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.     

Effect of an Artificial Caudal Fin on the Performance of a Biomimetic Fish Robot Propelled by Piezoelectric Actuators

This paper addresses the design of a biomimetic fish robot actuated by piezoeeramic actuators and the effect of artificial caudal fins on the fish robot＇s performance. The limited bending displacement produced by a lightweight piezocomposite actuator was amplified and transformed into a large tail beat motion by means of a linkage system. Caudal fins that mimic the shape of a mackerel fin were fabricated for the purpose of examining the effect of caudal fm characteristics on thrust production at an operating frequency range. The thickness distribution of a real mackerel＇s fin was measured and used to design artificial caudal fins. The thrust performance of the biomimetic fish robot propelled by fins of various thicknesses was examined in terms of the Strouhal number, the Froude number, the Reynolds number, and the power consumption. For the same fm area and aspect ratio, an artificial caudal fin with a distributed thickness shows the best forward speed and the least power consumption.     

眼斑双锯鱼仔稚鱼发育异速生长

运用生态学和传统理论生物学的研究方法, 对孵化后眼斑双锯(Amphiprion ocellaris)仔、稚鱼在早期生存和环境适应上的异速生长及器官优先发育生态学意义进行了研究, 以期为眼斑双锯鱼人工繁殖和育苗提供参考资料。以11日龄为眼斑双锯鱼仔、稚鱼的区分时期, 结果表明, 眼斑双锯鱼仔、稚鱼的感觉、摄食和游泳等器官快速分化, 均存在异速生长现象。在头部器官中, 吻长、眼间距、口宽和头高在仔鱼期均为正异速生长, 吻至鳃裂前缘长和眼径为负异速生长。在身体各部位中, 仔鱼期体高、躯干长、尾长、尾柄长、尾柄高和体厚均为正异速生长, 仅头长为负异速生长; 在游泳器官中, 仔鱼期眼斑双锯鱼尾鳍、背鳍、胸鳍、腹鳍和臀鳍均为正异速生长。稚鱼期眼斑双锯鱼头部、躯干及游泳等各器官均为负异速生长。眼斑双锯鱼这些关键器官的异速发育, 对适应环境因子变化具有重要的生态学意义。     

A Novel Implementation of a Flexible Robotic Fin Actuated by Shape Memory Alloy

In this paper,study of a novel flexible robotic-fin actuated by Shape Memory Alloy (SMA) is presented.The developed robotic fin is capable of implementing various 3-Dimensional (3D) motions,which plays an important role in robot propulsion and maneuverability.Firstly,the morphological and mechanics parameters of a real pectoral fin from a carp are investigated.Secondly,a detailed design of the flexible pectoral fin driven by SMA is presented according to the previous morphological and mechanics analyses.Thirdly,a simplified theoretical model on the SMA fin plate is derived.The thermodynamics of the SMA plate and the relationship between curvature and phase transformation are analyzed.Finally,several simulations and model experiments are conducted according to the previous analyses.The results of the experiments are useful for the control of the robotic fin.The experimental results reveal that the SMA actuated fin ray has a good actuating performance.     

Experimental Hydrodynamics and Evolution: Function of Median Fins in Ray-finned Fishes

The median fins of fishes consist of the dorsal, anal, and caudal fins and have long been thought to play an important role in generating locomotor force during both steady swimming and maneuvering. But the orientations and magnitudes of these forces, the mechanisms by which they are generated, and how fish modulate median fin forces have remained largely unknown until the recent advent of Digital Particle Image Velocimetry (DPIV) which allows empirical analysis of force magnitude and direction. Experimental hydrodynamic studies of median fin function in fishes are of special utility when conducted in a comparative phylogenetic context, and we have examined fin function in four ray-finned fish clades (sturgeon, trout, sunfish, and mackerel) with the goal of testing classical hypotheses of fin function and evolution. In this paper we summarize two recent technical developments in DPIV methodology, and discuss key recent findings relevant to median fin function. High-resolution DPIV using a recursive local-correlation algorithm allows quantification of small vortices, while stereo-DPIV permits simultaneous measurement of x, y, and z flow velocity components within a single planar light sheet. Analyses of median fin wakes reveal that lateral forces are high relative to thrust force, and that mechanical performance of median fins (i.e., thrust as a proportion of total force) averages 0.35, a surprisingly low value. Large lateral forces which could arise as an unavoidable consequence of thrust generation using an undulatory propulsor may also enhance stability and maneuverability. Analysis of hydrodynamic function of the soft dorsal fin in bluegill sunfish shows that a thrust wake is generated that accounts for 12% of total thrust and that the thrust generation by the caudal fin may be enhanced by interception of the dorsal fin wake. Integration of experimental studies of fin wakes, computational approaches, and mechanical models of fin function promise understanding of instantaneous forces on fish fins during the propulsive cycle as well as exploration of a broader locomotor design space and its hydrodynamic consequences.     

