Computational Research on Modular Undulating Fin for Biorobotic Underwater Propulsor

Biomimetic design employs the principles of nature to solve engineering problems. Such designs which are hoped to be quick, efficient, robust, and versatile, have taken advantage of optimization via natural selection. In the present research, an environment-friendly propulsion system mimicking undulating fins of stingray was built. A non-conventional method was considered to model the flexibility of the fins of stingray. A two-degree-of-freedom mechanism comprised of several linkages was designed and constructed to mimic the actual flexible fin, The driving linkages were used to form a mechanical fin consisting of several fin segments, which are able tO produce undulations, similar to those produced by the actual fins. Owing to the modularity of the design of the mechanical fin, various undulating patterns can be realized. Some qualitative observations, obtained by experiments, predicted that the thrusts produced by the mechanical fin are different among various undulating patterns. To fully understand this experimental phenomenon is very important for better performance and energy saving for our biorobotic underwater propulsion system. Here, four basic undulating patterns of the mechanical fin were performed using two-dimensional unsteady computational fluid dynamics （CFD） method. An unstructured, grid-based, unsteady Navier-Stokes solver with automatic adaptive re-meshing was used to compute the unsteady flow around the fin through twenty complete cycles. The pressure distribution on fin surface was computed and integrated to provide fin forces which were decomposed into rift and thrust. The pressure force and friction force were also computed throughout the swimming cycle. Finally, vortex contour maps of these four basic fin undulating patterns were displayed and compared.     

Computational Hydrodynamics and Statistical Modeling on Biologically Inspired Undulating Robotic Fins: A Two-Dimensional Study

Undulation fishes, whose propulsion is mainly achieved by undulating ribbon fins, are good at maneuvering or stabilizing at low speeds. This paper suggests and proposes a two-dimensional approximate computational model, which is used to conduct an initial analysis on undulation propulsion scheme. It is believed that this undulating mode has a better potential for exploitation in artificial underwater systems. Hydrodynamics of two-dimensional undulating fins under a series of kinematical parameter sets is explored via numerical simulation. The periodicity of undulation forces and moments is studied. The effects of inlet velocity, wavelength, undulation frequency, and undulation amplitude are investigated. Furthermore, a dimensionless two-parameter model for undulation surge force is established with a given wavelength (in terms of, a single wavelength or a dual wavelength) using statistical method. The work in this paper is able to provide studies on bionic undulation mode. It has also formed a meaningful basis for three-dimensional (3D) hydrodynamics and corresponding control methods in bionic un-dulation robots.     

Fish and chips: implementation of a neural network model into computer chips to maximize swimming efficiency in autonomous underwater vehicles

Recent developments in the design and propulsion of biomimetic autonomous underwater vehicles (AUVs) have focused on boxfish as models (e.g. Deng and Avadhanula 2005 Biomimetic micro underwater vehicle with oscillating fin propulsion: system design and force measurement Proc. 2005 IEEE Int. Conf. Robot. Auto. (Barcelona, Spain) pp 3312-7). Whilst such vehicles have many potential advantages in operating in complex environments (e.g. high manoeuvrability and stability), limited battery life and payload capacity are likely functional disadvantages. Boxfish employ undulatory median and paired fins during routine swimming which are characterized by high hydromechanical Froude efficiencies (approximately 0.9) at low forward speeds. Current boxfish-inspired vehicles are propelled by a low aspect ratio, 'plate-like' caudal fin (ostraciiform tail) which can be shown to operate at a relatively low maximum Froude efficiency (approximately 0.5) and is mainly employed as a rudder for steering and in rapid swimming bouts (e.g. escape responses). Given this and the fact that bioinspired engineering designs are not obligated to wholly duplicate a biological model, computer chips were developed using a multilayer perception neural network model of undulatory fin propulsion in the knifefish Xenomystus nigri that would potentially allow an AUV to achieve high optimum values of propulsive efficiency at any given forward velocity, giving a minimum energy drain on the battery. We envisage that externally monitored information on flow velocity (sensory system) would be conveyed to the chips residing in the vehicle's control unit, which in turn would signal the locomotor unit to adopt kinematics (e.g. fin frequency, amplitude) associated with optimal propulsion efficiency. Power savings could protract vehicle operational life and/or provide more power to other functions (e.g. communications).     

