Kinematics Modeling and Experiments of Pectoral Oscillation Propulsion Robotic Fish

A robotic fish driven by oscillating fins, "Cownose Ray-I", is developed, which is in dorsoventrally flattened shape withouta tail. The robotic fish is composed of a body and two lateral fins. A three-factor kinematic model is established and used in thedesign of a mechanism. By controlling the three kinematic parameters, the robotic fish can accelerate and maneuver. Forwardvelocity is dependent on the largest amplitude and the number of waves in the fins, while the relative contribution of fin beatfrequency to the forward velocity of the robotic fish is different from the usual result. On the other hand, experimental results onmaneuvering show that phase difference has a stronger effect on swerving than the largest amplitude to some extent. In addition,as propulsion waves pass from the trailing edge to the leading edge, the robotic fish attains a backward velocity of 0. 15 m·s^-1.     

Research on the Swing of the Body of Two-Joint Robot Fish

The disadvantages caused by the swing of a fish body were analyzed. The coordinate system of a two-joint robot fish was built. The hydrodynamic analysis of robot fish was developed. The dynamic simulation of a two-joint robot fish was carried out with the ADAMS software. The relationship between the swing of fish body and the mass distribution of robot fish, the relationship between the swing of fish body and the swing frequency of tail, were gained. The impact of the swing of fish body on the kinematic parameters of tail fin was analyzed. Three methods to restrain the swing of fish body were presented and discussed.     

Adhesion by Paired Pectoral and Pelvic Fins in a Mountain-Stream Catfish, Pseudocheneis sulcatus (Sisoridae)

We describe the adhesive nature of the pectoral and pelvic fins in the catfish Pseudocheneis sulcatus, as examined by scanning electron microscopy. The outer rays of these fins are modified into structures that bear prominent transverse ridges and grooves. The outer epidermal cells of the ridges are thrown into elongated spines. Mucous pores (openings of mucous glands) are frequently present (100m apart) in the epidermis of the ridges and show entangled mucus droplets. In the pectoral fins, they are present towards the contour areas of the outer rays, but they are absent in the pelvic fins. In the latter, mucous pores are present near the base of the ridges (distal to the inner rays). Spines as well as mucous pores are absent in the cells that line the groove between two adjacent ridges. We suggest that in this species adhesion is effected by suction pressure generated by the musculature attached to the grooves and ridges, and that mucus and the spines aid in this process.     

Locomotion Generation and Motion Library Design for an Anguilliform Robotic Fish

In this paper, modeling, locomotion generation, motion library design and path planning for a real prototype of an Anguilliform robotic fish are presented. The robotic fish consists of four links and three joints, and the driving forces are the torques applied to the joints. Considering kinematic constraints and hydrodynamic forces, Lagrangian formulation is used to obtain the dynamic model of the fish. Using this model, three major locomotion patterns of Anguilliform fish, including forward locomotion, backward locomotion and turning locomotion are investigated. It is found that the fish exhibits different locomotion patterns by giving different reference joint angles, such as adding reversed phase difference, or adding deflections to the original reference angles. The results are validated by both simulations and experiments. Furthermore, the relations among the speed of the fish, angular frequency, undulation amplitude, phase difference, as well as the relationship between the turning radius and deflection angle are investigated. These relations provide an elaborated motion library that can be used for motion planning of the robotic fish.     

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.     

Fuzzy Vorticity Control of a Biomimetic Robotic Fish Using a Flapping Lunate Tail

Vorticity control mechanisms for flapping foils play a guiding role in both biomimetic thrust research and modeling the forward locomotion of animals with wings, fins, or tails. In this paper, a thrust-producing flapping lunate tail is studied through force and power measurements in a water channel. Proper vorticity control methods for flapping tails are discussed based on the vorticity control parameters: the dimensionless transverse amplitude, Strouhal number, angle of attack, and phase angle. Field tests are conducted on a free-swimming biomimetic robotic fish that uses a flapping tail. The results show that active control of Strouhal number using fuzzy logic control methods can efficiently reduce power consumption of the robotic fish and high swimming speeds can be obtained. A maximum speed of 1.17 length specific speed is obtained experimentally under conditions of optimal vorticity control. The St of the flapping tail is controlled within the range of 0.4～0.5.     

Ventilation of the gills by the pectoral fins in the fangtooth Anoplogaster cornutum: how to breathe with a full mouth

The midwater fangtooth Anoplogaster cornutum eats large prey items whole. To eat prey the fish distends the opercula and spreads the gill arches apart. The pectoral fins are then used to fan water over the gills until ingestion is completed.     

