Swimming performance of a bio-inspired robotic vessel with undulating fin propulsion
Swimming performance of a bio-inspired robotic vessel with undulating fin propulsion
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DOI：
10.1088/1748-3190/aacd26
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发表时间：
2018-09-01
影响因子：
3.4
通讯作者：
Curet, Oscar
中科院分区：
文献类型：
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作者：
Liu, Hanlin;Curet, Oscar
波动鳍推进具有高度的机动控制能力，是水下航行器在复杂环境中航行的理想选择。在这项工作中，我们开发和测试了一个独立的，自由游泳的机器人与一个单一的起伏鳍运行沿着机器人的长度，它控制向前运动和方向机动。我们成功地复制了几个动作，包括向前游泳，反向运动，潜水，位置保持和垂直游泳。对于每一个动作，一系列的实验作为鳍频率，波长和行波方向的函数进行测量游泳速度，方向角和平均功耗。此外，三维流场进行了测量，在前向游泳和位置保持使用体积粒子图像测速（PIV）。使用三个指标：运输成本，波效率和Strouhal数（St）的效率进行了比较。研究结果表明，运输成本呈V型变化趋势，在低流速时运输成本最小。该机器人达到最佳的波效率和运动性能在0.2-0.4圣体积PIV数据的范围内揭示了由鳍在向前游泳和站保持产生的涡流管脱落。对于向前游泳，一系列涡流管相对于鳍的纵向轴线以横向和向下的方向从鳍边缘脱落。对于位置保持，流量测量表明，涡流管脱落在鳍的中间部分，而涡流的后段和前段保持附着在鳍上。这些结果与以前基于模拟和二维PIV的涡结构一致。这种具有高机动性和位置保持性能的船舶的开发应用于海洋学，沿海勘探，国防，石油工业和其他海洋工业，其中操作对于潜水员或人类驾驶的船舶来说是不安全或不切实际的。
Undulatory fin propulsion exhibits a high degree of maneuver control-an ideal feature for underwater vessels exploring complex environments. In this work, we developed and tested a self-contained, free-swimming robot with a single undulating fin running along the length of the robot, which controls both forward motion and directional maneuvers. We successfully replicated several maneuvers including forward swimming, reversed motion, diving, station-keeping and vertical swimming. For each maneuver, a series of experiments was performed as a function of fin frequency, wavelength and traveling wave direction to measure swimming velocities, orientation angles and mean power consumption. In addition, 3D flow fields were measured during forward swimming and station-keeping using volumetric particle image velocimetry (PIV). The efficiency for forward swimming was compared using three metrics: cost of transport, wave efficiency and Strouhal number (St). The results indicate that the cost of transport exhibits a V-shape trend with the minimum value at low swimming velocity. The robot reaches optimal wave efficiency and locomotor performance at a range of 0.2-0.4 St. Volumetric PIV data reveal the shed of vortex tubes generated by the fin during forward swimming and station keeping. For forward swimming, a series of vortex tubes are shed off the fin edge with a lateral and downward direction with respect to the longitudinal axis of the fin. For station keeping, flow measurements suggest that the vortex tubes are shed at the mid-section of the fin while the posterior and anterior segment of the vortex stay attached to the fin. These results agree with the previous vortex structures based on simulations and 2D PIV. The development of this vessel with high maneuverability and station keeping performance has applications for oceanography, coastal exploration, defense, the oil industry and other marine industries where operations are unsafe or impractical for divers or human-piloted vessels.