The fine structure of the fin musculature in two teleost species with different swimming modes,the puffer,Tetraodon steindachneri,and the goldfish,Carassius auratus

Summary Puffer fish (Tetraodon steindachneri) can execute precise maneuvers due to their highly specialized mode of propulsion. In the conventional locomotion exemplified by the goldfish (Carassius auratus), the fish thrusts are generated by lateral beating of the caudal fin. In contrast, the puffer generates its propulsive force by very rapid undulating movements of the pectoral, dorsal and anal fins. The fine structure of the fin muscles is identical in the two species of fishes, despite the differences in fin movement; cytologically, the fibers are intermediate between those of red and of white muscle. On the other hand, both the fusion frequency and the number of motor endplates are considerably higher in the fin muscles of the puffer than in those of the goldfish.     

Design and Implementation of Paired Pectoral Fins Locomotion of Labriform Fish Applied to a Fish Robot

In present,there are increasing interests in the research on mechanical and control system of underwater vehicles.Theseongoing research efforts are motivated by more pervasive applications of such vehicles including seabed oil and gas explorations,scientific deep ocean surveys,military purposes,ecological and water environmental studies,and also entertainments.However,the performance of underwater vehicles with screw type propellers is not prospective in terms of its efficiency andmaneuverability.The main weaknesses of this kind of propellers are the production of vortices and sudden generation of thrustforces which make the control of the position and motion difficult.On the other hand,fishes and other aquatic animals are efficient swimmers,posses high maneuverability,are able to followtrajectories,can efficiently stabilize themselves in currents and surges,create less wakes than currently used underwater vehicle,and also have a noiseless propulsion.The fish’s locomotion mechanism is mainly controlled by its caudal fin and paired pectoralfins.They are classified into Body and/or Caudal Fin(BCF)and Median and/or paired Pectoral Fins(MPF).The study of highlyefficient swimming mechanisms of fish can inspire a better underwater vehicles thruster design and its mechanism.There are few studies on underwater vehicles or fish robots using paired pectoral fins as thruster.The work presented in thispaper represents a contribution in this area covering study,design and implementation of locomotion mechanisms of pairedpectoral fins in a fish robot.The performance and viability of the biomimetic method for underwater vehicles are highlightedthrough in-water experiment of a robotic fish.     

Learning Control for Biomimetic Undulating Fins: An Experimental Study

Learning control should focus on imitating natural fish's adaptability to complex and dynamic environment to some extent, rather than mimicking streamlined shapes or specific actuators to develop more mechanical prototypes. In this paper, an experimental study on a proposed learning control of the robotic undulating fin, RoboGnilos, is suggested and explored. This study takes inspirations from biological world to practical control algorithms. In detail, an iterative learning scheme based control is studied with the cooperation of a filter to reduce the measurement noise, and a curve fitting component to keep the necessary phase difference between neighboring fin rays. Moreover, the iterative learning control algorithm is designed and implemented for practical applications. The experimental results validate that the proposed learning control can effectively improve the propulsion of RoboGnilos. For instance, the steady propulsion velocity may be enhanced by over 40% with some specified parameters.     

Evaluation using multilayer perception neural networks: a case study of undulatory median fin swimming in the knifefish Xenomystus nigri

In this study, artificial intelligence, namely multilayer perception neural networks (MLP-NN), was employed to predict the hydrodynamic performance of undulatory median fin propulsion in Xenomystus nigri . Good agreement was found between MLP-NN predictions and actual mean thrust and power values calculated from elongated-body theory. MLP-NN has the ability to be a predictive tool for autonomous underwater vehicle design and hydrodynamic performance.     

