performance of the body of a small swimming object by numerical simulation. In this study, the amplitude ratio, frequency ratio, and phase of the body and pectoral fin varied. Therefore, although propulsive performance increased in tandem with the frequency ratio, the amplitude ratio change had negatively affected the propulsive performance. The results revealed that the propulsive performance of the fish was high even in low-frequency ratios when the phase difference was varied. The highest propulsion efficiency increased by a factor of about 3.7 compared to the phase difference condition of 0.

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“…Experimental studies often employ methods such as particle image velocimetry using live or robotic fish [ 25 , 26 , 27 , 28 , 29 , 30 ]. Numerical simulations have been conducted employing various techniques, including panel methods with potential flow assumptions for laminar or inertial regimes [ 25 , 31 , 32 ], the immersed boundary method [ 15 , 33 , 34 , 35 , 36 , 37 ], as well as the combined level set/immersed boundary method developed by Cui et al [ 22 ] and Tekkethil et al [ 26 ]. Other studies have employed unsteady Reynolds-average Navier–Stokes equations to address three-dimensional viscous flow [ 38 ], in which they employed various turbulence models to address turbulence closure problems.…”

Section: Introductionmentioning

confidence: 99%

Numerical Investigation of Dimensionless Parameters in Carangiform Fish Swimming Hydrodynamics

Macías,

García-Ortiz,

Oliveira

et al. 2024

Biomimetics

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Research into how fish and other aquatic organisms propel themselves offers valuable natural references for enhancing technology related to underwater devices like vehicles, propellers, and biomimetic robotics. Additionally, such research provides insights into fish evolution and ecological dynamics. This work carried out a numerical investigation of the most relevant dimensionless parameters in a fish swimming environment (Reynolds Re, Strouhal St, and Slip numbers) to provide valuable knowledge in terms of biomechanics behavior. Thus, a three-dimensional numerical study of the fish-like lambari, a BCF swimmer with carangiform kinematics, was conducted using the URANS approach with the k-ω-SST transition turbulence closure model in the OpenFOAM software. In this study, we initially reported the equilibrium Strouhal number, which is represented by St∗, and its dependence on the Reynolds number, denoted as Re. This was performed following a power–law relationship of St∝Re(−α). We also conducted a comprehensive analysis of the hydrodynamic forces and the effect of body undulation in fish on the production of swimming drag and thrust. Additionally, we computed propulsive and quasi-propulsive efficiencies, as well as examined the influence of the Reynolds number and Slip number on fish performance. Finally, we performed a vortex dynamics analysis, in which different wake configurations were revealed under variations of the dimensionless parameters St, Re, and Slip. Furthermore, we explored the relationship between the generation of a leading-edge vortex via the caudal fin and the peak thrust production within the motion cycle.

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Fluid dynamics of a self-propelled biomimetic underwater vehicle with pectoral fins

Cited by 27 publications

References 63 publications

Depth-Keeping Control for a Deep-Sea Self-Holding Intelligent Buoy System Based on Inversion Time Constraint Stability Strategy Optimization

Depth-Keeping Control for a Deep-Sea Self-Holding Intelligent Buoy System Based on Inversion Time Constraint Stability Strategy Optimization

Three-Dimensional Numerical Study of Hydrodynamic Interactions between Pectoral Fins and the Body of Aquatic Organisms

Numerical Investigation of Dimensionless Parameters in Carangiform Fish Swimming Hydrodynamics

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