Hydrodynamics of Undulatory Propulsion

Lauder, George V.; Tytell, Eric D.

doi:10.1016/s1546-5098(05)23011-x

Cited by 227 publications

(235 citation statements)

References 95 publications

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“…We show here (r(x)) U-opt and (r(x)) COT-opt for select m; the envelopes within each optimal population P(m) and with the change in m vary smoothly between those presented. Considering (r(x)) COT-opt , the motion is largely confined to the aft part of the body which, together with l 0 b ¼ 1, consistently resembles the (sub)carangiform motion [15,20] (the terminology is not uniform in the literature [27,42]). Carangiform swimming has previously been associated with low energetic costs [21].…”

Section: Resultsmentioning

confidence: 99%

Optimal shape and motion of undulatory swimming organisms

Tokić

Yue

2012

Proc. R. Soc. B.

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Undulatory swimming animals exhibit diverse ranges of body shapes and motion patterns and are often considered as having superior locomotory performance. The extent to which morphological traits of swimming animals have evolved owing to primarily locomotion considerations is, however, not clear. To shed some light on that question, we present here the optimal shape and motion of undulatory swimming organisms obtained by optimizing locomotive performance measures within the framework of a combined hydrodynamical, structural and novel muscular model. We develop a muscular model for periodic muscle contraction which provides relevant kinematic and energetic quantities required to describe swimming. Using an evolutionary algorithm, we performed a multi-objective optimization for achieving maximum sustained swimming speed U and minimum cost of transport (COT)-two conflicting locomotive performance measures that have been conjectured as likely to increase fitness for survival. Starting from an initial population of random characteristics, our results show that, for a range of size scales, fishlike body shapes and motion indeed emerge when U and COT are optimized. Inherent boundary-layerdependent allometric scaling between body mass and kinematic and energetic quantities of the optimal populations is observed. The trade-off between U and COT affects the geometry, kinematics and energetics of swimming organisms. Our results are corroborated by empirical data from swimming animals over nine orders of magnitude in size, supporting the notion that optimizing U and COT could be the driving force of evolution in many species.

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Section: Resultsmentioning

confidence: 99%

Optimal shape and motion of undulatory swimming organisms

Tokić

Yue

2012

Proc. R. Soc. B.

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“…A diversity of other names have been applied to swimming fishes to associate patterns of fin and body use with the exemplar species that exhibit these modes of swimming. But recently these terms have come under considerable criticism [3,13,48] as it has become increasingly clear that these categories obscure important differences among species in kinematics and hydrodynamic function, and are a two-dimensional approach that ignores the threedimensional structure of fishes and the flows generated during locomotion. Fig.…”

Section: Patterns Of 2d Body Undulation Are Very Similar Among Fishesmentioning

confidence: 99%

“…Body undulatory kinematics in swimming fishes are summarized in [3,13], and representative recent analyses of body bending kinematics and the muscle activity that produces body bending during locomotion are provided in [53∼60].…”

Section: Patterns Of 2d Body Undulation Are Very Similar Among Fishesmentioning

confidence: 99%

Learning from fish: Kinematics and experimental hydrodynamics for roboticists

Lauder

Madden

2006

Int J Automat Comput

Self Cite

139

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Over the past 20 years, experimental analyses of the biomechanics of locomotion in fishes have generated a number of key findings that are relevant to the construction of biomimetic fish robots. In this paper, we present 16 results from recent experimental research on the mechanics, kinematics, fluid dynamics, and control of fish locomotion that summarize recent work on fish biomechanics. The findings and principles that have emerged from biomechanical studies of fish locomotion provide important insights into the functional design of fishes and suggest specific design features relevant to construction of robotic fish-inspired vehicles that underlie the high locomotor performance exhibited by fishes.

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“…There are four undulatory BCF locomotion modes identified by their amplitude envelope of the propulsive wave: anguilliform, subcarangiform, carangiform and thunniform. Despite these labels placed by biologists, two-dimensional analyses of fish locomotion have shown that even fishes of very different body types show extremely similar patterns of body movement when viewed in a horizontal section during steady undulatory locomotion [2]. Nevertheless, subcarangiform swimming mode is the basis of the undulatory motion created by our robotic fish.…”

Section: Introductionmentioning

confidence: 97%

Design, fabrication and analysis of a body-caudal fin propulsion system for a microrobotic fish

Cho

Hawkes

Quinn

et al. 2008

2008 IEEE International Conference on Robotics and Automation

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Abstract-In this paper, we present the design and fabrication of a centimeter-scale propulsion system for a robotic fish. The key to the design is selection of an appropriate actuator and a body frame that is simple and compact. SMA spring actuators are customized to provide the necessary work output for the microrobotic fish. The flexure joints, electrical wiring and attachment pads for SMA actuators are all embedded in a single layer of copper laminated polymer film, sandwiched between two layers of glass fiber. Instead of using individual actuators to rotate each joint, each actuator rotates all the joints to a certain mode shape and undulatory motion is created by a timed sequence of these mode shapes. Subcarangiform swimming mode of minnows has been emulated using five links and four actuators. The size of the four-joint propulsion system is 6mm wide, 40 mm long with the body frame thickness of 0.25mm.

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Hydrodynamics of Undulatory Propulsion

Cited by 227 publications

References 95 publications

Optimal shape and motion of undulatory swimming organisms

Optimal shape and motion of undulatory swimming organisms

Learning from fish: Kinematics and experimental hydrodynamics for roboticists

Design, fabrication and analysis of a body-caudal fin propulsion system for a microrobotic fish

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