NDLI: An investigation on the performance of an oscillating flat plate fin with compliant joint for underwater robotic actuation

Content Provider	IEEE Xplore Digital Library
Author	Reddy, N. Srinivasa Sen, Soumen Shome, S. N.
Copyright Year	2016
Description	Author affiliation: Robotics and Automation Division, CSIR-Central Mechanical Engineering Research Inst., Durgapur, IN - 713209 (Sen, Soumen; Shome, S. N.) \|\| Academy of Scientific and Innovative Research, Robotics and Automation Division CSIR-Central Mechanical Engineering Research Inst., Durgapur, IN - 713209 (Reddy, N. Srinivasa)
Abstract	Fishes are very good swimmers possessing impeccable maneuverability, efficiency, and stealth. Understanding the fish propulsion and mimicking the same is important in obtaining improved performance by non-conventional types of underwater robot/vehicle actuators. The role of the caudal fin in fish locomotion is predominant at higher swimming speeds producing most of the thrust force. Generally the fin motions are oscillatory in nature. In oscillatory trajectories, where reversal of motion is required, a normal actuator has to spend energy to accelerate as well as to decelerate(braking). During braking phase, a normal actuator, without any energy storage mechanism, dissipates energy. Ubiquitous presence of compliance in biological actuation system can store some energy which otherwise get dissipated. Fishes are evolved to tune their compliant joint stiffness according to the swimming conditions. The elastic joint(contributed by compliant muscle) can store energy in part of a cycle during fin oscillation and interaction with surrounding fluid in the form of potential energy and can release in next part of the cycle. This article investigates the role of compliance in the fin joint on propulsion performance through simulations. The analysis considers a rigid body model of trapezoidal flat fin with elastic joint and presents hydrodynamic force modeling for interacting fluid in Newton-Euler rigid body framework using blade element technique.
Starting Page	201
Ending Page	205
File Size	434380
Page Count	5
File Format	PDF
e-ISBN	9781479917693
DOI	10.1109/CMI.2016.7413739
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2016-01-08
Publisher Place	India
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Computational fluid dynamics Computational modeling Blades Caudal fin Hydrodynamic force Force Underwater actuation Hydrodynamics Drag Propulsion efficiency Propulsion Fish locomotion Biorobotic fin Compliant joint
Content Type	Text
Resource Type	Article

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

Hydrodynamic modeling of an undulating fin for robotic fish design

Hydrodynamics of an Undulating Fin for a Wave-Like Locomotion System Design

Caudal fin load characteristics with different motion patterns toward developing biorobotic fish-fin actuator

Efficient thrust generation in robotic fish caudal fins using policy search

A study of the drag and propulsion performance, and motion analysis of an Underwater Disk Robot (UDR)

Parametric Study of Modular and Reconfigurable Robotic Fish with Oscillating Caudal Fin Mechanisms

Robotic underwater propulsion inspired by the octopus multi-arm swimming

Hydrodynamic function of a robotic fish caudal fin: Effect of kinematics and flow speed

Three dimensional model, hydrodynamics analysis and motion simulation of an underwater glider

An investigation on the performance of an oscillating flat plate fin with compliant joint for underwater robotic actuation

Similar Documents

Hydrodynamic modeling of an undulating fin for robotic fish design

Hydrodynamics of an Undulating Fin for a Wave-Like Locomotion System Design

Caudal fin load characteristics with different motion patterns toward developing biorobotic fish-fin actuator

Efficient thrust generation in robotic fish caudal fins using policy search

A study of the drag and propulsion performance, and motion analysis of an Underwater Disk Robot (UDR)

Parametric Study of Modular and Reconfigurable Robotic Fish with Oscillating Caudal Fin Mechanisms

Robotic underwater propulsion inspired by the octopus multi-arm swimming

Hydrodynamic function of a robotic fish caudal fin: Effect of kinematics and flow speed

Three dimensional model, hydrodynamics analysis and motion simulation of an underwater glider

An investigation on the performance of an oscillating flat plate fin with compliant joint for underwater robotic actuation