3D locomotion biomimetic robot fish with haptic feedback

This thesis developed a biomimetic robot fish and built a novel haptic robot fish system based on the kinematic modelling and three-dimentional computational fluid dynamic (CFD) hydrodynamic analysis. The most important contribution is the successful CFD simulation of the robot fish, supporting users in understanding the hydrodynamic properties around it

A numerical study of fin and jet propulsions involving fluid-structure interactions

Fish swimming is elegant and efficient, which inspires humans to learn from them to design high-performance artificial underwater vehicles. Research on aquatic locomotion has made extensive progress towards a better understanding of how aquatic animals control their flexible body and fin for propulsion. Although the structural flexibility and deformation of the body and fin are believed to be important features to achieve optimal swimming performance, studies on high-fidelity deformable body and fin with complex material behavior, such as non-uniform stiffness distributions, are rare. In this thesis, a fully coupled three-dimensional high-fidelity fluid-structure interaction (FSI) solver is developed to investigate the flow field evolution and propulsion performance of caudal fin and jet propulsion involving body and/or fin deformation. Within this FSI solver, the fluid is resolved by solving unsteady and viscous Navier-Stokes equations based on the finite volume method with a multi-block grid system. The solid dynamics are solved by a nonlinear finite element method. The coupling between the two solvers is achieved in a partitioned approach in which convergence check and sub-iteration are implemented to ensure numerical stability and accuracy. Validations are conducted by comparing the simulation results of classical benchmarks with previous data in the literature, and good agreements between them are obtained. The developed FSI solver is then applied to study the bio-inspired fin and jet propulsion involving body deformation. Specifically, the effect of non-uniform stiffness distributions of fish body and/or fin, key features of fish swimming which have been excluded in most previous studies, on the propulsive performance is first investigated. Simulation results of a sunfish-like caudal fin model and a tuna-inspired swimmer model both show that larger thrust and propulsion efficiency can be achieved by a non-uniform stiffness distribution (e.g., increased by 11.2% and 9.9%, respectively, for the sunfish-like model) compared with a uniform stiffness profile. Despite the improved propulsive e performance, a bionic variable fish body stiffness does not yield fish-like midline kinematics observed in real fish, suggesting that fish movement involves significant active control that cannot be replicated purely by passive deformations. Subsequent studies focus on the jet propulsion inspired by squid locomotion using the developed numerical solver. Simulation results of a two-dimensional inflation-deflation jet propulsion system, whose inflation is actuated by an added external force that mimics the muscle constriction of the mantle and deflation is caused by the release of elastic energy of the structure, suggest larger mean thrust production and higher efficiency in high Reynolds number scenarios compared with the cases in laminar flow. A unique symmetry-breaking instability in turbulent flow is found to stem from irregular internal body vortices, which cause symmetry breaking in the wake. Besides, a three-dimensional squid-like jet propulsion system in the presence of background flow is studied by prescribing the body deformation and jet velocity profiles. The effect of the background flow on the leading vortex ring formation and jet propulsion is investigated, and the thrust sources of the overall pulsed jet are revealed as well. Finally, FSI analysis on motion control of a self-propelled flexible swimmer in front of a cylinder utilizing proportional-derivative (PD) control is conducted. The amplitude of the actuation force, which is applied to the swimmer to bend it to produce thrust, is dynamically tuned by a feedback PD controller to instruct the swimmer to swim the desired distance from an initial position to a target location and then hold the station there. Despite the same swimming distance, a swimmer whose departure location is closer to the cylinder requires less energy consumption to reach the target and hold the position there.Fish swimming is elegant and efficient, which inspires humans to learn from them to design high-performance artificial underwater vehicles. Research on aquatic locomotion has made extensive progress towards a better understanding of how aquatic animals control their flexible body and fin for propulsion. Although the structural flexibility and deformation of the body and fin are believed to be important features to achieve optimal swimming performance, studies on high-fidelity deformable body and fin with complex material behavior, such as non-uniform stiffness distributions, are rare. In this thesis, a fully coupled three-dimensional high-fidelity fluid-structure interaction (FSI) solver is developed to investigate the flow field evolution and propulsion performance of caudal fin and jet propulsion involving body and/or fin deformation. Within this FSI solver, the fluid is resolved by solving unsteady and viscous Navier-Stokes equations based on the finite volume method with a multi-block grid system. The solid dynamics are solved by a nonlinear finite element method. The coupling between the two solvers is achieved in a partitioned approach in which convergence check and sub-iteration are implemented to ensure numerical stability and accuracy. Validations are conducted by comparing the simulation results of classical benchmarks with previous data in the literature, and good agreements between them are obtained. The developed FSI solver is then applied to study the bio-inspired fin and jet propulsion involving body deformation. Specifically, the effect of non-uniform stiffness distributions of fish body and/or fin, key features of fish swimming which have been excluded in most previous studies, on the propulsive performance is first investigated. Simulation results of a sunfish-like caudal fin model and a tuna-inspired swimmer model both show that larger thrust and propulsion efficiency can be achieved by a non-uniform stiffness distribution (e.g., increased by 11.2% and 9.9%, respectively, for the sunfish-like model) compared with a uniform stiffness profile. Despite the improved propulsive e performance, a bionic variable fish body stiffness does not yield fish-like midline kinematics observed in real fish, suggesting that fish movement involves significant active control that cannot be replicated purely by passive deformations. Subsequent studies focus on the jet propulsion inspired by squid locomotion using the developed numerical solver. Simulation results of a two-dimensional inflation-deflation jet propulsion system, whose inflation is actuated by an added external force that mimics the muscle constriction of the mantle and deflation is caused by the release of elastic energy of the structure, suggest larger mean thrust production and higher efficiency in high Reynolds number scenarios compared with the cases in laminar flow. A unique symmetry-breaking instability in turbulent flow is found to stem from irregular internal body vortices, which cause symmetry breaking in the wake. Besides, a three-dimensional squid-like jet propulsion system in the presence of background flow is studied by prescribing the body deformation and jet velocity profiles. The effect of the background flow on the leading vortex ring formation and jet propulsion is investigated, and the thrust sources of the overall pulsed jet are revealed as well. Finally, FSI analysis on motion control of a self-propelled flexible swimmer in front of a cylinder utilizing proportional-derivative (PD) control is conducted. The amplitude of the actuation force, which is applied to the swimmer to bend it to produce thrust, is dynamically tuned by a feedback PD controller to instruct the swimmer to swim the desired distance from an initial position to a target location and then hold the station there. Despite the same swimming distance, a swimmer whose departure location is closer to the cylinder requires less energy consumption to reach the target and hold the position there