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.     

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.     

Mechanical properties of a bio-inspired robotic knifefish with an undulatory propulsor

South American electric knifefish are a leading model system within neurobiology. Recent efforts have focused on understanding their biomechanics and relating this to their neural processing strategies. Knifefish swim by means of an undulatory fin that runs most of the length of their body, affixed to the belly. Propelling themselves with this fin enables them to keep their body relatively straight while swimming, enabling straightforward robotic implementation with a rigid hull. In this study, we examined the basic properties of undulatory swimming through use of a robot that was similar in some key respects to the knifefish. As we varied critical fin kinematic variables such as frequency, amplitude, and wavelength of sinusoidal traveling waves, we measured the force generated by the robot when it swam against a stationary sensor, and its velocity while swimming freely within a flow tunnel system. Our results show that there is an optimal operational region in the fin's kinematic parameter space. The optimal actuation parameters found for the robotic knifefish are similar to previously observed parameters for the black ghost knifefish, Apteronotus albifrons. Finally, we used our experimental results to show how the force generated by the robotic fin can be decomposed into thrust and drag terms. Our findings are useful for future bio-inspired underwater vehicles as well as for understanding the mechanics of knifefish swimming.     

A Flexible Fin with Bio-Inspired Stiffness Profile and Geometry

Biological evidence suggests that fish use mostly anterior muscles for steady swimming while the caudal part of the body is passive and,acting as a carrier of energy,transfers the momentum to the surrounding water.Inspired by those findings we hypothesize that certain swimming patterns can be achieved without copying the distributed actuation mechanism of fish but rather using a single actuator at the anterior part to create the travelling wave.To test the hypothesis a pitching flexible fin made of silicone rubber and silicone foam was designed by copying the stiffness distribution profile and geometry of a rainbow trout.The kinematics of the fin was compared to that of a steadily swimming trout.Fin's propulsive wave length and tail-beat amplitude were determined while it was actuated by a single servo motor.Results showed that the propulsive wave length and tail-beat amplitude of a steadily swimming 50 cm rainbow trout was achieved with our biomimetic fin while stimulated using certain actuation parameters (frequency 2.31 Hz and amplitude 6.6 degrees).The study concluded that fish-like swimming can be achieved by mimicking the stiffness and geometry of a rainbow trout and disregarding the details of the actuation mechanism.     

Fish functional design and swimming performance

Classifications of fish swimming are reviewed as a prelude to discussing functional design and performance in an ecological context. Webb (1984a , 1998 ) classified fishes based on body shape and locomotor mode into three basic categories: body and caudal fin (BCF) periodic, BCF transient (fast‐starts, turns) and median and paired fin (MPF) swimmers. Swimming performance and functional design is discussed for each of these categories. Webb hypothesized that specialization in any given category would limit performance in any other. For example, routine MPF swimmers should be penalized in BCF transient (fast‐start propulsion). Recent studies offer much support for Webb's construct but also suggest some necessary amendments. In particular, design and performance compromises for different swimming modes are associated with fish that employ the same propulsor for more than one task (coupled, e.g. the same propulsor for routine steady swimming and fast‐starts). For example, pike (BCF transient specialist) achieve better acceleration performance than trout (generalist). Pike steady (BCF periodic) performance, however, is inferior to that of trout. Fish that employ different propulsors for different tasks (decoupled, e.g. MPF propulsion for low‐speed routine swimming and BCF motions for fast‐starts) do not show serious performance compromises. For example, certain MPF low‐speed swimmers show comparable fast‐start performance to BCF forms. Arguably, the evolution of decoupled locomotor systems was a major factor underlying the adaptive radiation of teleosts. Low‐speed routine propulsion releases MPF swimmers from the morphological constraints imposed by streamlining allowing for a high degree of variability in form. This contrasts with BCF periodic swimming specialists where representatives of four vertebrate classes show evolutionary convergence on a single, optimal ‘thunniform’ design. However, recent experimental studies on the comparative performance of carangiform and thunniform swimmers contradict some of the predictions of hydromechanical models. This is addressed in regard to the swimming performance, energetics and muscle physiology of tuna. The concept of gait is reviewed in the context of coupled and decoupled locomotor systems. Biomimetic approaches to the development of Autonomous Underwater Vehicles have given a new context and impetus to research and this is discussed in relation to current views of fish functional design and swimming performance. Suggestions are made for possible future research directions.     

