Near-Body Pressure Estimation of a Robot Fish by Its Swimming Kinematics
Date Issued
2014
Date
2014
Author(s)
Kuo, Pei-Li
Abstract
In order to predict the pressure of a swimming fish-shaped Biomimetic Autonomous Underwater Vehicle (BAUV); a swimming fish is modeled to study the pressure profile around its body and verified further by data from experiments. The pressure model for the swimming fish is derived analytically from the potential flow theory as a function of the BAUV’s velocity, angular velocity and tail flapping speed. Then a regression model is established and the coefficients that determine the pressure are found from the body kinematics of the fish. A BAUV of 90cm length, 25cm width and 50cm high with pressure sensors on each body side and on its head was built, in order to study the self-induced pressure pattern while the BAUV is swimming. In experiments, the flapping frequency of the BAUV tail was controlled and the hydrodynamic pressure was measured to discuss the effects induced by the swimming kinematics. As a potential application, it is expected that a BAUV could use its own kinematic parameters to estimate the pressure field caused by its own body shape deformation, and then identify and obtain the pressure field caused by external stimuli.
Subjects
Biomimetic Autonomous Underwater Vehicle
lateral line system
potential flow
swimming kinematics
environmental detection
Type
thesis
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ntu-103-R01525004-1.pdf
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