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Review of fish swimming modes for aquatic locomotion 总被引：6，自引：0，他引：6
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The existing propulsor that can perform both propulsion and maneuvering along axis of rotation is propeller/rotor for a helicopter. Helicopter propellers when maneuvering increase or decrease their blades’ pitch cyclically to create imbalanced thrust and hence maneuvering force/torque. A “maneuverable propeller” was developed and its performance on both maneuvering and propulsion is assessed. The “maneuverable propeller” is an alternative of the existing helicopter rotors. The novelty of this propulsor is that the imbalanced thrust force/torque is created by cyclically increasing or decreasing the angular speed of their blades relatively to the hubs/shafts, to provide the desired maneuvering torque. This maneuverable propeller is hence defined as the Cyclic Blade Variable Rotational Speed Propeller (CBVRP). One of the best advantages is that the maneuvering torque created by the “maneuverable propeller” is much higher, about 5 times of the shaft torque of the same propeller at thrust only mode. The “maneuverable propeller” has wide applications for both surface ships and underwater vehicles that require high maneuverability for cruising inside the narrow passage. 相似文献
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The mechanism of locomotion of aquatic animals can provide us with new insight into the maneuverability and stabilization of underwater robots. This paper focuses on biomimesis in the maneuvering performance of aquatic animals to develop a new device for maneuvering underwater robots. In this paper, guidance and control in the horizontal plane of a fish robot equipped with a pair of two-motor-driven mechanical pectoral fins on both sides of the robot in water currents is presented. The fish robot demonstrates high performance in terms of maneuverability in such activities as lateral swimming. The use of fuzzy control enables the fish robot to perform rendezvous and docking with an underwater post in water currents 相似文献
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参照蝠鲼等鱼类游动方式所研制的水下仿生扑翼机器人具有效率高、机动性强、负载能力大等多方面优势。由于其广阔的应用前景，水下仿生扑翼机器人已逐步成为水下航行器领域的研究热点。本文系统地将蝠鲼的生物学特性、机器人的结构设计、动力学模型、单体运动控制、集群运动控制以及实验研究等方面的国内外研究进展进行了总结和梳理。已有的研究表明：水下仿生扑翼机器人正在朝着软体化、集群化、 高机动等方向发展，新兴的水下仿生扑翼机器人及仿生集群能够更加精确的模拟真实生物的游动姿态，并开展相关任务。当下的研究为水下仿生扑翼机器人性能的进一步优化与提升奠定了坚实的理论与实践基础。 相似文献
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1 .IntroductionWiththe advent of underwater vehicle technology in the offshore industry, major survey and in-spectiontasks can be done at lower cost withfaster execution.Pipe inspection is of major interest inthat respect because thousands of meters of pi… 相似文献
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Design and implementation of time efficient trajectories for autonomous underwater vehicles 总被引：1，自引：0，他引：1
This paper discusses control strategies adapted for practical implementation and efficient motion of autonomous underwater vehicles (AUVs). For AUVs we would like efficiency in both the measured time and the energy consumption, the mission dictating the weight to put on each of these cost. As a first approach to this problem, we focus in this paper on time minimization. Based on the structure of the time optimal trajectories and of the pure motions, we develop an algorithm to design time efficient trajectories corresponding to piecewise constant thrust arcs with few actuator switchings. We do that by solving a new optimization problem where the unknowns are the time period between two actuator switchings as well as the values of the constant thrust arcs. We apply a direct method to compute the solutions numerically. With our algorithm, we gain considerable computational time. Moreover, with as few as three actuator switchings, the duration of our trajectories is within 10% of the optimal trajectories. Since our control strategies have a simple structure they can be implemented on a test-bed vehicle. For the experiments displayed in this paper we use a spherical underwater vehicle which exhibits with almost no preference of direction or orientation for movement; this gives us a very controllable and versatile vehicle. 相似文献
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Energy-optimal trajectories for underwater vehicles be computed using a numerical solution of the optimal control problem. A performance index consisting of a weighted combination of energy and time consumption is proposed. Collision avoidance is solved by including path constraints. Control vector parameterization with direct single shooting is used in this study. The vehicle is modeled with six-dimensional nonlinear and coupled equations of motion. Optimal trajectories are computed for a vehicle controlled in all six degrees of freedom by dc-motor-driven thrusters. Good numerical results are achieved 相似文献
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Mechanics and control of swimming: a review 总被引：2，自引：0，他引：2
The bodies and brains of fish have evolved to achieve control objectives beyond the capabilities of current underwater vehicles. One route toward designing underwater vehicles with similar capabilities is to better understand fish physiological design and control strategies. This paper has two objectives: 1) to review clues to artificial swimmer design taken from fish physiology and 2) to formalize and review the control problems that must be solved by a robot fish. The goal is to exploit fish locomotion principles to address the truly difficult control challenges of station keeping under large perturbations, rapid maneuvering, power-efficient endurance swimming, and trajectory planning and tracking. The design and control of biomimetic swimming machines meeting these challenges will require state-of-the-art engineering and biology. 相似文献
