iSplash-I: High performance swimming motion of a carangiform robotic fish with full-body coordination

2014 ◽  
Author(s):  
Richard James Clapham ◽  
Huosheng Hu
Keyword(s):  
High Performance ◽  
Robotic Fish ◽  
Swimming Motion ◽  
Full Body

scholarly journals Development of High-Performance Soft Robotic Fish by Numerical Coupling Analysis

2018 ◽  
Vol 2018 ◽  
pp. 1-12 ◽  
Author(s):  
Wenjing Zhao ◽  
Aiguo Ming ◽  
Makoto Shimojo
Keyword(s):  
High Performance ◽  
Fiber Composite ◽  
Swimming Performance ◽  
Structural Parameters ◽  
Robotic Fish ◽  
Dynamic Responses ◽  
Flexible Structure ◽  
Swimming Velocity ◽  
Coupling Analysis ◽  
And Control

To design a soft robotic fish with high performance by a biomimetic method, we are developing a soft robotic fish using piezoelectric fiber composite (PFC) as a flexible actuator. Compared with the conventional rigid robotic fish, the design and control of a soft robotic fish are difficult due to large deformation of flexible structure and complicated coupling dynamics with fluid. That is why the design and control method of soft robotic fish have not been established and they motivate us to make a further study by considering the interaction between flexible structure and surrounding fluid. In this paper, acoustic fluid-structural coupling analysis is applied to consider the fluid effect and predict the dynamic responses of soft robotic fish in the fluid. Basic governing equations of soft robotic fish in the fluid are firstly described. The numerical coupling analysis is then carried out based on different structural parameters of soft robotic fish. Through the numerical analysis, a new soft robotic fish is finally designed, and experimental evaluation is performed. It is confirmed that the larger swimming velocity and better fish-like swimming performance are obtained from the new soft robotic fish. The new soft robotic fish is developed successfully for high performance.

scholarly journals Undulatory Swimming Performance Explored With a Biorobotic Fish and Measured by Soft Sensors and Particle Image Velocimetry

2022 ◽  
Vol 8 ◽  
Author(s):  
Fabian Schwab ◽  
Fabian Wiesemüller ◽  
Claudio Mucignat ◽  
Yong-Lae Park ◽  
Ivan Lunati ◽  
...  
Keyword(s):  
Particle Image Velocimetry ◽  
Particle Image ◽  
Swimming Performance ◽  
The Body ◽  
Robotic Fish ◽  
Dynamic Mode ◽  
Recirculating Flow ◽  
Swimming Motion ◽  
Image Velocimetry ◽  
Undulatory Swimming

Due to the difficulty of manipulating muscle activation in live, freely swimming fish, a thorough examination of the body kinematics, propulsive performance, and muscle activity patterns in fish during undulatory swimming motion has not been conducted. We propose to use soft robotic model animals as experimental platforms to address biomechanics questions and acquire understanding into subcarangiform fish swimming behavior. We extend previous research on a bio-inspired soft robotic fish equipped with two pneumatic actuators and soft strain sensors to investigate swimming performance in undulation frequencies between 0.3 and 0.7 Hz and flow rates ranging from 0 to 20 cms in a recirculating flow tank. We demonstrate the potential of eutectic gallium–indium (eGaIn) sensors to measure the lateral deflection of a robotic fish in real time, a controller that is able to keep a constant undulatory amplitude in varying flow conditions, as well as using Particle Image Velocimetry (PIV) to characterizing swimming performance across a range of flow speeds and give a qualitative measurement of thrust force exerted by the physical platform without the need of externally attached force sensors. A detailed wake structure was then analyzed with Dynamic Mode Decomposition (DMD) to highlight different wave modes present in the robot’s swimming motion and provide insights into the efficiency of the robotic swimmer. In the future, we anticipate 3D-PIV with DMD serving as a global framework for comparing the performance of diverse bio-inspired swimming robots against a variety of swimming animals.

Study on the mud swimming motion of Paramisgurnus dabryanus

SIMULATION ◽  
2022 ◽  
pp. 003754972110688
Author(s):  
Liyan Wu ◽  
Wanpeng Li ◽  
Yonggang Ni ◽  
Wenbing Liu ◽  
Zeyu Liu ◽  
...  
Keyword(s):  
Rapid Development ◽  
Body Wave ◽  
Three Dimensional ◽  
Swimming Behavior ◽  
Robotic Fish ◽  
Cloud Data ◽  
Paramisgurnus Dabryanus ◽  
Swimming Motion ◽  
Swimming Test ◽  
Fourier Function

