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A real submersible flying boat which is both flight-capable and submersible has hardly been reported yet. In this paper, the Flying Fish created by Beihang University will be introduced to verify the feasibility of this kind of novel aircraft. The Flying Fish achieves its ability to transfer between the air and the water by imitating the flying fish and aquatic birds. The morphological characteristics...
Caudal fin plays significant role in the swimming of bony fishes. It has often been considered as a simple two-dimensional propulsive surface that generates forces in the horizontal plane. However, fish caudal fin has complex origami structures, and is able to produce multiple three-dimensional (3D) kinematics. Based on the biological data from Lauder lab at Harvard University, we developed a multi-material...
In this paper, a novel method was presented to investigate the hydrodynamics of a robotic fish at different Reynolds number. The ionic polymer-metal composite (IPMC) was used as the soft actuator for biomimetic underwater propulsion. A hydrodynamic model based on the elongated body theory was developed. Based on image analysis, the kinematic parameters of the robotic fish were identified. To obtain...
In this paper, analytical techniques and fuzzy logic method are applied to the dynamic modeling and efficient swimming control of a robotic fish. The bioinspired robotic fish, which follows an exact replica of a live mackerel (Scomber scombrus), is modeled by treating the undulating body and flapping tail independently using analytical methods. Comparing the results of simulations and experiments...
In this paper, techniques of force-feedback control are applied to the hydrodynamic study of a laboratory robotic fish. The experimental apparatus which allows a robotic model to accelerate from rest to a steady speed under self-propelled conditions is clearly described. In the current apparatus, the robotic fish is mounted on a servo guide rail system and the towing speed is not preset but determined...
Hydrodynamic investigation of carangiform robotic fish has been carried out by using a novel experimental method. The laboratory robotic fish model which follows an exact replica of Saithe, is self-propelled on a servo towing system. The forward towing speed is determined by the fluid force acting upon the robotic fish, as the fish undulate its body in the water. The importance of the self-propelled...
This paper describes the design of a biomimetic inspired fish swimming like UUV based on 2-D ocillating foil mechanism which plays guiding role in biomimetic propulsion research field, the relation between vorticity control and motion control parameters for 2-D ocillating foil has been built, a fuzzy logic vorticity controller is designed to achieve straight line maneuverable swimming and thrust efficiency...
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