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Boxfish with multiple fins can maneuver in confined spaces with a near zero turning radius, and it has been found that its unusual boxy shape is responsible for a self-correcting mechanism that makes its trajectories immune to water disturbances. The microautonomous robotic ostraciiform aims to apply these features in a novel underwater vehicle design. Miniature underwater vehicles with these characteristics...
This paper presents the design and fabrication of a robotic ostraciiform. The robot's design is inspired by the highly stable and fairly maneuverable boxfish. Boxfish with its multiple fins can maneuver in confined spaces with a near zero turning radius and it has been found that its unusual boxy shape is responsible for a self correcting mechanism that makes its trajectories immune to water disturbances...
Ostraciiform fish such as the boxfish are known for their ability to swim smoothly through turbulent waters of coral reefs and their excellent maneuverability. These characteristics are desirable in an micro underwater vehicle. Biologists have recently found that the boxfish's body shape generates self-correcting trimming forces by shedding counter rotating vortices to compensate for the instabilities...
This paper presents the experimental studies and force measurements on the tail fin of a ostraciiform micro underwater vehicle mimicking a boxfish. Boxfish are known for their ability to swim smoothly through turbulent waters and exhibit excellent maneuverability, characteristics desirable in an micro under water vehicle. In this work an experimental setup consisting of a 3DOF robotic flapper and...
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