Parametric Study of an Underwater Finned Propulsor Inspired by Bluespotted Ray

The performance of bluespotted rays was emulated in the design of a bioinspired underwater propulsor in the present work.First,the movement of a live bluespotted ray was captured for the swimming mode and useful information to the biomimetic mechanism design.By virtue of the modular and reeonfigurable design concept,an undulatory fin propulsion prototype was developed.With a proper experimental set-up,orthogonal experiments were conducted to investigate the effect of various fin design parameters on the propulsion speed,thrust,and power of the fish robot.The controllable fin parameters include frequency,amplitude,wavelength,fm shape,and undulatory mode.The significance of these parameters was also determined by using the variance analysis.The results demonstrate that the designed propulsor,imitating bluespotted rays with large expanded undulatory fins,is able to propel itself by changing various kinematic parameters.     

Use of biorobotic models of highly deformable fins for studying the mechanics and control of fin forces in fishes

Bony fish swim with a level of agility that is unmatched in human-developed systems. This is due, in part, to the ability of the fish to carefully control hydrodynamic forces through the active modulation of the fins' kinematics and mechanical properties. To better understand how fish produce and control forces, biorobotic models of the bluegill sunfish's (Lepomis macrochirus) caudal fin and pectoral fins were developed. The designs of these systems were based on detailed analyses of the anatomy, kinematics, and hydrodynamics of the biological fins. The fin models have been used to investigate how fin kinematics and the mechanical properties of the fin-rays influence propulsive forces and to explore kinematic patterns that were inspired by biological motions but that were not explicitly performed by the fish. Results from studies conducted with the fin models indicate that subtle changes to the kinematics and mechanical properties of fin rays can significantly impact the magnitude, direction, and time course of the 3D forces used for propulsion and maneuvers. The magnitude of the force tends to scale with the fin's stiffness, but the direction of the force is not invariant, and this causes disproportional changes in the magnitude of the thrust, lift, and lateral components of force. Results from these studies shed light on the multiple strategies that are available to the fish to modulate fin forces.     

Diversity of pectoral fin structure and function in fishes with labriform propulsion

Aquatic propulsion generated by the pectoral fins occurs in many groups of perciform fishes, including numerous coral reef families. This study presents a detailed survey of pectoral fin musculoskeletal structure in fishes that use labriform propulsion as the primary mode of swimming over a wide range of speeds. Pectoral fin morphological diversity was surveyed in 12 species that are primarily pectoral swimmers, including members of all labroid families (Labridae, Scaridae, Cichlidae, Pomacentridae, and Embiotocidae) and five additional coral reef fish families. The anatomy of the pectoral fin musculature is described, including muscle origins, insertions, tendons, and muscle masses. Skeletal structures are also described, including fin shape, fin ray morphology, and the structure of the radials and pectoral girdle. Three novel muscle subdivisions, including subdivisions of the abductor superficialis, abductor profundus, and adductor medialis were discovered and are described here. Specific functional roles in fin control are proposed for each of the novel muscle subdivisions. Pectoral muscle masses show broad variation among species, particularly in the adductor profundus, abductor profundus, arrector dorsalis, and abductor superficialis. A previously undescribed system of intraradial ligaments was also discovered in all taxa studied. The morphology of these ligaments and functional ramifications of variation in this connective tissue system are described. Musculoskeletal patterns are interpreted in light of recent analyses of fin behavior and motor control during labriform swimming. Labriform propulsion has apparently evolved independently multiple times in coral reef fishes, providing an excellent system in which to study the evolution of pectoral fin propulsion.     

