Simultaneous Determination of Drag Coefficient and Added Mass

Chan, Wai Leung; Kang, Taesam

doi:10.1109/joe.2011.2151370

Cited by 34 publications

(14 citation statements)

References 11 publications

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“…The physical size we considered is for a real-world fish robot which is currently under construction. The hydrodynamic parameters in Table 2 were estimated by using the formulas in Chan and Kang (2011);Techet (2005) ;Perrault, Bose, Young, and Williams (2003); Saout and Ananthakrishnan (2011). The added mass, drag force, and linear damping should be considered from hull shape, body geometric, and application areas.…”

Section: Model Verification and Control Designmentioning

confidence: 99%

Maneuverability modeling and trajectory tracking for fish robot

Suebsaiprom

Lin

2015

Control Engineering Practice

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Section: Model Verification and Control Designmentioning

confidence: 99%

Maneuverability modeling and trajectory tracking for fish robot

Suebsaiprom

Lin

2015

Control Engineering Practice

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“…On the other hand, the corresponding added Coriolis and centripetal matrix is represented. (10) where…”

Section: Rov Modelmentioning

confidence: 99%

“…However, the modelling of an open-frame ROV can be quite challenging in terms of the accuracy of the model, time and costs spent in test facility. The hydrodynamic parameters and underwater behaviour of the ROV are identified using a lab-based experimental test approach such as towing tank, planar motion mechanism (PMM), marine dynamic test facility, pulley system [10], free-decaying experiment [11,12] and free-decaying method using springs [13]. In addition, these test methods, including a system identification (SI) method using adaptive and least square-based estimation to estimate the parameters of the ROV [14][15][16] were performed.…”

Section: Introductionmentioning

confidence: 99%

Robust Design of Docking Hoop for Recovery of Autonomous Underwater Vehicle with Experimental Results

Lin

Chin

Looi³

et al. 2015

Robotics

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Control systems prototyping is usually constrained by model complexity, embedded system configurations, and interface testing. The proposed control system prototyping of a remotely-operated vehicle (ROV) with a docking hoop (DH) to recover an autonomous underwater vehicle (AUV) named AUVDH using a combination of software tools allows the prototyping process to be unified. This process provides systematic design from mechanical, hydrodynamics, dynamics modelling, control system design, and simulation to testing in water. As shown in a three-dimensional simulation of an AUVDH model using MATLAB™/Simulink™ during the launch and recovery process, the control simulation of a sliding mode controller is able to control the positions and velocities under the external wave, current, and tether forces. In the water test using the proposed Python-based GUI platform, it shows that the AUVDH is capable to perform station-keeping under the external disturbances. OPEN ACCESSRobotics 2015, 4 493

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“…Thus, it makes the comparison between animals difficult as both reference areas and Reynolds numbers are strongly depend on the biological model (Gazzola, Argentina, & Mahadevan, 2014). The added mass coefficient has rarely been measured for complex shapes (Chan & Kang, 2011; Lin & Liao, 2011), but it is also known to be related to the shape of the object (Vogel, 1994).…”

Section: Discussionmentioning

confidence: 99%

Exploring the functional meaning of head shape disparity in aquatic snakes

Segall

Cornette

Godoy-Diana

et al. 2020

Preprint

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19Phenotypic diversity, or disparity, can be explained by simple genetic drift or, if functional 20 constraints are strong, by selection for ecologically relevant phenotypes. We here studied 21 phenotypic disparity in head shape in aquatic snakes. We investigated whether conflicting 22 selective pressures related to different functions have driven shape diversity and explore 23 whether similar phenotypes may give rise to the same functional output (i.e. many-to-one 24 mapping of form to function). We focused on the head shape of aquatically foraging snakes as 25 they fulfil several fitness-relevant functions and show a large amount of morphological 26 variability. We used 3D surface scanning and 3D geometric-morphometrics to compare the 27 head shape of 62 species in a phylogenetic context. We first tested whether diet specialization 28 and size are drivers of head shape diversification. Next, we tested for many-to-one mapping by 29 comparing the hydrodynamic efficiency of head shapes characteristic of the main axis of 30 variation in the dataset. We 3D printed these shapes and measured the forces at play during a 31 frontal strike. Our results show that diet and size explain only a small amount of shape variation. 32Shapes did not functionally converge as more specialized aquatic species evolved a more 33 efficient head shape than others. The shape disparity observed could thus reflect a process of 34 niche specialization under a stabilizing selective regime. 35

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Simultaneous Determination of Drag Coefficient and Added Mass

Cited by 34 publications

References 11 publications

Maneuverability modeling and trajectory tracking for fish robot

Maneuverability modeling and trajectory tracking for fish robot

Robust Design of Docking Hoop for Recovery of Autonomous Underwater Vehicle with Experimental Results

Exploring the functional meaning of head shape disparity in aquatic snakes

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