In the context of the rapid development of bionic technology, inspired by the swimming behavior of fish, a variety of robotic fish have been designed and applied to different underwater works and even military applications. However, in some operations, such as detection and salvage, vehicles need to travel under mud, a medium that is different from fluids. This complicating factor put higher requirements on robotic fish design. In this study, Paramisgurnus dabryanus, a fish species adept at swimming into the mud, was taken as a research object to investigate its profile and mud swimming behavior. First, a three-dimensional (3D) image scanner is used for profile scanning to acquire the point cloud data of the profile features of the loach. After modification, data coordinate points are extracted and used to fit the profile curve of loach and build geometric and mathematical models by means of Fourier function fitting. The next step includes the analysis of the motion of loach, determination of main parameters of the wave equation, and establishment of the fish body wave curve of a loach in the swimming using MATLAB software. Saturated mud having a water content of 37% is adopted as an environmental medium to numerically simulate the swimming behavior in mud, identifying the distribution of vortex path, and velocity field of loach’s motion. The rationality of simulation results is verified by the loach mud swimming test, and the simulating results agree well with the experimental data. This study lays a preliminary foundation for the outer contour design of the robotic fish operating under mud and aims to carry out the drag reduction and accelerating design of the robotic fish. The robotic loach may be applied in fishery breeding, shipwreck salvage operations, and so on.

scholarly journals Modular Design of Full Body Exoskeleton suit for Industry, Construction and Military Purpose

2021 ◽  
Vol 10 (5) ◽  
pp. 1-16
Author(s):  
Lalchand Kumawat ◽  
M Abdul Salam ◽  
Ponnapalli Naga Sai Vivek ◽  
Sajja Sri Bharath ◽  
Mustafa Ali Mustafa Emam
Keyword(s):  
High Performance ◽  
Modular Design ◽  
Cooling System ◽  
Health Sector ◽  
Lithium Ion ◽  
Prototype Model ◽  
System A ◽  
Lithium Ion Cells ◽  
Actuator Control ◽  
Full Body

Exoskeleton suits can be considered as a wearable robotic item ,where the main inution is to increase,improve& boost the physical performance of operator/user by a desired margin , it has a great practicality in the present time as it can be implemented in a variety of filed extending from Health sector to industries .The scope of this is to design a full-body, rigid, Active, performance type mobile-exoskeleton prototype, by targeting it as mainly applicable for the Industry sector , Defence sector & Civil-(construction, fire & safety department, etc) Sectors , which has seen to be taking a leap in to this genre .This paper explicates the methodology for the design which was modeled in “Solidworks” and analysys of mechanical strucuture – performed by “Ansys Workbench”& selection of actuation mechanism with a coustomised design which was validated by a series of analysis in “Altiar Flux Motor” , this paper also scrutinize very succinctly the “gait” cycle & its phases ,it summarise the necessity of the “gait” analysis- which was performed by “Opensim”from which data was acquired for the analysis of designed prototype & for the guidance in actuation of the prototype by prediction & restriction of drive controller value to the normal gait values during locomotion by “gait assist function”,where the actuator control is primarly by the sensing of a series of “Strain guage” belts attached to the users muscles , 4 different control drivers used for actuation out of which for thigh joint the control drive was coustamised , the battery houses 728 high-performance Lithium-ion cells 0f “Panasonic-NCR18650B 3400MAh”,for cooling system a common aluminium heat sink was used .the other critical factors which was considered during the designing was cost-effectiveness, minimal maintenance, ergonomic , efficiency and safety of the designed prototype is also pithily considered . the total weight of the designed prototype model was 79Kg & was able to lift & locomote at 1.36m/s with a payload of 258kg.

Bio-Inspired Design, Modeling, and Control of Robotic Fish Propelled by a Double-Slider-Crank Mechanism Driven Tail

2021 ◽  
Author(s):  
Wenyu Zuo ◽  
Frank Fish ◽  
Zheng Chen
Keyword(s):  
Linear Model ◽  
Swimming Speed ◽  
Robotic Fish ◽  
State Feedback Control ◽  
Modeling And Control ◽  
Swimming Motion ◽  
Heading Angle ◽  
Undulatory Locomotion ◽  
Oscillating Foil ◽  
And Control

Abstract This paper presents the design, modeling, and control of a three-joint robotic fish propelled by a Double-Slider-Crank (DSC) driven caudal fin. DSC is a mechanism that can use one DC motor to achieve oscillating foil propulsion. Its design is guided by a traveling wave equation that mimics a fish’s undulatory locomotion. After multiple tests, the robotic fish displayed good performance in mimicking a real fish’s swimming motion. DSC mechanism is proven to be an effective propulsion technique for a robotic fish. With the help of another servo motor at the first joint of the fish’s tail, the robotic fish can have a two-dimensional free-swimming capability. In experiments, the robotic fish can achieve a swimming speed of 0.35 m/s at 3 Hz, equivalent to 0.98 body length (BL) per second. Its steering rate is proportional to a bias angle. The DSC benefits the control of the robotic fish by independently adjusting its steering and swimming speed. This characteristic is studied in a hydrodynamic model that derives the thrust within a DSC frame. Besides the dynamic model, a semi-physics-based and data-driven linear model is established to connect bias angle to robotic fish’s heading angle. The linear model is used for designing a state feedback control, and the controller has been examined in simulation and experiments.