Computation of Unsteady Flow Past a Biomimetic Fin

The unsteady hydrodynamics of a biomimetic fin attached to a cylindrical body has been studied numerically using a computational fluid dynamic (CFD) simulator based on an in-house solver of the Navier-Stokes equations, combined with a recently developed multi-block, overset grid method. The fin-body CFD model is based on a mechanical pectoral fin device, which consists of a cylindrical body and an asymmetric fin and can mimic flapping, rowing and feathering motions of the pectoral fins in fishes. First the multi-block, overset grid method incorporated into the NS solver was verified through an extensive study of unsteady flows past a single fin undergoing rowing and feathering motion. Then unsteady flows past the biomimetic fin-body model undergoing the same motions were computed and compared with the measurements of forces of the mechanical pectoral fin, which shows good agreement in both time-varying and time-averaged hydrodynamic forces. The relationship between force generation and vortex dynamics points to the importance of the match in fin kinematics between power and recovery strokes and implies that an optimal selection of parameters of phase lags between and amplitudes of rowing and feathering motions can improve the performance of labriform propulsion in terms of either maximum force generation or minimum mechanical power.     

Simulation of Fluid Flow in a Channel Induced by Three Types of Fin-Like Motion

One of many interesting research activities in biofluidmechanics is dedicated to investigations of locomotion in water. Some of propulsion mechanisms observed in the underwater world are used in the development process of underwater autonomic vehicles （AUV）. In order to characterise several solutions according to their manoeuvrability, influence on the surrounding fluid and energetic efficiency, a detailed analysis of fin-like movement is indispensable. In the current paper an analysis of undulatory, oscillatory and combined fin-like movements by means of numerical simulation is carried out. The conservation equation of mass and the conservation equation of momentum axe solved with the Finite Volume Method （FWM） by use of the software CFX-10.0. The undulatory and oscillatory fin movements axe modelled with an equation that is implemented within an additional subroutine and joined with the main solver. N carried out in the computational domain, in which one fin is fixed in a flow-through water duct. Simulations axe carded out in the range of the Re number up to 105. The results show significant influence of applied fin motion on the velocity distribution in the surrounding fluid.     

Functional assessment in the rat by ground reaction forces

Although the rat sciatic nerve model is used extensively in the investigation of repair techniques, and a variety of evaluation methods utilized to assess the results, a means to measure directly and accurately the return of function in these animals is absent. Histologic, histomorphometric, and electrophysiologic methods can be reliable indicators of nerve regeneration but do not correlate to functional recovery. The purposes of this study were to develop apparatus to continuously measure ground reaction forces (GRF) and use GRF parameters in the assessment of gait parameters in normal rats preoperatively and following peripheral nerve severance and repair. Three neurorrhaphy methods: direct sciatic nerve repair, direct tibial nerve repair and double sciatic nerve repair simulating autograft, as well as a non-repaired tibial nerve transection were evaluated. The testing apparatus was designed to measure the spontaneous and voluntary effort of the rat with objective data. Three orthogonal components - vertical, craniocaudal (braking and propulsion), and mediolateral - of the ground reaction force were measured. Preoperative data showed that vertical forces were comparable among the four limbs but propulsion and braking forces displayed significant differences. At 12 weeks, functional recovery was most evident in the direct tibial nerve repair group and absent in the non-repaired tibial defect group. Direct sciatic nerve repairs and sciatic nerve grafts resulted in lesser degrees of improvement. Results indicated that the propulsive force is the optimal GRF parameter for evaluating recovery of useful function.     

Can treadmill walking be used to assess propulsion generation?

