Combined hydrodynamic and control analysis on optimal kinematic parameters for bio-inspired autonomous underwater vehicle manoeuvring
To investigate the manoeuvring performance of a body-caudal fin robot fish, a numerical framework combining computational fluid dynamics and multi-body dynamics with a closed-loop control algorithm was established in this study. Within this framework, we modelled a body-caudal fin swimmer as a multi...
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| Format: | Article |
| Language: | English |
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Frontiers Media S.A.
2023-07-01
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| Series: | Frontiers in Physics |
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| Online Access: | https://www.frontiersin.org/articles/10.3389/fphy.2023.1220596/full |
| _version_ | 1797770581207154688 |
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| author | Marvin Wright Qing Xiao Qiang Zhu |
| author_facet | Marvin Wright Qing Xiao Qiang Zhu |
| author_sort | Marvin Wright |
| collection | DOAJ |
| description | To investigate the manoeuvring performance of a body-caudal fin robot fish, a numerical framework combining computational fluid dynamics and multi-body dynamics with a closed-loop control algorithm was established in this study. Within this framework, we modelled a body-caudal fin swimmer as a multi-body system with the shape of a NACA0012 hydrofoil. The manoeuvring performance was investigated by using different curvature magnitudes and distributions along the centre line (the curvature is defined by means of a curvature envelop function as part of the general body undulation equation). To characterize the turning performance, a new parameter named cost of manoeuvring (CoM) is proposed. This parameter provides a combined assessment of the turning radius, linear and angular velocity components, and power. It is found that when the body curvature is introduced, the swimmer switches from straight-line swimming to quasi-steady turning at a constant speed. Further investigations were conducted to study contributions of head and tail deformations on the turning performance by comparing predominantly head and tail curved envelopes. Results reveal that a tail-dominated envelope improves performance, whereas a head-dominated envelope has a negative effect. |
| first_indexed | 2024-03-12T21:25:14Z |
| format | Article |
| id | doaj.art-fc724956e9364c828482f8e064f531d6 |
| institution | Directory Open Access Journal |
| issn | 2296-424X |
| language | English |
| last_indexed | 2024-03-12T21:25:14Z |
| publishDate | 2023-07-01 |
| publisher | Frontiers Media S.A. |
| record_format | Article |
| series | Frontiers in Physics |
| spelling | doaj.art-fc724956e9364c828482f8e064f531d62023-07-28T09:48:47ZengFrontiers Media S.A.Frontiers in Physics2296-424X2023-07-011110.3389/fphy.2023.12205961220596Combined hydrodynamic and control analysis on optimal kinematic parameters for bio-inspired autonomous underwater vehicle manoeuvringMarvin Wright0Qing Xiao1Qiang Zhu2Department of Naval Architecture, Ocean and Marine Engineering, University of Strathclyde, Glasgow, United KingdomDepartment of Naval Architecture, Ocean and Marine Engineering, University of Strathclyde, Glasgow, United KingdomDepartment of Structural Engineering, University of California, San Diego, San Diego, CA, United StatesTo investigate the manoeuvring performance of a body-caudal fin robot fish, a numerical framework combining computational fluid dynamics and multi-body dynamics with a closed-loop control algorithm was established in this study. Within this framework, we modelled a body-caudal fin swimmer as a multi-body system with the shape of a NACA0012 hydrofoil. The manoeuvring performance was investigated by using different curvature magnitudes and distributions along the centre line (the curvature is defined by means of a curvature envelop function as part of the general body undulation equation). To characterize the turning performance, a new parameter named cost of manoeuvring (CoM) is proposed. This parameter provides a combined assessment of the turning radius, linear and angular velocity components, and power. It is found that when the body curvature is introduced, the swimmer switches from straight-line swimming to quasi-steady turning at a constant speed. Further investigations were conducted to study contributions of head and tail deformations on the turning performance by comparing predominantly head and tail curved envelopes. Results reveal that a tail-dominated envelope improves performance, whereas a head-dominated envelope has a negative effect.https://www.frontiersin.org/articles/10.3389/fphy.2023.1220596/fullbio-inspiredautonomous underwater vehiclecomputational fluid dynamicsfeedback controlbody-caudal finmanoeuvring |
| spellingShingle | Marvin Wright Qing Xiao Qiang Zhu Combined hydrodynamic and control analysis on optimal kinematic parameters for bio-inspired autonomous underwater vehicle manoeuvring Frontiers in Physics bio-inspired autonomous underwater vehicle computational fluid dynamics feedback control body-caudal fin manoeuvring |
| title | Combined hydrodynamic and control analysis on optimal kinematic parameters for bio-inspired autonomous underwater vehicle manoeuvring |
| title_full | Combined hydrodynamic and control analysis on optimal kinematic parameters for bio-inspired autonomous underwater vehicle manoeuvring |
| title_fullStr | Combined hydrodynamic and control analysis on optimal kinematic parameters for bio-inspired autonomous underwater vehicle manoeuvring |
| title_full_unstemmed | Combined hydrodynamic and control analysis on optimal kinematic parameters for bio-inspired autonomous underwater vehicle manoeuvring |
| title_short | Combined hydrodynamic and control analysis on optimal kinematic parameters for bio-inspired autonomous underwater vehicle manoeuvring |
| title_sort | combined hydrodynamic and control analysis on optimal kinematic parameters for bio inspired autonomous underwater vehicle manoeuvring |
| topic | bio-inspired autonomous underwater vehicle computational fluid dynamics feedback control body-caudal fin manoeuvring |
| url | https://www.frontiersin.org/articles/10.3389/fphy.2023.1220596/full |
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