Parametric Research of Experiments on a Carangiform Robotic Fish

In this paper, a carangiform robotic fish with 4-DoF （degree of freedom） tail has been developed. The robotic fish has capability of swimming under two modes that are radio control and autonomous swimming. Experiments were conducted to investigate the influences of characteristic parameters including the frequency, the amplitude, the wave length, the phase difference and the coefficient on forward velocity. The experimental results shown that the swimming performance of the robotic fish is affected mostly by the characteristic parameters observed.     

红鳍笛鲷仔、稚鱼异速生长

运用生态学和传统理论生物学的研究方法,对孵化后红鳍笛鲷（Lutjanus erythropterus）仔、稚鱼在早期生存和环境适应上的异速生长及器官优先发育生态学意义进行了研究,以期为红鳍笛鲷人工繁殖、育苗提供参考资料。以17日龄为红鳍笛鲷仔、稚鱼的区分时期,结果表明,红鳍笛鲷仔、稚鱼的感觉、呼吸摄食和游泳等器官快速分化,均存在异速生长现象。在头部器官中,吻长、口宽、眼径和头高在仔鱼期均为正异速生长,稚鱼期吻长为等速生长,口宽、眼径和头高为负异速生长。在身体各部位中,仔鱼期头长和体高为正异速生长,躯干部和尾长为负异速生长;稚鱼期体高和躯干长为正异速生长,头长和尾长为等速生长;在游泳器官中,仔鱼期红鳍笛鲷背鳍、腹鳍、尾鳍为正异速生长,胸鳍为等速生长,稚鱼期臀鳍为正异速生长,腹鳍、胸鳍和尾鳍为等速生长,背鳍为负异速生长。红鳍笛鲷这些关键器官的快速发育,使外源性营养开始后以最小的代谢损耗获得了生存能力的显著提升,对挑战和适应纷繁变换的外界压力具有重要的生态学意义。     

Evaluation of Adult White Sturgeon Swimming Capabilities and Applications to Fishway Design

Concern over passage of sturgeon barriers, has focused attention on fishway design that accommodates its swimming performance. In order to evaluate swimming performance, regarding fish ladder type partial barriers, wild adult sturgeons, Acipenser transmontanus; 121–76m fork length, were captured in the San Francisco Bay Estuary and Yolo Bypass toe drain. Hydrodynamic forces and kinematic parameters for swimming performance data were collected in a laboratory flume under three flow conditions through barriers and ramp. The experiments were conducted in a 24.4 m long, 2.1 m wide, and 1.62 m deep aluminum channel. Two geometric configurations of the laboratory model were designed based on channel characteristics that have been identified in natural river systems. At a given swimming speed and fish size, the highest guidance efficiencies of successful white sturgeon passage as a function of flow depth, flow velocity, turbulence intensity, Reynolds number, Froude number and shear velocity observed in the steady flow condition, tested with the horizontal ramp structure, occurred at an approach velocity of 0.33 ms^-1. The guidance efficiency of successful sturgeon passage increased both with increasing flow velocity and Froude number, and decreased both with the flow depth and the turbulence intensity. This study also provides evidence that tail beat frequency increases significantly with swimming speed, but tail beat frequency decreases with fish total length. Stride length increases both with swimming speed and fish total length. The importance of unsteady forces is expressed by the reduced frequency both with swimming speed and fish total length. Regression analysis indicates that swimming kinematic variables are explained by the swimming speed, the reduced frequency and the fish total length. The results emphasize the importance of fish ladder type patchiness when a fishway is designed for the passage of sturgeon.     

