PECASE: The Mechanics and Control of Hydrodynamic Schooling

水动力集群的机理与控制鱼群中游动的鱼类之间的水动力相互作用可以显著降低鱼群的集体阻力。这种减阻作用已经在实验中得到证实，但其相互作用机理还没有完全弄清楚。这个问题具有基本的科学意义，但也具有工程意义。机器人界正在开发仿生水下航行器，以利用海洋动物享有的性能优势;同时部署用于分布式环境传感或军事侦察的水下航行器群是一个共同的目标。为了通过流体-结构相互作用获得能量效率，特别是在学校教育的背景下，实际的水下航行器将需要采用将分布式流量传感器数据结合到运动控制算法中的反馈系统。没有这样的系统存在，但新的流量传感器，包括微加工的毛细胞提供了一个平台，为他们的development.This项目将产生分析和计算模型，照亮动态的学校教育，推进方法从几何力学领域，使双方的能量和耦合游泳的稳定性分析。一个机器人原型将开发与集成的仿生传感和驱动，控制方法将推导出这个系统，以展示节能尾流起草和涡流辅助转向，学校运动的两个基本组成部分。

The Mechanics and Control of Hydrodynamic SchoolingHydrodynamic interactions among fish swimming in a school can dramatically reduce the school's collective drag. This drag reduction has been documented experimentally, but the interactions responsible are not fully understood. This problem is of basic scientific interest, but it is also of engineering interest. Biomimetic underwater vehicles are being developed within the robotics community to exploit performance advantages enjoyed by marine animals; the concurrent deployment of schools of underwater vehicles for distributed environmental sensing or military reconnaissance is a common objective.In order to derive energy efficiency through fluid-structure interactions, particularly in the context of schooling, practical underwater vehicles will need to employ feedback systems incorporating distributed flow sensor data into motion control algorithms. No such systems exist, but novel flow sensors comprising micromachined hair cells provide a platform for their development.This project will produce analytical and computational models illuminating the dynamics of schooling, advancing methods from the field of geometric mechanics to enable the analysis of both the energetics and the stability of coupled swimming. A robotic prototype will be developed with integrated biomimetic sensing and actuation, and control methods will be derived for this system to demonstrate energy-efficient wake drafting and vortex-assisted turning, two essential components of schooling locomotion.