Multi-body dynamics modelling on a self-propelled pufferfish with its application in AUV

We developed a Computational Fluid Dynamics (CFD) based tool coupled with a Multi-Body Dynamics (MBD) technique to investigate a self-propelled pufferfish motion within a still water environment. The 3D pufferfish model consists of body, caudal, dorsal and anal fins. The locomotion of fish is entirely determined by the computation and fully induced by the oscillation motion of fish fins. The influence of the phase angle difference on the fish swimming behaviour is examined by varying the angle difference between the caudal, dorsal, and anal fins. The swimming displacement, hydrodynamic force and the wake pattern are analysed

Underwater and Surface Aquatic Locomotion of Soft Biomimetic Robot Based on Bending Rolled Dielectric Elastomer Actuators

All-around, real-time navigation and sensing across the water environments by miniature soft robotics are promising, for their merits of small size, high agility and good compliance to the unstructured surroundings. In this paper, we propose and demonstrate a mantas-like soft aquatic robot which propels itself by flapping-fins using rolled dielectric elastomer actuators (DEAs) with bending motions. This robot exhibits fast-moving capabilities of swimming at 57mm/s or 1.25 body length per second (BL/s), skating on water surface at 64 mm/s (1.36 BL/s) and vertical ascending at 38mm/s (0.82 BL/s) at 1300 V, 17 Hz of the power supply. These results show the feasibility of adopting rolled DEAs for mesoscale aquatic robots with high motion performance in various water-related scenarios.Comment: 6 Pages, 12 Figures, Published at IROS 202

Kinematics and Robot Design IV, KaRD2021

This volume collects the papers published on the special issue “Kinematics and Robot Design IV, KaRD2021” (https://www.mdpi.com/journal/robotics/special_issues/KaRD2021), which is the forth edition of the KaRD special-issue series, hosted by the open-access journal “MDPI Robotics”. KaRD series is an open environment where researchers can present their works and discuss all the topics focused on the many aspects that involve kinematics in the design of robotic/automatic systems. Kinematics is so intimately related to the design of robotic/automatic systems that the admitted topics of the KaRD series practically cover all the subjects normally present in well-established international conferences on “mechanisms and robotics”. KaRD2021, after the peer-review process, accepted 12 papers. The accepted papers cover some theoretical and many design/applicative aspects

Control and guidance systems for the navigation of a biomimetic autonomous underwater vehicle

The field of Autonomous Underwater Vehicles (AUVs) has increased dramatically in size and scope over the past three decades. Application areas for AUVs are numerous and varied, from deep sea exploration, to pipeline surveillance to mine clearing. The main concept behind this work was the design and the implementation of a control and guidance system for the navigation of a biomimetic AUV. In particular, the AUV analysed in this project tries to imitate the appearance and approximate the swimming method of an Atlantic Salmon and, for this reason, has been called RoboSalmo

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

Bio-Inspired Robotics

Modern robotic technologies have enabled robots to operate in a variety of unstructured and dynamically-changing environments, in addition to traditional structured environments. Robots have, thus, become an important element in our everyday lives. One key approach to develop such intelligent and autonomous robots is to draw inspiration from biological systems. Biological structure, mechanisms, and underlying principles have the potential to provide new ideas to support the improvement of conventional robotic designs and control. Such biological principles usually originate from animal or even plant models, for robots, which can sense, think, walk, swim, crawl, jump or even fly. Thus, it is believed that these bio-inspired methods are becoming increasingly important in the face of complex applications. Bio-inspired robotics is leading to the study of innovative structures and computing with sensory–motor coordination and learning to achieve intelligence, flexibility, stability, and adaptation for emergent robotic applications, such as manipulation, learning, and control. This Special Issue invites original papers of innovative ideas and concepts, new discoveries and improvements, and novel applications and business models relevant to the selected topics of ``Bio-Inspired Robotics''. Bio-Inspired Robotics is a broad topic and an ongoing expanding field. This Special Issue collates 30 papers that address some of the important challenges and opportunities in this broad and expanding field

Preliminary finite element modeling of a piezoelectric actuated marine propulsion fin

New technologies surrounding composite materials and autonomous underwater vehicle (AUV) design have led to numerous studies involving the marine propulsion for these AUVs. AUVs traditionally are classified as highly efficient, payload capable, and can be utilized as reconnaissance or surveillance vehicles. Undullatory and oscillatory propulsion devices have been conceived to replace the present propulsion technologies, of propellers, with highly maneuverable, efficient, and quiet propulsion systems. Undullatory and oscillatory propulsion has been around for centuries employed by aquatic life, but only recently have the mini-technologies been available to present such propulsion devices economically and with enough materials research as to mimic biologic life on the same scale. Piezoelectric properties coupled with a thin plate allow for actuation properties, similar to bimetallic metals. Applying two piezoelectrics to the fixed end of a cantilevered beam or plate, on opposite sides, and actuating them with an opposite phase shift in electrical voltage potential results in transverse motion of the beam from the orthogonal plane to the vertical axis of the piezoelectric device. Coupling this property to a particular fiber orientation, composite thin plate, significantly increases the actuation properties. In addition, placing more than two piezoelectrics along the length of the thin composite plate gives the potential to increase actuation properties and change the motion from oscillatory to undullatory. These motions can again be increased by utilizing the natural vibration modes of the thin composite plate with piezoelectrics near resonance actuation. The current research is involved with modeling a piezoelectric actuated marine propulsion fin using the Galerkin finite element technique. An experimental proof of concept was developed to compare results. Using fluid-structure interaction (FSI) methods, it is proposed that the fluid and structure programs are resolved within one program. This is in contrast to traditional attempts at FSI problems that utilize a computational fluid dynamics (CFD) solver transferring load data between a structural dynamics/finite element (FE) program

Development of conducting polymer based biomimetic muscles and fabrication techniques for an artificial pectoral fish fin

Thesis (S.M.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 2005.Includes bibliographical references.Fish possess a greater degree of agility, maneuverability, and energy efficiency over current underwater vehicles constructed by engineers. Kinematics studies show that a high degree of three-dimensional control of multiple active surfaces distributed around an undersea vehicle's center of mass is critical to achieve fish-like superior performance. However, current technology has yet to exploit the use of actively controlled surfaces for underwater locomotion. Major obstacles limiting effectively achieving designs capable of active deformations in multiple degrees of freedom lie in the complexity associated with traditional actuators and their associated manufacturing techniques. Conducting polymers possess numerous desirable physical and active properties which make it possible to grow rather than build artificial muscles for an articulated device. Their potential for co-fabrication make it possible to implement simpler more integrated designs as they have been shown to provide all the basic elements required for a Biomimetic robot including: force sensors (analogous to the Golgi organs in tendons), strain sensors (like muscle spindles), structural elements (such as bones, joints, and webbing), and actuators (akin to muscle). Rapid prototyping and molding techniques were used to begin the development of a co-fabrication process for a pectoral fin which will be made from and actuated by conducting polymers. Conducting polymer actuators provide the necessary structural flexibility while exceeding the 800 kN/m² force requirements typical of fish muscle by 40 fold.(cont.) Maximum speed requirements of 2.1 Hz for swimming speeds up to 1.1 TLs⁻¹ (total body length/s) are attainable at the strains required for metrics of the current artificial fin design.by S. Naomi Davidson.S.M