Wing design and scaling of flying fish with regard to flight performance

Fin and body dimensions of six genera of flying fish (Exocoetidae) were examined to study variation in morphological parameters in relation to aerodynamics performance. The fins are modified as wings for gliding flight. Fin area and fin span increase with increasing body mass, whereas the percentage of wing area contributed by the pectoral fins and the percentage of the caudal fin area contributed by the hypocaudal lobe remain constant. The aerodynamic design of flying fish approximates the monoplane-biplane classification proposed by Breder (1930). Scaling relationships for wing loading and aspect ratio indicate that wing morphology in the Exocoetidae is more similar to birds and bats than to other gliders. The flight performance of flying fish is a high-speed glide with a relatively flat trajectory. The wing, as indicated by the aspect ratio, is designed for high lift with low drag characteristics.     

A hydro-mechanical approach to the scaling of swimming performance in the sand flathead Platycephalus bassensis Cuvier: effects of changes in morphological features based on fish size

The swimming performance of Platycephalus bassensis at steady speed was assessed with an emphasis on hydrodynamics. The minimum swimming speed to maintain hydrostatic equilibrium for P. bassensis of 0·271 m total length ( L _T) was calculated to be 1·06 L _T s⁻¹. At this speed, the required lift to support the mass of the fish was equivalent to 6·6% of the fish mass; 82·7% of which was created by the body as a hydrofoil, and the rest of which was created by the pelvic fins as hydrofoils. The minimum swimming speed decreased with the L _T of the fish and ranged from 1·15 L _T s⁻¹ for a fish of 0·209 m to 0·89 L _T s⁻¹ for a fish of 0·407 m. The forward movement per tail-beat cycle ( i.e. stride length) was described with an equation including quantities of morphological and hydro-mechanical relevance. This equation explained that stride length was increased by the effect of turbulence characterized by the Reynolds number and demonstrated the morphological and hydro-mechanical functional design of the fish for maximizing thrust and minimizing drag. The larger span of the caudal fin and caudal tail-beat amplitude was associated with larger stride length, whereas greater frictional drag was associated with smaller stride length.     

Computational and mathematical modeling of the effects of tailbeat frequency and flexural stiffness in swimming fish

In this paper we describe how we combine computational and mathematical models to form virtual fish to explore different hypotheses about the impact of centra. We show how we create simulation models using a combination of a mathematical model of a fish-like robot using caudal fin propulsion, a propulsion model, and an optimizer, to explore the impact of centra under various scenarios. The optimizer uses the mathematical model to construct valid configurations of the digital robot and uses the utility function and propulsion model to evaluate the performance of each configuration. The evaluations are used to explore the adaptive landscape and find high-performing configurations. Our results show that the high-performing configurations have both increased (flexural) stiffness of the tail and higher tailbeat frequencies.     

The Use of Gait Transition Speed in Comparative Studies of Fish Locomotion

Physiological and biomechanical inquiries into the principlesof vertebrate locomotion require comparison among animals ofdifferent size, habitat and phyletic association. In designingcomparative studies of locomotion, a major challenge is to isolatethe effects of experimentally imposed variation from the confoundingeffects of variation in animal activity level associated withdifferences in scale and life history. For swimming vertebrates,traditional measures of speed used for comparison, includingsprint speed and critical swimming speed should in theory eachelicit similar efforts from different animals but have practicalshortcomings that can limit their usefulness. This paper presentsan alternative approach, adapted from the work of mammalianphysiologists, which controls for differences in relative activitylevel among swimming animals of different size and habitat throughcomparison at gait transition speeds. The method is illustratedwith examples from study of the teleost fish family Embiotocidae,whose members exhibit a distinct transition from exclusivelypectoral fin oscillation to combined pectoral and caudal finpropulsion with increasing swimming speed. The pectoral-caudalgait transition speed, or any percentage thereof, is shown tobe 'biomechanically equivalent for swimmers of different size.When this performance limit is expressed in terms of body lengthstraveled per unit time, a common normalization of swimming speed,it varies markedly across size and habitat within the family.This finding has the important implication that length specificspeeds may not induce comparable degrees of exercise from differentfishes, and thus kinematic and physiological comparisons atsuch speeds can yield misleading results. The comparative approachdescribed for pectoral fin swimmers, and the limitations oflength-specific speed, should be generally applicable to studiesof other swimming vertebrates.     