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Westneat M.W. Thorsen D.H. Walker J.A. Hale M.E. 《Oceanic Engineering, IEEE Journal of》2004,29(3):674-683
Fin-based propulsion systems perform well for both high-speed cruising and high maneuverability in fishes, making them good models for propulsors of autonomous underwater vehicles. Labriform locomotion in fishes is actuated by oscillation of the paired pectoral fins. Here, we present recent research on fin structure, fin motion, and neural control in fishes to outline important future directions for this field and to assist engineers in attempting biomimicry of maneuverable fin-based locomotion in shallow surge zones. Three areas of structure and function are discussed in this review: 1) the anatomical structure of the fin blade, skeleton, and muscles that drive fin motion; 2) the rowing and flapping motions that fins undergo for propulsion in fishes; and 3) the neuroanatomy, neural circuitry, and electrical muscle activity that are characteristic of pectoral fins. Research on fin biomechanics, muscle physiology and neural control is important to the comparative biology of locomotion in fishes and application of fin function for aid in aquatic vehicle design. Recommendations are made regarding fin propulsor designs based on the fin shape, activation pattern, and motion. Research on neural control of fins is a key piece in the puzzle for a complete understanding of comparative fin function and may provide important principles for engineers designing control systems for fin-like propulsors. 相似文献
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This paper provides an overview of a bioinspired delay stall propulsor (BDSP) concept that employs delayed stall unsteady lift enhancement to increase the lift on propeller blades without adding any complexity to the propulsor. This BDSP concept can provide greatly increased propeller thrust for a given propeller diameter, leading to both increased speed and/or maneuverability. Alternately, this technology offers reduced radiated noise while maintaining current thrust levels through reduction in both propulsor rotation speed and acoustic cancellation. Preliminary two-dimensional simulations have shown a potential 36% reduction in rotational speed at constant thrust, leading to an estimated 4-dB reduction in the total radiated acoustic power. It is believed that the BDSP concept will be simple to manufacture, rugged, and easy to retrofit into existing marine propulsors. This technology has direct application to torpedoes, unmanned underwater vehicles, maneuvering thrusters, submarines, and other propeller-driven devices. 相似文献
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Trends in biorobotic autonomous undersea vehicles 总被引：1，自引：0，他引：1
The emergence of biorobotic autonomous undersea vehicle (AUV) as a focus for discipline-integrated research in the context of underwater propulsion and maneuvering is considered within the confines of the Biorobotics Program in the Office of Naval Research. The significant advances in three disciplines, namely the biology-inspired high-lift unsteady hydrodynamics, artificial muscle technology and neuroscience-based control, are discussed in an effort to integrate them into viable products. The understanding of the mechanisms of delayed stall, molecular design of artificial muscles and the neural approaches to the actuation of control surfaces is reviewed in the context of devices based on the pectoral fins of fish, while remaining focused on their integrated implementation in biorobotic AUVs. A mechanistic understanding of the balance between cruising and maneuvering in swimming animals and undersea vehicles is given. All aquatic platforms, in both nature and engineering, except during short duration burst speeds that are observed in a few species, appear to lie within the condition where their natural period of oscillation equals the time taken by them to travel the distance of their own lengths. Progress in the development of small underwater experimental biorobotic vehicles is considered where the three aforementioned disciplines are integrated into one novel maneuvering device or propulsor. The potential in maneuvering and silencing is discussed. 相似文献
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Compact zero-mass pulsatile jet actuators are proposed for low-speed maneuvering and station keeping of small underwater vehicles.1 The flow field of such jets are initially dominated by vortex ring formation. Pinched-off vortices characterize the extremum impulse accumulated by the leading vortex ring in a vortex ring formation process. Relevant parameters in this process are identified in order to design simple and low cost zero-mass pulsatile jet actuators. Thrust optimization of synthetic jets for maximal thrust generation is achieved by enforcing the jet formation number to be around 4. Prototypes of such actuators are built and tested for underwater maneuvering and propulsion. The actuators could be used in two ways: (i) to improve the low-speed maneuvering and station keeping capabilities of traditional propeller driven underwater vehicles, and (ii) as a synthetic jet for flow control and drag reduction at higher cruising speeds. A model for calculating the rotation rate of the underwater vehicle is also proposed and verified. 相似文献
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Traditionally autonomous underwater vehicles (AUVs) have been built with a torpedo-like shape. This common shaping is hydrodynamically suboptimal for those AUVs required to operate at snorkeling condition near the free surface. In this case, the wave resistance associated to the wavy deformation of the sea surface induced by the motion of the platform is an important component of the drag. This work has investigated the optimum hull shape of an underwater vehicle moving near the free surface. Specifically a first-order Rankine panel method has been implemented to compute the wave resistance on a body of revolution moving close to the free surface. A simulated annealing algorithm was then employed to search those set of parameters defining the hull shape that minimize the wave resistance. The optimization was constrained to keep constant the total volume of the vehicle. The total drag of scaled models of the torpedo-like and resulting optimum shapes was measured in the naval tank of the University of Trieste. Measurements showed a smaller resistance of the optimized shape in the range of the considered Froude numbers. 相似文献
