Micro Autonomous Robotic Ostraciiform (MARCO): Design and Fabrication

Kodati, P.; Hinkle, Jonathan; Deng, Xinyan

doi:10.1109/robot.2007.363109

Cited by 19 publications

(11 citation statements)

References 26 publications

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“…Due to its low efficiency [15,18,21], this movement has received limited attention in engineering, although an oscillating movement is easier to implement than an undulating one. Most of the investigations found in the literature are inspired by boxfish [83][84][85][86]. Other authors employed flapping foils for oscillating marine propulsors [87][88][89][90][91][92][93][94][95][96][97][98][99][100][101].…”

Section: Bcf Swimming Modesmentioning

confidence: 99%

“…Table 1 summarizes the BCF swimming mechanisms mentioned, including the authors, institution, propulsion mode, and source of inspiration. [70]; Nakashima et al [71] Tokyo Institute of Technology, Japan Thunniform Dolphin Yu et al [72]; Yu et al [73]; Yu et al [74]; Shen et al [75]; Shen et al [76]; Liu et al [77] Chinese Academy of Sciences, China Thunniform Dolphin Dogangil et al [78]; Dogangil et al [79] Istanbul Technical University, Turkey Thunniform Dolphin Ho and Lee [80] Konkuk University, South Korea Thunniform Dolphin Aghbali et al [81] College of Engineering, Iran Thunniform Shark Long et al [82] Vassar College, USA Thunniform Shark Kodati et al [83]; Kodati et al [84] University of Delaware, USA Ostraciiform Boxfish Gordon et al [85] University of California, USA Ostraciiform Boxfish Hu et al [86] Peking University, China Ostraciiform Boxfish Anderson et al [87] Massachussets Institute of Technology, USA Ostraciiform Flapping foil Read et al [88] Massachussets Institute of Technology, USA Ostraciiform Flapping foil Yamamoto et al [89] Mitsubishi Heavy Industries, Japan Ostraciiform Flapping foil Streitlien and Triantafyllou [90] City College of New York, USA Ostraciiform Flapping foil Paterson and Stern [91,92] University of Lowa, USA Ostraciiform Flapping foil Karpouzian et al [93] Univ of Southern California, USA Ostraciiform Flapping foil Yamaguchi and Bose [94] University of Tokyo, Japan Ostraciiform Flapping foil Saimek and Li [95] University of Minnesota, USA Ostraciiform Flapping foil Herr and Dennis [96] MA Institute of Technology, USA Ostraciiform Flapping foil Guo [97] Kagawa University, Japan Ostraciiform Flapping foil Belibassakis and Politis [98]; Belibassakis and Filippas [99]; Filippas et al [100];…”

Section: Bcf Swimming Modesmentioning

confidence: 99%

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Hydrodynamics of Biomimetic Marine Propulsion and Trends in Computational Simulations

Galdo

Rodríguez²

2020

JMSE

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The aim of the present paper is to provide the state of the works in the field of hydrodynamics and computational simulations to analyze biomimetic marine propulsors. Over the last years, many researchers postulated that some fish movements are more efficient and maneuverable than traditional rotary propellers, and the most relevant marine propulsors which mimic fishes are shown in the present work. Taking into account the complexity and cost of some experimental setups, numerical models offer an efficient, cheap, and fast alternative tool to analyze biomimetic marine propulsors. Besides, numerical models provide information that cannot be obtained using experimental techniques. Since the literature about trends in computational simulations is still scarce, this paper also recalls the hydrodynamics of the swimming modes occurring in fish and summarizes the more relevant lines of investigation of computational models.

