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

Zhou, Chunlin; Low, Kian Hsiang

doi:10.1109/iros.2010.5652477

Cited by 2 publications

(1 citation statement)

References 20 publications

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“…One reason is that the unsteady wave will transfer more momentum and lead to the increment of drag force [11]. The complex underwater wave-current conditions impose higher requirements for the swimming motion control law of the fish-like robot [12]. But it cannot be easily given a generalized conclusion.…”

Section: Introductionmentioning

confidence: 99%

Experiment for Effect of Attack Angle and Environmental Condition on Hydrodynamics of Near-Surface Swimming Fish-Like Robot

Xue

Bai

et al. 2023

Applied Bionics and Biomechanics

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Fish-like robot is a special autonomous underwater vehicle with broad application prospects. Some previous studies concentrated on the hydrodynamics of free-swimming fish-like robots. But the hydrodynamic performance of fish-like robot swimming with a tilt angle in constrained space has not been well studied, and the influence of environmental wave and current on its is also still unclear. In this paper, the experiment devices, including a physical fish-like robot, a hydrodynamics measurement platform, and a six-axis force sensor, are used to study the effect of attack angle and environmental condition on the hydrodynamics of near-surface swimming fish-like robot. Nine attack angles, five oscillating amplitudes, and three environmental conditions are analyzed in the experiments. It shows that thrust force decreases when caudal fin passes above water surface, but the increased difference between gravity force and buoyancy force will compensate the decreased force generated by caudal fin when fish-like robot swims with certain dive angle. The extra reaction force generated by solid bottom boundary will promote the thrust force and vertical force. The surface water wave condition or surface water current condition also has obvious effects on hydrodynamic performance. This paper provides a new perspective to the research on the hydrodynamic performance of fish-like robot and will do favor in the development of fish-like robot.

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Section: Introductionmentioning

confidence: 99%

Experiment for Effect of Attack Angle and Environmental Condition on Hydrodynamics of Near-Surface Swimming Fish-Like Robot

Xue

Bai

et al. 2023

Applied Bionics and Biomechanics

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show abstract

Modeling and control of swimming gaits for fish-like robots using coupled nonlinear oscillators

Zhou¹

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First and foremost, I would like to thank Prof. Low Kin Huat, my supervisor, for giving me the opportunity to work with him and for his guidance and insightful comments on my research. The completion of the thesis is achieved through many rounds of discussions with him in lab, in his office or at his home. Sometimes Prof. Low was so devoted and the discussion even lasted until midnight. My most sincere gratitude is given to him for his great help in my four year study at NTU. I would like to share my achievements with my friends, Mr. Chong Chee Wee, Mr. Zhong Yu, who ever worked together with me in my project. Some results in the thesis are outcomes of exchange of ideas with them. A lot of experiments were conducted with their helps. Mr. Chong finished most of the work on the design and testing of fish robot NAF-II. My friends, Mr. Lim Hup Boon, Ms. Huang Yunyun, Ms. Wang Ping, Mr. Luu Trieu Phat, Miss Pang Wee Ching, Mr. Huang Junyi and all technicians in Robotics Research Center are acknowledged for their supports and listening ears whenever I meet difficulties. Final-year-project undergraduate students who have worked in our robotic fish team are also acknowledged for their contributions.

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

Cited by 2 publications

References 20 publications

Experiment for Effect of Attack Angle and Environmental Condition on Hydrodynamics of Near-Surface Swimming Fish-Like Robot

Experiment for Effect of Attack Angle and Environmental Condition on Hydrodynamics of Near-Surface Swimming Fish-Like Robot

Modeling and control of swimming gaits for fish-like robots using coupled nonlinear oscillators

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