Streamwise and lateral maneuvers of a fish-inspired hydrofoil
Streamwise and lateral maneuvers of a fish-inspired hydrofoil
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DOI：
10.1088/1748-3190/ac1ad9
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发表时间：
2021-08
影响因子：
3.4
通讯作者：
Q. Zhong;D. Quinn
中科院分区：
文献类型：
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作者：
Q. Zhong;D. Quinn
与人造水下航行器相比，鱼类具有高度的可折叠性。机动性本质上是短暂的，因此它们通常通过观察鱼类和鱼类机器人来研究，而这些机器人的动态无法直接记录。为了研究孤立机动，我们设计了一种新型的无线车厢，其空气衬套允许水翼在水道中半自主机动。我们表明，调制的水翼的频率，振幅，俯仰偏差，和冲程速度比（俯仰速度的左与右冲程）产生流向和横向机动混合的效果。例如，调节俯仰偏置会产生具有经典反向冯卡门尾流的准稳态横向机动，而调节冲程速度比会产生突然的偏航扭矩和涡对，就像在转动的斑马鱼后面观察到的那样。我们的研究结果提供了一个新的框架，考虑在平面机动和流向/横向轨迹校正鱼和鱼启发的机器人。
Fish are highly maneuverable compared to human-made underwater vehicles. Maneuvers are inherently transient, so they are often studied via observations of fish and fish-like robots, where their dynamics cannot be recorded directly. To study maneuvers in isolation, we designed a new kind of wireless carriage whose air bushings allow a hydrofoil to maneuver semi-autonomously in a water channel. We show that modulating the hydrofoil's frequency, amplitude, pitch bias, and stroke speed ratio (pitching speed of left vs right stroke) produces streamwise and lateral maneuvers with mixed effectiveness. Modulating pitch bias, for example, produces quasi-steady lateral maneuvers with classic reverse von Kármán wakes, whereas modulating the stroke speed ratio produces sudden yaw torques and vortex pairs like those observed behind turning zebrafish. Our findings provide a new framework for considering in-plane maneuvers and streamwise/lateral trajectory corrections in fish and fish-inspired robots.