Speed and Energy Efficiency of a Fish Robot Featuring Exponential Patterns of Control
Fish in nature have evolved more efficient swimming capabilities compared to that of propeller-driven autonomous underwater vehicles. Motivated by such knowledge, we discuss a bionic (bio-memetic) autonomous underwater vehicle—a fish robot—that mimics the swimming of rainbow trout (<i>Oncorhyn...
Saved in:
| Main Author: | |
|---|---|
| Format: | Article |
| Language: | English |
| Published: |
MDPI AG
2025-02-01
|
| Series: | Actuators |
| Subjects: | |
| Online Access: | https://www.mdpi.com/2076-0825/14/3/119 |
| Tags: |
Add Tag
No Tags, Be the first to tag this record!
|
| _version_ | 1849392822741893120 |
|---|---|
| author | Ivan Tanev |
| author_facet | Ivan Tanev |
| author_sort | Ivan Tanev |
| collection | DOAJ |
| description | Fish in nature have evolved more efficient swimming capabilities compared to that of propeller-driven autonomous underwater vehicles. Motivated by such knowledge, we discuss a bionic (bio-memetic) autonomous underwater vehicle—a fish robot—that mimics the swimming of rainbow trout (<i>Oncorhynchus mykiss</i>) in nature. The robot consists of three (anterior, posterior, and tail) segments, connected via two (anterior and posterior) actuated hinge joints. We divided the half-period of undulation of the robot into two phases—thrusting and braking. In addition, we hypothesized that an asymmetric duration—a short period of thrusting and a long period of braking—implemented as an exponential (rather than “canonical”, sinusoidal) control would favorably affect the net propulsion of these two phases. The experimental results verified that, compared to sinusoidal undulation, the proposed exponential control results in increased speed of the robot between 1.1 to 4 times in the range of frequencies of undulation between 0.4 Hz and 2 Hz, and improved energy efficiency from 1.1 to 3.6 times in the same frequency range. |
| format | Article |
| id | doaj-art-46b2ea6e40604587b16301a6d59e9296 |
| institution | Kabale University |
| issn | 2076-0825 |
| language | English |
| publishDate | 2025-02-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Actuators |
| spelling | doaj-art-46b2ea6e40604587b16301a6d59e92962025-08-20T03:40:41ZengMDPI AGActuators2076-08252025-02-0114311910.3390/act14030119Speed and Energy Efficiency of a Fish Robot Featuring Exponential Patterns of ControlIvan Tanev0Graduate School of Science and Engineering, Doshisha University, Kyoto 610-0321, JapanFish in nature have evolved more efficient swimming capabilities compared to that of propeller-driven autonomous underwater vehicles. Motivated by such knowledge, we discuss a bionic (bio-memetic) autonomous underwater vehicle—a fish robot—that mimics the swimming of rainbow trout (<i>Oncorhynchus mykiss</i>) in nature. The robot consists of three (anterior, posterior, and tail) segments, connected via two (anterior and posterior) actuated hinge joints. We divided the half-period of undulation of the robot into two phases—thrusting and braking. In addition, we hypothesized that an asymmetric duration—a short period of thrusting and a long period of braking—implemented as an exponential (rather than “canonical”, sinusoidal) control would favorably affect the net propulsion of these two phases. The experimental results verified that, compared to sinusoidal undulation, the proposed exponential control results in increased speed of the robot between 1.1 to 4 times in the range of frequencies of undulation between 0.4 Hz and 2 Hz, and improved energy efficiency from 1.1 to 3.6 times in the same frequency range.https://www.mdpi.com/2076-0825/14/3/119bionic autonomous underwater vehiclefish robotasymmetric duration of phases of undulationexponential control |
| spellingShingle | Ivan Tanev Speed and Energy Efficiency of a Fish Robot Featuring Exponential Patterns of Control Actuators bionic autonomous underwater vehicle fish robot asymmetric duration of phases of undulation exponential control |
| title | Speed and Energy Efficiency of a Fish Robot Featuring Exponential Patterns of Control |
| title_full | Speed and Energy Efficiency of a Fish Robot Featuring Exponential Patterns of Control |
| title_fullStr | Speed and Energy Efficiency of a Fish Robot Featuring Exponential Patterns of Control |
| title_full_unstemmed | Speed and Energy Efficiency of a Fish Robot Featuring Exponential Patterns of Control |
| title_short | Speed and Energy Efficiency of a Fish Robot Featuring Exponential Patterns of Control |
| title_sort | speed and energy efficiency of a fish robot featuring exponential patterns of control |
| topic | bionic autonomous underwater vehicle fish robot asymmetric duration of phases of undulation exponential control |
| url | https://www.mdpi.com/2076-0825/14/3/119 |
| work_keys_str_mv | AT ivantanev speedandenergyefficiencyofafishrobotfeaturingexponentialpatternsofcontrol |