Kinematic Cartography and the Efficiency of Viscous Swimming
Kinematic Cartography and the Efficiency of Viscous Swimming
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运动制图和粘性游泳的效率
DOI：
10.1109/tro.2017.2653810
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发表时间：
2017
影响因子：
7.8
通讯作者：
H. Choset
中科院分区：
文献类型：
--
作者：
R. Hatton;Tony Dear;H. Choset
一个系统的两个配置之间的表观“距离”和通过其配置空间的轨迹的“长度”可能会被使用“自然”或直观选择的坐标的图显着扭曲。这种效应类似于地球的经纬度图扭曲了大陆的大小和形状。在本文中，我们将探讨如何从制图的想法可以用来确定系统的参数化，更好地反映改变配置的努力成本。然后，我们应用这些新的参数，以提供几何洞察力的两个方面的耗散环境中，如低雷诺数流体：形状的最佳步态周期的三连杆游泳者和从根本上上级效率的蛇形游泳者相比，经典的三连杆系统。
The apparent “distance” between two configurations of a system and the “length” of trajectories through its configuration space can be significantly distorted by plots that use “natural” or intuitively selected coordinates. This effect is similar to the way that a latitude–longitude plot of the Earth distorts the size and shape of the continents. In this paper, we explore how ideas from cartography can be used to identify system parameterizations that better reflect the effort costs of changing configuration. We then apply these new parameters to provide geometric insight about two aspects of moving in dissipative environments such as low Reynolds number fluids: The shape of the optimal gait cycle for a three-link swimmer and the fundamentally superior efficiency of a serpenoid swimmer as compared to the classic three-link system.