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.     

Dynamic Modeling and Experiment of a Fish Robot with a Flexible Tail Fin

This paper presents the dynamic modeling of a flexible tail for a robotic fish. For this purpose firstly, the flexible tail was simplified as a slewing beam actuated by a driving moment. The governing equation of the flexible tail was derived by using the Euler-Bernoulli theory. In this equation, the resistive forces were estimated as a term analogous to viscous damping. Then, the modal analysis method was applied in order to derive an analytical solution of the governing equation, by which the relationship between the driving moment and the lateral movement of the flexible tail was described. Finally, simulations and experiments were carried out and the results were compared to verify the accuracy of the dynamic model. It was proved that the dynamic model of a fish robot with a flexible tail fin well explains the real behavior of robotic fish in underwater environment.     

Dynamic Modeling of a Non-Uniform Flexible Tail for a Robotic Fish

In this paper, a non-uniform flexible tail of a fish robot was presented and the dynamic model was developed. In this model, the non-uniform flexible tail was modeled by a rotary slender beam. The hydrodynamics forces, including the reactive force and resistive force, were analyzed in order to derive the governing equation. This equation is a fourth-order in space and second-order in time Partial Differential Equation (PDE) of the lateral movement function. The coefficients of this PDE were not constants because of the non-uniform beams, so they were approximated by exponential functions in order to obtain an analytical solution. This solution describes the lateral movement of the flexible tail as a function of material, geometrical and actuator properties. Experiments were then carried out and compared to simulations. It was proved that the proposed model is suitable for predicting the real behavior of fish robots.     

Design and Experiments of a Robotic Fish Imitating Cow-Nosed Ray

<正> The cow-nosed ray is studied as natural sample of a flapping-foil robotic fish.Body structure, motion discipline, and dynamicfoil deformation of cow-nosed ray are analyzed.Based on the analysis results, a robotic fish imitating cow-nosed ray,named Robo-ray Ⅱ, mainly composed of soft body, flexible ribs and pneumatic artificial muscles, is developed.Structure andswimming morphology of the robotic prototype are as that of a normal cow-nosed ray in nature.Key propulsion parameters ofRobo-ray Ⅱ at normal conditions, including the St Number at linear swimming, thrust coefficient at towing are studied throughexperiments.The suitable driving parameters are confirmed considering the efficiency and swimming velocity.Swimmingvelocity of 0.16 m·s~(-1)'and thrust coefficient of 0.56 in maximum are achieved in experiments.     

Trot Gait Design and CPG Method for a Quadruped Robot

Developing efficient walking gaits for quadruped robots has intrigued investigators for years. Trot gait, as a fast locomotion gait, has been widely used in robot control. This paper follows the idea of the six determinants of gait and designs a trot gait for a parallel-leg quadruped robot, Baby Elephant. The walking period and step length are set as constants to maintain a relatively fast speed while changing different foot trajectories to test walking quality. Experiments show that kicking leg back improves body stability. Then, a steady and smooth trot gait is designed. Furthermore, inspired by Central Pattern Generators （CPG）, a series CPG model is proposed to achieve robust and dynamic trot gait. It is generally believed that CPG is capable of producing rhythmic movements, such as swimming, walking, and flying, even when isolated from brain and sensory inputs. The proposed CPG model, inspired by the series concept, can automatically learn the previous well-designed trot gait and reproduce it, and has the ability to change its walking frequency online as well. Experiments are done in real world to verify this method.     

Biomimetic Design and Optimal Swing of a Hexapod Robot Leg

Biological inspiration has spawned a wealth of solutions to both mechanical design and control schemes in the efforts to develop agile legged machines. This paper presents a compliant leg mechanism for a small six-legged robot, HITCR-ll, based on abstracted anatomy from insect legs. Kinematic structure, relative proportion of leg segment lengths and actuation system were analyzed in consideration of anatomical structure as well as muscle system of insect legs and desired mobility. A spring based passive compliance mechanism inspired by musculoskeletal structures of biological systems was integrated into distal segment of the leg to soften foot impact on touchdown. In addition, an efficient locomotion planner capable of generating natural movements for the legs during swing phase was proposed. The problem of leg swing was formulated as an optimal control procedure that satisfies a series of locomotion task terms while minimizing a biologically-based objective function, which was solved by a Gauss Pseudospectral Method （GPM） based numerical technique. We applied this swing generation algorithm to both a simulation platform and a robot prototype. Results show that the proposed leg structure and swing planner are able to successfully perform effective swing movements on rugged terrains.     

