Swimming in an inviscid fluid

Kanso, Eva

doi:10.1007/978-90-481-8584-9_27

Cited by 2 publications

(2 citation statements)

References 16 publications

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“…Theoretical models and simulations based on a multiplicity of numerical methods have been developed and reported [1][2][3][4][5][6][7][8] as well as experiments performed on artifi cial platforms and with animals [9][10][11][12]. Theoretical studies such as [1,2] focus on models of the viscoelastic body, whereas [3][4][5] treat the body-fl uid coupling and the emergence of locomotion. In [6,7,13], the main interest is to understand how passive thrust is generated in vortex wakes, a question that remains open.…”

Section: Introductionmentioning

confidence: 99%

Magneto-mechanical actuation model for fin-based locomotion

Carbajal¹,

Kuppuswamy²

2013

Int. J. DNE

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In this paper, we report the results from the analysis of a numerical model used for the design of a magnetic linear actuator with applications to fi n-based locomotion. Most of the current robotic fi sh generate bending motion using rotary motors that implies at least one mechanical conversion of the motion. We seek a solution that directly bends the fi n and, at the same time, is able to exploit the magneto-mechanical properties of the fi n material. This strong fi n-actuator coupling blends the actuator and the body of the robot, allowing cross optimization of the system's elements.We study a simplifi ed model of an elastic element, a spring-mass system representing a fl exible fi n, subjected to nonlinear forcing, emulating magnetic interaction. The dynamics of the system is studied under unforced and periodic forcing conditions. The analysis is focused on the limit cycles present in the system, which allows the periodic bending of the fi n and the generation of thrust. The frequency, maximum amplitude and center of the periodic orbits (offset of the bending) depend directly on the stiffness of the fi n and the intensity of the forcing; we use this dependency to sketch a simple parameter controller. Although the model is strongly simplifi ed, it provides means to estimate fi rst values of the parameters for this kind of actuator and it is useful to evaluate the feasibility of minimal actuation control of such systems.

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Section: Introductionmentioning

confidence: 99%

Magneto-mechanical actuation model for fin-based locomotion

Carbajal¹,

Kuppuswamy²

2013

Int. J. DNE

View full text Add to dashboard Cite

show abstract

“…Theoretical models and simulations based on a multiplicity of numerical methods have been developed and reported [1][2][3][4][5][6][7][8], as well as experiments performed on artificial platforms and with animals [9][10][11][12]. Theoretical studies such as [1,2] focus on models of the viscoelastic body, while [3][4][5] treat the bodyfluid coupling and the emergence of locomotion. In [6,7,13] the main interest is to understand how passive thrust is generated in vortex wakes, a question that remains open.…”

Section: Introductionmentioning

confidence: 99%

Magneto-mechanical actuation model for fin-based locomotion

Carbajal

Kuppuswamy

2010

WIT Transactions on Ecology and the Environment

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In this paper, we report the results from the analysis of a numerical model used for the design of a magnetic linear actuator with applications to fin-based locomotion. Most of the current robotic fish generate bending motion using rotary motors, which implies at least one mechanical conversion of the motion. We seek a solution that directly bends the fin and, at the same time, is able to exploit the magnetomechanical properties of the fin material. This strong fin-actuator coupling blends the actuator and the body of the robot, allowing cross optimization of the system's elements.We study a simplified model of an elastic element, a spring-mass system representing a flexible fin, subjected to nonlinear forcing, emulating magnetic interaction. The dynamics of the system are studied under unforced and periodic forcing conditions. The analysis is focused on the limit cycles present in the system, which allows the periodic bending of the fin and the generation of thrust. The frequency, maximum amplitude and center of the periodic orbits (offset of the bending) depend directly on the stiffness of the fin and the intensity of the forcing; we use this dependency to sketch a simple parameter controller. Although the model is strongly simplified, it provides means to estimate first values of the parameters for this kind of actuator and it is useful to evaluate the feasibility of minimal actuation control of such systems.

show abstract

Swimming in an inviscid fluid

Cited by 2 publications

References 16 publications

Magneto-mechanical actuation model for fin-based locomotion

Magneto-mechanical actuation model for fin-based locomotion

Magneto-mechanical actuation model for fin-based locomotion

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