Instrumented treadmills offer significant advantages for analysis of human locomotion, including recording consecutive steady-state gait cycles, precisely controlling walking speed, and avoiding force plate targeting. However, some studies of hemiparetic walking on a treadmill have suggested that the moving treadmill belt may fundamentally alter propulsion mechanics. Any differences in propulsion mechanics during treadmill walking would be problematic since recent studies assessing propulsion have provided fundamental insight into hemiparetic walking. The purpose of this study was to test the hypothesis that there would be no difference in the generation of anterior/posterior (A/P) propulsion by performing a carefully controlled comparison of the A/P ground reaction forces (GRFs) and impulses in healthy adults during treadmill and overground walking. Gait data were collected from eight subjects walking overground and on a treadmill with speed and cadence controlled. Peak negative and positive horizontal GRFs in early and late stance, respectively, were reduced by less than 5% of body weight (p<0.05) during treadmill walking compared to overground walking. The magnitude of the braking impulse was similarly lower (p<0.05) during treadmill walking, but no significant difference was found between propulsion impulses. While there were some subtle differences in A/P GRFs between overground and treadmill walking, these results suggest there is no fundamental difference in propulsion mechanics. We conclude that treadmill walking can be used to investigate propulsion generation in healthy and by implication clinical populations.     

High-level swimmers' kinetic efficiency during the underwater phase of a grab start

The purpose of the present work was to study swimmers' efficiency during the underwater phase of the grab start. Eight high-level swimmers participated in this study. They performed two types of start: a regular grab start (with underwater leg propulsion after the glide) and a grab start with no underwater movement (swimmers had to remain in a streamlined position). Four cameras filmed the entire underwater phase of all starts. Nine anatomic landmarks were identified on the swimmers' bodies and their positions were calculated using a modified double plan DLT technique. From these positions and Dempster's anthropometric data, the center of mass position and velocity were also determined. Kinetic energies were also calculated. This velocity and kinetic energies for the two types of start were compared. Swimmers began underwater leg propulsion 1.69 m too soon. The global and internal energies were significantly higher for the start with underwater leg propulsion. Nevertheless, swimmers' velocities were equivalent for both starts. These results suggest that the swimmers did not use the underwater phase of the start efficiently: By kicking too soon, they did not succeed in producing higher velocities and thus wasted energy.     

Drag force mechanical power during an actual propulsion cycle on a manual wheelchair

The object of this study was to compute the mechanical power of the resultant braking force during an actual propulsion cycle with a manual wheelchair on the field. The resultant braking force was calculated from a mechanical model taking into account the rolling resistances of the front and rear wheels. Both the resultant braking force and the wheelchair velocity were not constant during the propulsion cycle and varied according to the subject's fore-and-aft and vertical movements in the wheelchair. These variations had logical repercussions on the braking force mechanical power, which ranged from 20.6 to 34.5 W (mean = 29.6 W) during the propulsion cycle. The mechanical power was also calculated from the conditions of a classical drag test, by the product of the cycle mean velocity and a constant braking force corresponding to a 60% rear wheels distribution of the subject-and-wheelchair's weight. This second mechanical power (32.4 W) was 10% higher than the average of the instantaneous power. Beyond the need of a clear definition of the two phases of the propulsion cycle, this study showed that the assumption on wheelchair locomotion usually admitted on laboratory ergometers cannot be applied in field studies, and that the kinetic energy variations during the cycle propulsive phase should be considered for evaluating the subject's mechanical work and power.     

Maneuvering and stability performance of a robotic tuna

The Draper Laboratory Vorticity Control Unmanned Undersea Vehicle(VCUUV) is the first mission-scale, autonomous underwater vehiclethat uses vorticity control propulsion and maneuvering. Builtas a research platform with which to study the energetics andmaneuvering performance of fish-swimming propulsion, the VCUUVis a self-contained free swimming research vehicle which followsthe morphology and kinematics of a yellowfin tuna. The forwardhalf of the vehicle is comprised of a rigid hull which housesbatteries, electronics, ballast and hydraulic power unit. Theaft section is a freely flooded articulated robot tail whichis terminated with a lunate caudal fin. Utilizing experimentallyoptimized body and tail kinematics from the MIT RoboTuna, theVCUUV has demonstrated stable steady swimming speeds up to 1.2m/sec and aggressive maneuvering trajectories with turning ratesup to 75 degrees per second. This paper summarizes the vehiclemaneuvering and stability performance observed in field trialsand compares the results to predicted performance using theoreticaland empirical techniques.     