Correlated evolution of body and fin morphology in the cichlid fishes

Body and fin shapes are chief determinants of swimming performance in fishes. Different configurations of body and fin shapes can suit different locomotor specializations. The success of any configuration is dependent upon the hydrodynamic interactions between body and fins. Despite the importance of body–fin interactions for swimming, there are few data indicating whether body and fin configurations evolve in concert, or whether these structures vary independently. The cichlid fishes are a diverse family whose well‐studied phylogenetic relationships make them ideal for the study of macroevolution of ecomorphology. This study measured body, and caudal and median fin morphology from radiographs of 131 cichlid genera, using morphometrics and phylogenetic comparative methods to determine whether these traits exhibit correlated evolution. Partial least squares canonical analysis revealed that body, caudal fin, dorsal fin, and anal fin shapes all exhibited strong correlated evolution consistent with locomotor ecomorphology. Major patterns included the evolution of deep body profiles with long fins, suggestive of maneuvering specialization; and the evolution of narrow, elongate caudal peduncles with concave tails, a combination that characterizes economical cruisers. These results demonstrate that body shape evolution does not occur independently of other traits, but among a suite of other morphological changes that augment locomotor specialization.     

On-line Optimization of Biomimetic Undulatory Swimming by an Experiment-based Approach

An experiment-based approach is proposed to improve the performance of biomimetic undulatory locomotion through on-line optimization. The approach is implemented through two steps： （1） the generation of coordinated swimming gaits by artificial Central Pattern Generators （CPGs）; （2） an on-line searching of optimal parameter sets for the CPG model using Genetic Algorithm （GA）. The effectiveness of the approach is demonstrated in the optimization of swimming speed and energy effi- ciency for a biomimetic fin propulsor. To evaluate how well the input energy is converted into the kinetic energy of the pro- pulsor, an energy-efficiency index is presented and utilized as a feedback to regulate the on-line searching with a closed-loop swimming control. Experiments were conducted on propulsor prototypes with different fin segments and the optimal swimming patterns were found separately. Comparisons of results show that the optimal curvature of undulatory propulsor, which might have different shapes depending on the actual prototype design and control scheme. It is also found that the propulsor with six fin segments, is preferable because of hizher speed and lower energy efficiency.     

Propulsive Velocity Optimization of 3-Joint Fish Robot Using Genetic-Hill Climbing Algorithm

Underwater robot is a new research field which is emerging quickly in recent years.Previous researches in this field focuson Remotely Operated Vehicles(ROVs),Autonomous Underwater Vehicles(AUVs),underwater manipulators,etc.Fish robot,which is a new type of underwater biomimetic robot,has attracted great attention because of its silence in moving and energyefficiency compared to conventional propeller-oriented propulsive mechanism.However,most of researches on fish robots have been carried out via empirical or experimental approaches,not based ondynamic optimality.In this paper,we proposed an analytical optimization approach which can guarantee the maximum propulsivevelocity of fish robot in the given parametric conditions.First,a dynamic model of 3-joint(4 links)carangiform fishrobot is derived,using which the influences of parameters of input torque functions,such as amplitude,frequency and phasedifference,on its velocity are investigated by simulation.Second,the maximum velocity of the fish robot is optimized bycombining Genetic Algorithm(GA)and Hill Climbing Algorithm(HCA).GA is used to generate the initial optimal parametersof the input functions of the system.Then,the parameters are optimized again by HCA to ensure that the final set of parametersis the"near"global optimization.Finally,both simulations and primitive experiments are carried out to prove the feasibility ofthe proposed method.