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Experimental analyses of propulsion in freely-swimming fishes have led to the development of self-propelling pectoral and caudal fin robotic devices. These biorobotic models have been used in conjunction with biological and numerical studies to investigate the effects of the fin's kinematic patterns and structural properties on forces and flows. Data from both biorobotic fins was presented and discussed...
Artificial muscle technologies offer the possibility of designing robotic systems that take full advantage of biological architectures. Of current artificial muscle technologies, nickel titanium (Ni-Ti) shape memory alloys are among a few that are readily usable by engineering labs without specialized skills in material science and/or chemistry. Ni-Ti actuators are now being used to replace servomotors...
A biorobotic fin has been developed that recreates the motions made by the bluegill sunfish's pectoral fin during maneuvers such as a yaw turn. The design of the fin is an evolution of a design used for a robotic fin that recreated the motions and hydrodynamic forces made by the sunfish during steady swimming. Due to a large number of degrees of freedom, the fin creates hydrodynamics similar to those...
A series of biorobotic fins has been developed based on the pectoral fin of the bluegill sunfish. These robotic fins model physical properties of the biological fin, and execute kinematics derived from sunfish motions that were identified to be most responsible for thrust. When the physical properties of the robotic fin are tuned appropriately to operating conditions, the robotic fin, like the sunfish,...
Fish are remarkable in their ability to maneuver and to control their body position. This ability is the result of the coordinated movement of fins which extend from the body and form control surfaces that can create and vector forces in 3-D. We have embarked on a research program designed to develop a maneuvering propulsor for unmanned undersea vehicles (UUVs) that is based on the pectoral fin of...
A biorobotic fin for autonomous undersea vehicles (AUVs) was developed based on studies of the anatomy, kinematics, and hydrodynamics of the bluegill sunfish pectoral fin. The biorobotic fin was able to produce many of the complex fin motions used by the sunfish during steady swimming and was used to investigate mechanisms of thrust production and control. This biorobotic fin is an excellent experimental...
An efficient stochastic interchange method was developed that allows two discrete time sequences to be created with a specified cross-correlation function and individually defined amplitude and spectral characteristics. The technique is particularly useful for creating sequences for the stimulation of multi-input physiological systems. It is very general in that sequences of any signal type can be...
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