Underwater Vehicles

For the latest twenty to thirty years, a significant number of AUVs has been created for the solving of wide spectrum of scientific and applied tasks of ocean development and research. For the short time period the AUVs have shown the efficiency at performance of complex search and inspection works and opened a number of new important applications. Initially the information about AUVs had mainly review-advertising character but now more attention is paid to practical achievements, problems and systems technologies. AUVs are losing their prototype status and have become a fully operational, reliable and effective tool and modern multi-purpose AUVs represent the new class of underwater robotic objects with inherent tasks and practical applications, particular features of technology, systems structure and functional properties

Distributed sensing in flexible robotic fins: propulsive force prediction and underwater contact sensing

There is recent biological evidence that the pectoral fins of bluegill sunfish are innervated with nerves that respond to bending, and these fish contact obstacles with their fins. However, it is not known how fin-intrinsic sensing could be used to mediate propulsion and touch in engineered fins. The objective of this thesis is to understand the use of distributed sensing in robotic fins, inspired by bony fish fins, for the prediction of propulsive forces and for the discrimination between fluidic loading and contact loading during underwater touch. The research integrates engineering and biology and builds an understanding of fin-intrinsic sensing through study of swimming fish and robotic models of fish fins and sensors. Multiple studies identify which sensor types, sensor placement locations, and model conditions are best for predicting fin propulsive forces and for predicting the state of contact. Comparisons are made between linear and nonlinear Volterra-series convolution models to represent the mapping from sensory data to forces. Best practices for instrumentation and model selection are extracted for a broad range of swimming conditions on a complex, multi-DOF, flexible fin. This knowledge will guide the development of multi-functional systems to navigate and propel through complex, occluded, underwater environments and for sensing and responding to environmental perturbations and obstacles.Ph.D., Mechanical Engineering and Mechanics -- Drexel University, 201