LEARNING FROM GYMNOTIFORM SWIMMERS — DESIGN AND IMPLEMENTATION OF ROBOTIC KNIFEFISH NKF-II

2008 ◽  
Vol 05 (02) ◽  
pp. 137-147 ◽  
Author(s):  
K. H. LOW ◽  
CHUNLIN ZHOU ◽  
GERALD G. L. SEET ◽  
JUNZHI YU
Keyword(s):  
Morphological Structure ◽  
Robotic Fish ◽  
Robot System ◽  
Propulsion Mechanism ◽  
Swimming Motion ◽  
Flexible Fin ◽  
Biomimetic Robotic Fish ◽  
Undulatory Swimming ◽  
Undulating Fin ◽  
Buoyancy Control

Gymnotiform swimmer uses single undulating anal fin below the rigid body as the propulsor. This special morphological structure is generally thought to have advantages in reducing the friction drag in undulatory movements. The finned body form and the undulatory swimming gait give the inspiration to the design of underwater robot. We have developed a robotic fish (Nanyang KnifeFish, NKF-I), which learns from a Gymnotiform swimmer: Black Ghost Knifefish. A new version of biomimetic robotic fish (NKF-II) is presented in this paper. To mimic the actual flexible fin of real fish, an optimized fin-like propulsion mechanism is modelled with a series of connecting linkages for enhancing its propulsive performance. Workspace of the proposed mechanism is studied and optimized. Swimming motion function is also established for the planning of the undulatory gait movement. The manoeuvrability and buoyancy control has also been achieved by the integration of mechatronics design of a buoyancy module with the undulating fin. The design philosophy of modularity has also been incorporated into the design of the fish. Hence, the modularity of the prototypes not only provides versatility for the robot system and also facilitates in the maintenance and future development of fish with undulating fins/body, as new modules can be added to replace the existing modules easily. By reconfiguring the components of NKF-II, other version of robotic fish with undulating fins/body is derived. This evolution of the undulating fins is also discussed.

Human Body Kinematics and the Kinect Sensor

2014 ◽  
Vol 555 ◽  
pp. 707-712 ◽  
Author(s):  
Daniel Ganea ◽  
Elena Mereuta ◽  
Claudiu Mereuta
Keyword(s):  
Human Body ◽  
High Performance ◽  
Low Cost ◽  
Video Gaming ◽  
Depth Camera ◽  
Process Unit ◽  
Kinect Sensor ◽  
Skeleton Model ◽  
Key Points ◽  
Full Body

For a good understanding of human body biomechanics scientist all over the world are using motion capture systems (MoCap). Such a system is mainly composed of one or multiple high performance cameras and a process unit for gathering key information. A low – cost solution for these systems is the Kinect sensor from Microsoft. The Kinect sensor is a depth camera that can be used for assessing full – body movements in terms of joint and/or segment positions and movement geometries. The resulting data can be used in the robotic industry, in clinical solutions, video gaming industries etc. The functionality of the equipment has been highly debated in many studies wherefrom result that the depth camera in question is accurate and reliable in studies such as human biomechanics. The aim of this paper is to explain the logics behind this equipment and its functionality. Therefore we present a new approach in constructing a 3D human skeleton model that can be used for assessing asymmetries by determining the human silhouette in 3D, the position of human body key points and joints, the angles between the track segments and full body kinematics.

The ETL-Humanoid system—a high-performance full-body humanoid system for versatile real-world interaction

2003 ◽  
Vol 17 (2) ◽  
pp. 149-164 ◽  
Author(s):  
Akihiko Nagakubo ◽  
Yasuo Kuniyoshi ◽  
Gordon Cheng
Keyword(s):  
Real World ◽  
High Performance ◽  
System A ◽  
Full Body

A High Performance Energy Analyzer for Use in Electron Scanning Microscopy

1969 ◽  
Vol 27 ◽  
pp. 14-15
Author(s):  
A. V. Crewe ◽  
M. Isaacson ◽  
D. Johnson
Keyword(s):  
High Performance ◽  
Vertical Plane ◽  
Median Plane ◽  
Electron Gun ◽  
Uniform Field ◽  
Loss Mechanism ◽  
Electron Scanning Microscopy ◽  
Sector Type ◽  
Double Focusing ◽  
Electron Energy Loss

A double focusing magnetic spectrometer has been constructed for use with a field emission electron gun scanning microscope in order to study the electron energy loss mechanism in thin specimens. It is of the uniform field sector type with curved pole pieces. The shape of the pole pieces is determined by requiring that all particles be focused to a point at the image slit (point 1). The resultant shape gives perfect focusing in the median plane (Fig. 1) and first order focusing in the vertical plane (Fig. 2).

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