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An effective path planning or route planning algorithm is essential for guiding unmanned surface vehicles (USVs) between way points or along a trajectory. The A* algorithm is one of the most efficient algorithms for calculating a safe route with the shortest distance cost. However, the route generated by the conventional A* algorithm is constrained by the resolution of the map and it may not be compatible with the non-holonomic constraint of the USV. In this paper an improved A* algorithm has been proposed and applied to the Springer USV. A new path smoothing process with three path smoothers has been developed to improve the performance of the generated route, reducing unnecessary ‘jags’, having no redundant waypoints and offering a more continuous route. Both simulation and experimental results show that the smoothed A* algorithm outperforms the conventional algorithm in both sparse and cluttered environments that have been uniformly rasterised. It has been demonstrated that the proposed improved A* route planning algorithm can be applied to the Springer USV providing promising results when tracking trajectories. 相似文献
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Biologically inspired maneuvering of autonomous undersea vehicles (AUVs) in the dive plane using pectoral-like oscillating fins is considered. Computational fluid dynamics are used to parameterize the forces generated by a mechanical flapping foil, which attempts to mimic the pectoral fin of a fish. Since the oscillating fins produce periodic force and moment of a variety of wave shapes, the essential characteristics of these signals are captured in their Fourier expansions. Maneuvering of the biorobotic AUV in the dive plane is accomplished by periodically altering the bias angle of the oscillating fin. Based on a discrete-time AUV model, an inverse control system for the dive-plane control is derived. It is shown that, in the closed-loop system, the inverse control system accomplishes accurate tracking of the prescribed time-varying depth trajectories and the segments of the intersample depth trajectory remain close to the discrete-time reference trajectory. The results show that the fins located away from the center of mass toward the nose of the vehicle provide better maneuverability. 相似文献
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It is shown that by implementing certain mine avoidance techniques, an underwater vehicle equipped with an obstacle avoidance sonar (OAS) and a navigation system can safely navigate an unknown minefield. The mine avoidance techniques take into account the physical limitations of the sonar and the navigation system, the maneuverability constraints on the underwater vehicle, and the required safe standoff distance from all mines. Extensive computer simulations have verified the mine avoidance capability in more than 50 different minefields. In all 50 simulations the vehicle reached a predetermined end point and maintained at least the specified, minimum safe standoff distance from each mine. The simulation accurately models the major difficulties associated with the sonar, the navigation system, and the vehicle dynamics. The sonar model includes surface, bottom, and volume reverberation; thermal, ambient, and flow noises; actual receiver and projector beam patterns; and false alarms and missed detections. The navigation system model contains the effects of biases, random noises, and scale factor errors. The vehicle dynamic model simulates angular velocities and accelerations associated with underwater vehicles 相似文献
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Replacing traditional light sources with light-emitting diode (LED) light modules is a global trend, especially for underwater illumination. The light intensity is dispersed evenly at all emission angles in traditional underwater light sources that use the radiative transfer model, resulting in the inclusion of scattering factors in the attenuation coefficient. The high directionality of LED light source modules causes the light intensity transfer in water to vary according to varying emission angles. This renders traditional underwater optical transfer theory irrelevant as an underwater LED light module design reference. Therefore, this study constructs an underwater LED light source transfer model using the light-field average cosine and the light transfer scattering probability method, and imports the LED luminous intensity distribution curve (LIDC) and axial luminous intensity. Experimental results showed that the illumination intensity of the underwater LED illumination module was less than 10% of the simulation. Therefore, this design method can be used to design the required illumination light modules for different underwater environments. Finally, the LED light module has been used for under water fish attractor lighting and enhanced the illumination zone efficiency (m3 per Watt) of 81% compared to the traditional high intensity discharge (HID) underwater fish attractor lamp. 相似文献
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文章基于自制的组合式环形水槽（周长9.7 m、宽0.45 m、深1.0 m）,分别以阿曼原油及其消油剂混合物和淡水（含示踪剂）为模拟污染物,开展水下溢油的物理模拟实验,以浮射流输移轨迹、污染物扩散范围和油滴粒径分布为考察指标,研究横流环境和消油剂的使用对水下溢油输移扩散的影响。实验结果表明:在横流环境中,浮射流输移轨迹开始弯曲的高度随着流速的增加而降低;与淡水浮射流主要在水中输移扩散的情况不同,当污染物为原油时,大粒径油滴脱离浮射流主体并上浮至水面,导致扩散范围更大;消油剂的添加会使原油浮射流内部油滴的体积中值粒径变小,油滴粒径分布曲线向小尺寸方向偏移。实验结果可为后续的物理模拟实验和数值模拟研究提供参考。 相似文献