A History of Materials and Technologies Development

The purpose of the book is to provide the students with the text that presents an introductory knowledge about the development of materials and technologies and includes the most commonly available information on human development. The idea of the publication has been generated referring to the materials taken from the organic and non-organic evolution of nature. The suggested texts might be found a purposeful tool for the University students proceeding with studying engineering due to the fact that all subjects in this particular field more or less have to cover the history and development of the studied object. It is expected that studying different materials and technologies will help the students with a better understanding of driving forces, positive and negative consequences of technological development, etc

Cyber-Human Systems, Space Technologies, and Threats

CYBER-HUMAN SYSTEMS, SPACE TECHNOLOGIES, AND THREATS is our eighth textbook in a series covering the world of UASs / CUAS/ UUVs / SPACE. Other textbooks in our series are Space Systems Emerging Technologies and Operations; Drone Delivery of CBNRECy – DEW Weapons: Emerging Threats of Mini-Weapons of Mass Destruction and Disruption (WMDD); Disruptive Technologies with applications in Airline, Marine, Defense Industries; Unmanned Vehicle Systems & Operations On Air, Sea, Land; Counter Unmanned Aircraft Systems Technologies and Operations; Unmanned Aircraft Systems in the Cyber Domain: Protecting USA’s Advanced Air Assets, 2nd edition; and Unmanned Aircraft Systems (UAS) in the Cyber Domain Protecting USA’s Advanced Air Assets, 1st edition. Our previous seven titles have received considerable global recognition in the field. (Nichols & Carter, 2022) (Nichols, et al., 2021) (Nichols R. K., et al., 2020) (Nichols R. , et al., 2020) (Nichols R. , et al., 2019) (Nichols R. K., 2018) (Nichols R. K., et al., 2022)https://newprairiepress.org/ebooks/1052/thumbnail.jp

Multidisciplinary Aspects of Design. Objects, Processes, Experiences and Narratives

The book addresses the contemporary perspectives of design on a multidisciplinary through 4 key words: objects, processes, experiences, narratives. It aims at further investigating the role of the archive for the design culture reflecting on “Memory and Future” and “The Tools of Design and the Language of Representation”, and also themes that are yet at the center of the multidisciplinary debate on design. The tenets of the conference (OPEN: objects, processes, experiences and narratives) will hence also correspond to the book sections: -Objects. Design as focused on the object, on its functional and symbolic dimension, and at the same time on the object as a tool for representing cultures; -Processes. The designer’s self-reflective moment which is focused on the analysis and on the definition of processes in various contexts, spanning innovation, social engagement, reflection on emergencies or forecasting. -Experiences. Design as a theoretical and practical strategy aimed at facilitating experiential interactions among people, people and objects or environments. -Narratives. Making history, representing through different media, archiving, narrating, and exhibiting design

3rd International Workshop on Instrumentation for Planetary Missions : October 24–27, 2016, Pasadena, California

The purpose of this workshop is to provide a forum for collaboration, exchange of ideas and information, and discussions in the area of the instruments, subsystems, and other payload-related technologies needed to address planetary science questions. The agenda will compose a broad survey of the current state-of-the-art and emerging capabilities in instrumentation available for future planetary missions.Universities Space Research Association (USRA); Lunar and Planetary Institute (LPI); Jet Propulsion Laboratory (JPL)Conveners: Sabrina Feldman, Jet Propulsion Laboratory, David Beaty, Jet Propulsion Laboratory ; Science Organizing Committee: Carlton Allen, Johnson Space Center (retired) [and 12 others