Self-motion effects on hydrodynamic pressure sensing. Part I: forward backward motion

In underwater locomotion, extracting meaningful information from local flows is as desirable as it is challenging, due to complex fluid-structure interaction. Sensing and motion are tightly interconnected; hydrodynamic signals generated by the external stimuli are modified by the self-generated flow signals. Given that very little is known about self-generated signals, we used onboard pressure sensors to measure the pressure profiles over the head of a fusiform-shape craft while moving forward and backward harmonically. From these measurements we obtained a second-order polynomial model which incorporates the velocity and acceleration of the craft to estimate the surface pressure within the swimming range up to one body length/second (L s 12 1). The analysis of the model reveals valuable insights into the temporal and spatial changes of the pressure intensity as a function of craft's velocit

FILOSE: a svenning* robot

The trend of biomimetic underwater robots has emerged as a search for an alternative to traditional propeller-driven underwater vehicles. The drive of this trend, as in any other areas of bioinspired and biomimetic robotics, is the belief that exploiting solutions that evolution has already optimized leads to more advanced technologies and devices