Design and Kinematic Analysis of a Novel Humanoid Robot Eye Using Pneumatic Artificial Muscles

This paper proposed a novel humanoid robot eye, which is driven by six Pneumatic Artificial Muscles （PAMs） and rotates with 3 Degree of Freedom （DOF）. The design of the mechanism and motion type of the robot eye are inspired by that of human eyes. The model of humanoid robot eye is established as a parallel mechanism, and the inverse-kinematic problem of this flexible tendons driving parallel system is solved by the analytical geometry method. As an extension, the simulation result for saccadic movement is presented under three conditions. The design and kinematic analysis of the prototype could be a sig- nificant step towards the goal of building an autonomous humanoid robot eye with the movement and especially the visual functions similar to that of human.     

Attraction of Fish to Mercury Vapour Light and Its Application in a Generating Station Forebay

Laboratory and field tests were conducted to determine the effectiveness of filtered mercury vapour lights in attracting fish with possible utilization in a fish conserving scheme at an electrical generating station. In laboratory tests, alewife demonstrated an attraction to the mercury vapour light which was associated with an increase in swimming activity. This response was maintained over a 48-hour period. When the filtered mercury vapour lights were utilized in association with a fish pump in the Nanticoke Generating Station forebay, juvenile gizzard shad and smelt were attracted to the pump area. Although there was variation with time of day, tubidity and lighting array; the results suggested that the number of fish passing through the pump increased when the mercury vapour lights alone or when the mercury lights in association with a white strobe light were employed.     

Diel Migration and Spatial Distribution of Fish in a Small Stratified Lake

We used fishery surveys from 1954 to 1957 to determine the relationship between salinity and prairie stream-fish assemblage composition prior to the major drought of the 1950s and subsequent anthropogenic modifications. A total of 78,931 fishes were captured, representing 13 families and 44 species. Species were classified as having low, moderate, or high salinity tolerances based on k-means clustering of detrended correspondence scores. The proportion of species with high salinity tolerances was correlated positively (r = 0.74) with salinity, whereas the proportion of species with low (r = −0.69) or moderate (r = −0.36) tolerances was correlated strongly and negatively with salinity. Many of the low or moderate salinity tolerant species found in the 1950s were not collected in studies conducted 15 and 35 years later. Examination of these studies provides compelling evidence that salinity has been a dominant and persistent factor in affecting the structure of stream-fish assemblages for the past 50 years.     

The Humphead Wrasse,Cheilinus Undulatus: Synopsis of a Threatened and Poorly Known Giant Coral Reef Fish

The humphead wrasse, Cheilinus undulatus, is the largest living member of the family Labridae, with a maximum size exceeding 2 m and 190 kg. Its geographic range covers much of the Indo-Pacific. The species is not common, recorded maximum adult densities rarely exceeding 20 fish/10,000 m². Small individuals are typically associated with high coral cover; larger fish are found mainly on outer or deep reefs, steep slopes and passes, singly or in small groups and seagrasses. However, for reproduction the species forms small spawning aggregations of tens to more than one hundred fish. The diet of the humphead wrasse includes large invertebrates and small fishes. The species attains at least 30 years and reaches sexual maturation at about 35–50 cm total length and <5 years of age. Most small adults are female while mainly males exceed 1 m and there is evidence of female to male sex change. The humphead wrasse is of considerable cultural value in some Pacific countries and is among the most prized in the live reef food fish export trade, for which it is often taken in its juvenile size range, either directly for sale or, increasingly, for grow-out to market size. It is also marketed chilled. The species is particularly sensitive to fishing pressure. In most fished areas, density and body size have dropped substantially. It appears to be particularly heavily targeted and depleted in SE Asia and in some places faces extirpation. The humphead wrasse is often taken by night spearfishing and by cyanide, with protection typically weak or non-existent, despite regulations and by a vulnerable assessment on the 1996 IUCN Red List. The humphead wrasse has not been reared successfully in hatcheries. Other giant reef fish share many similar problems and detailed study of the humphead wrasse contributes to a better understanding and conservation of all such species. This review examines and evaluates published and gray literature, original unpublished research and correspondence with almost 50 knowledgeable workers. It examines the value of such sources for quickly, but adequately, assessing the conservation and management status and key data gaps in species that are little known, vulnerable, difficult and expensive to study and may require urgent management or conservation action.