To realize the low-resistance shape optimization design of amphibious robots,an efficient optimization design framework is proposed to improve the geometric deformation flexibility and optimization efficiency.In the p...To realize the low-resistance shape optimization design of amphibious robots,an efficient optimization design framework is proposed to improve the geometric deformation flexibility and optimization efficiency.In the proposed framework,the free-form deformation parametric model of the flat slender body is established and an analytical calculation method for the height constraints is derived.CFD method is introduced to carry out the high-precision resistance calculation and a constrained Kriging-based optimization method is built to improve the optimization efficiency by circularly infilling the new sample points which satisfying the constraints.Finally,the shape of an amphibious robot example is optimized to get the low-resistance shape and the results demonstrate that the presented optimization design framework has the advantages of simplicity,flexibility and high efficiency.展开更多
Gyrnnarchus niloticus swims by undulations of a long-based dorsal fin, while its body axis is in many cases held straight during swimming. This paper provides a brief relevant introduction to Gyrnnarchus niloticus, wh...Gyrnnarchus niloticus swims by undulations of a long-based dorsal fin, while its body axis is in many cases held straight during swimming. This paper provides a brief relevant introduction to Gyrnnarchus niloticus, which belongs to the African freshwater electric eels but can inspire our bionic interests in propulsion besides its abilities in electric sensing. A special larva of Gyrnnarchus niloticus was morphologically measured by photographing it with a piece of scale-calibrated paper as the background. Then we analyzed the data by a CFD-aided approach. Detailed flow patterns around the larva and a NACA0012 hydrofoil were respectively calculated and visualized at the Reynolds number of 7350 or so. The results show that the profile of Gyrnnarchus niloticus is well streamlined.展开更多
基金financially supported by the National Natural Science Foundation of China(Grant No.52372356).
文摘To realize the low-resistance shape optimization design of amphibious robots,an efficient optimization design framework is proposed to improve the geometric deformation flexibility and optimization efficiency.In the proposed framework,the free-form deformation parametric model of the flat slender body is established and an analytical calculation method for the height constraints is derived.CFD method is introduced to carry out the high-precision resistance calculation and a constrained Kriging-based optimization method is built to improve the optimization efficiency by circularly infilling the new sample points which satisfying the constraints.Finally,the shape of an amphibious robot example is optimized to get the low-resistance shape and the results demonstrate that the presented optimization design framework has the advantages of simplicity,flexibility and high efficiency.
文摘Gyrnnarchus niloticus swims by undulations of a long-based dorsal fin, while its body axis is in many cases held straight during swimming. This paper provides a brief relevant introduction to Gyrnnarchus niloticus, which belongs to the African freshwater electric eels but can inspire our bionic interests in propulsion besides its abilities in electric sensing. A special larva of Gyrnnarchus niloticus was morphologically measured by photographing it with a piece of scale-calibrated paper as the background. Then we analyzed the data by a CFD-aided approach. Detailed flow patterns around the larva and a NACA0012 hydrofoil were respectively calculated and visualized at the Reynolds number of 7350 or so. The results show that the profile of Gyrnnarchus niloticus is well streamlined.