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Section: Bcf Swimming Modesmentioning

confidence: 99%

Section: Bcf Swimming Modesmentioning

confidence: 99%

Hydrodynamics of Biomimetic Marine Propulsion and Trends in Computational Simulations

Galdo

Rodríguez²

2020

JMSE

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“…Wang et al designed a robotic dolphin with fiberglass-reinforced plastic [14]. Kodati et al developed Ostaciiform-type boxfish which has the pectoral and caudal fins [25]. Phamduy et al designed a miniature robotic fish prototype to investigate animal-robot interaction studies.…”

Section: Introductionmentioning

confidence: 99%

Mechatronic Design and Manufacturing of the Intelligent Robotic Fish for Bio-Inspired Swimming Modes

Korkmaz

Koca

et al. 2018

Electronics

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This paper presents mechatronic design and manufacturing of a biomimetic Carangiform-type autonomous robotic fish prototype (i-RoF) with two-link propulsive tail mechanism. For the design procedure, a multi-link biomimetic approach, which uses the physical characteristics of a real carp fish as its size and structure, is adapted. Appropriate body rate is determined according to swimming modes and tail oscillations of the carp. The prototype is composed of three main parts: an anterior rigid body, two-link propulsive tail mechanism, and flexible caudal fin. Prototype parts are produced with 3D-printing technology. In order to mimic fish-like robust swimming gaits, a biomimetic locomotion control structure based on Central Pattern Generator (CPG) is proposed. The designed unidirectional chained CPG network is inspired by the neural spinal cord of Lamprey, and it generates stable rhythmic oscillatory patterns. Also, a Center of Gravity (CoG) control mechanism is designed and located in the anterior rigid body to ensure three-dimensional swimming ability. With the help of this design, the characteristics of the robotic fish are performed with forward, turning, up-down and autonomous swimming motions in the experimental pool. Maximum forward speed of the robotic fish can reach 0.8516 BLs -1 and excellent three-dimensional swimming performance is obtained.

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“…A fish tail fin generates propulsion upon flapping by displacing water with each left and right stroke. Simulation of this form of propulsion in fish‐like swimming robots has been shown to be successful using motors and other mechanical devices to power the tail fin oscillation 3–6. Miniaturisation of such systems is limited by the power consumption of the motors and the corresponding size of the motor units and the batteries needed to supply power.…”

Section: Introductionmentioning

confidence: 99%

Evaluation of thrust force generated for a robotic fish propelled with polypyrrole actuators

McGovern

Abbot

Emery

et al. 2010

Polymer International

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Swimming-type robotic fish are being developed as mobile sensor platforms that have the potential to outperform existing underwater vehicles in terms of manoeuvrability, miniaturisation and silent operation. Conducting polymer actuators are potential candidates for propelling a flapping tail fin for a robotic fish. This study introduces a method for directly measuring the thrust force generated by a polypyrrole (PPy) powered tail fin. The effects of voltage stimulus (waveform shape and frequency) and tail fin shape on the thrust force were determined. A square wave voltage input was shown to generate the highest thrust forces as fast bending actuation was induced. The thrust force tended to decrease at higher operating frequencies as a result of the reduced actuation occurring in the PPy layers. Increases in the tail fin area tended to lower the frequency where the peak in thrust force was achieved. Tail fin shape was also shown to be important to the force-frequency behaviour. When attached to an untethered robotic fish, the swimming speed tended to increase with increasing voltage input frequency. There was also an optimum frequency that enabled the fastest acceleration from rest that happened to be higher than the frequency that gave the peak thrust force. This was presumed to be due to the complicated swimming behaviour involving the side-to-side movement of the fish nose at low flap frequencies. The study provides valuable insight into the means for tailoring polymer actuator performance to achieve maximum fish swimming speeds. Scheme 1. Structure of polypyrrole and its electrochemical oxidation and reduction.

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Micro Autonomous Robotic Ostraciiform (MARCO): Design and Fabrication

Cited by 19 publications

References 26 publications

Hydrodynamics of Biomimetic Marine Propulsion and Trends in Computational Simulations

Hydrodynamics of Biomimetic Marine Propulsion and Trends in Computational Simulations

Mechatronic Design and Manufacturing of the Intelligent Robotic Fish for Bio-Inspired Swimming Modes

Evaluation of thrust force generated for a robotic fish propelled with polypyrrole actuators

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