Drag-Based ‘Hovering’ in Ducks: The Hydrodynamics and Energetic Cost of Bottom Feeding

Diving ducks use their webbed feet to provide the propulsive force that moves them underwater. To hold position near the bottom while feeding, ducks paddle constantly to resist the buoyant force of the body. Using video sequences from two orthogonal cameras we reconstructed the 3-dimensional motion of the feet through water and estimated the forces involved with a quasi-steady blade-element model. We found that during station holding, near the bottom, ducks use drag based propulsion with the webbed area of the foot moving perpendicular to the trajectory of the foot. The body was pitched at 76±3.47° below the horizon and the propulsive force was directed 26±1.9° ventral to the body so that 98% of the propulsive force in the sagittal plane of the duck worked to oppose buoyancy. The mechanical work done by moving both feet through a paddling cycle was 1.1±0.2 J which was equivalent to an energy expenditure of 3.7±0.5 W to hold position while feeding at 1.5 m depth. We conclude that in shallow water the high energetic cost of feeding in ducks is due to the need to paddle constantly against buoyancy even after reaching the bottom. The mechanical energy spent on holding position near the bottom, while feeding, is approximately 2 fold higher than previous estimates that were made for similar bottom depths but based on the presumed motion of the body instead of motion of the feet.     

Unsteady hydrodynamic forces acting on a robotic arm and its flow field: Application to the crawl stroke

This study aims to clarify the mechanisms by which unsteady hydrodynamic forces act on the hand of a swimmer during a crawl stroke. Measurements were performed for a hand attached to a robotic arm with five degrees of freedom independently controlled by a computer. The computer was programmed so the hand and arm mimicked a human performing the stroke. We directly measured forces on the hand and pressure distributions around it at 200 Hz; flow fields underwater near the hand were obtained via 2D particle image velocimetry (PIV). The data revealed two mechanisms that generate unsteady forces during a crawl stroke. One is the unsteady lift force generated when hand movement changes direction during the stroke, leading to vortex shedding and bound vortex created around it. This bound vortex circulation results in a lift that contributes to the thrust. The other occurs when the hand moves linearly with a large angle of attack, creating a Kármán vortex street. This street alternatively sheds clockwise and counterclockwise vortices, resulting in a quasi-steady drag contributing to the thrust. We presume that professional swimmers benefit from both mechanisms. Further studies are necessary in which 3D flow fields are measured using a 3D PIV system and a human swimmer.     

Synchronized swimming: coordination of pelvic and pectoral fins during augmented punting by the freshwater stingray Potamotrygon orbignyi

Benthic animals live at the juncture of fluid and solid environments, an interface that shapes many aspects of their behavior, including their means of locomotion. Aquatic walking and similar substrate-dependent forms of underwater propulsion have evolved multiple times in benthic invertebrate and vertebrate taxa, including batoid elasmobranchs. Skates (Rajidae) use the pelvic fins to punt across the substrate, keeping the pectoral fin disc still. Other batoids combine pelvic fin motions with pectoral fin undulation in augmented punting, but the coordination of these two modes has not been described. In this study of an augmented punter, the freshwater stingray Potamotrygon orbignyi, we demonstrate the synchrony of pelvic and pectoral fin cycles. The punt begins as the pelvic fins, held in an anterior position, are planted into the substrate and used to push the body forward. Meanwhile, a wave of pectoral fin undulation begins, increasing to maximum height just before the cycle's halfway point, when the pelvic fins reach their furthest posterior extension. The pectoral fin wave subsides as the pelvic fins return to their starting position for subsequent punts. Despite definitive links between pectoral and pelvic fin activity, we find no significant relationship between pectoral fin kinematics (frequency, wave height, and wave speed) and punt performance. However, slip calculations indicate that pectoral undulation can produce thrust and augment punting. Pelvic fin kinematics (frequency and duty factor) have significant effects, suggesting that while both sets of fins contribute to thrust generation, the pelvic fins likely determine punt performance.