In complex water environments,search tasks often involve multiple Autonomous Underwater Vehicles(AUVs),and a single centralized control cannot handle the complexity and computational burden of large-scale systems.Targ...In complex water environments,search tasks often involve multiple Autonomous Underwater Vehicles(AUVs),and a single centralized control cannot handle the complexity and computational burden of large-scale systems.Target search in complex water environments has always been a major challenge in the field of underwater robots.To address this problem,this paper proposes a multi-biomimetic robot fish collaborative target search method based on Distributed Model Predictive Control(DMPC).First,we established a bionic robot fish kinematic model and a multi-biomimetic robot fish communication model;second,this paper proposed a distributed model predictive control algorithm based on the distributed search theory framework,so that the bionic robot fish can dynamically adjust their search path according to each other’s position information and search status,avoid repeated coverage or missing areas,and thus improve the search efficiency;third,we conducted simulation experiments based on DMPC,and the results showed that the proposed method has a target search success rate of more than 90%in static targets,dynamic targets,and obstacle environments.Finally,we compared this method with Centralized Model Predictive Control(CMPC)and Random Walk(RW)algorithms.The DMPC approach demonstrates significant advantages,achieving a remarkable target search success rate of 94.17%.These findings comprehensively validate the effectiveness and superiority of the proposed methodology.It can be seen that DMPC can effectively dispatch multiple bionic robot fish to work together to achieve efficient search of vast waters.It can significantly improve the flexibility,scalability,robustness and cooperation efficiency of the system and has broad application prospects.展开更多
Fishes have learned how to achieve outstanding swimming performance through the evolution of hundreds of millions of years,which can provide bio-inspiration for robotic fish design.The premise of designing an excellen...Fishes have learned how to achieve outstanding swimming performance through the evolution of hundreds of millions of years,which can provide bio-inspiration for robotic fish design.The premise of designing an excellent robotic fish include fully understanding of fish locomotion mechanism and grasp of the advanced control strategy in robot domain.In this paper,the research development on fish swimming is presented,aiming to offer a reference for the later research.First,the research methods including experimental methods and simulation methods are detailed.Then the current research directions including fish locomotion mechanism,structure and function research and bionic robotic fish are outlined.Fish locomotion mechanism is discussed from three views:macroscopic view to find a unified principle,microscopic view to include muscle activity and intermediate view to study the behaviors of single fish and fish school.Structure and function research is mainly concentrated from three aspects:fin research,lateral line system and body stiffness.Bionic robotic fish research focuses on actuation,materials and motion control.The paper concludes with the future trend that curvature control,machine learning and multiple robotic fish system will play a more important role in this field.Overall,the intensive and comprehensive research on fish swimming will decrease the gap between robotic fish and real fish and contribute to the broad application prospect of robotic fish.展开更多
Increasing the texture complexity of high-performance surfaces can enhance their antifriction properties by altering their distribution and retention of lubricating oils.When a fluid flows through a fish-scale texture...Increasing the texture complexity of high-performance surfaces can enhance their antifriction properties by altering their distribution and retention of lubricating oils.When a fluid flows through a fish-scale texture,a lubricating layer is formed,effectively reducing friction.In this study,a bionic fish-scale structure is proposed,and ceramic components are fabricated and analyzed using micro/nano additive-manufacturing technology.First,the effects of various parameters on the antifriction performance of the fish-scale texture under hydrodynamic lubrication conditions are investigated.Then,the pressure distribution of the oil film—including both positive and negative pressures—is simulated by adjusting parameters such as the angleα,ratio of textured area to total surface area,and depth of the fish-scale texture.The results indicate that for a textured area that accounts for 20%of the total surface,texture depth of 150μm,and angleαof 30°,the pressure differential reaches its maximum.Finally,based on the optimized parameters,the designed fish-scale structure is fabricated using micro/nano ceramic three-dimensional-printing technology.Friction and wear tests are conducted on the sintered samples.The experimental results align well with the simulation data,indicating that the structure can reduce the friction coefficient by approximately 15%,thereby significantly improving the antifriction performance.This study provides a valuable reference for the surface engineering of other high-performance functional structures.展开更多
Numerical simulations of self-propelled swimming of a three dimensional bionic fish and fish school in a viscous fluid are carried out.This is done with the assistance of a parallel software package produced for 3D mo...Numerical simulations of self-propelled swimming of a three dimensional bionic fish and fish school in a viscous fluid are carried out.This is done with the assistance of a parallel software package produced for 3D moving boundary problems.This computational fluid dynamics package combines the adaptive multi-grid finite volume method,the immersed boundary method and VOF(volume of fluid)method.By using the package results of the self-propelled swimming of a 3D bionic fish and fish school in a vis-cous fluid are obtained.With comparison to the existing experimental measurements of living fishes,the predicted structure of vortical wakes is in good agreement with the measurements.展开更多
Shape optimization of the caudal fin of the three-dimensional self-propelled swimming fish,to increase the swimming efficiency and the swimming speed and control the motion direction more easily,is investigated by com...Shape optimization of the caudal fin of the three-dimensional self-propelled swimming fish,to increase the swimming efficiency and the swimming speed and control the motion direction more easily,is investigated by combining optimization algorithms,unsteady computational fluid dynamics and dynamic control in this study.The 3D computational fluid dynamics package contains the immersed boundary method,volume of fluid method,the adaptive multi-grid finite volume method and the control strategy of fish swimming.Through shape optimizations of various swimming speeds,the results show that the optimal caudal fins of different swimming modes are not exactly the same shape.However,the optimal fish of high swimming speed,whose caudal fin shape is similar to the crescent,also have higher efficiency and better maneuverability than the other optimal bionic fish at low and moderate swimming speeds.Finally,the mechanisms of vorticity creation of different optimal bionic fish are studied by using boundary vorticity-flux theory,and three-dimensional wake structures of self-propelled swimming of these fish are comparatively analyzed.The study of vortex dynamics reveals the nature of efficient swimming of the 3D bionic fish with the lunate caudal fin.展开更多
Numerical simulations and the control of self-propelled swimming of three-dimensional bionic fish in a viscous flow and the mechanism of fish swimming are carried out in this study,with a 3D computational fluid dynami...Numerical simulations and the control of self-propelled swimming of three-dimensional bionic fish in a viscous flow and the mechanism of fish swimming are carried out in this study,with a 3D computational fluid dynamics package,which includes the immersed boundary method and the volume of fluid method,the adaptive multi-grid finite volume method,and the control strategy of fish swimming.Firstly,the mechanism of 3D fish swimming was studied and the vorticity dynamics root was traced to the moving body surface by using the boundary vorticity-flux theory.With the change of swimming speed,the contributions of the fish body and caudal fin to thrust are analyzed quantitatively.The relationship between vortex structures of fish swimming and the forces exerted on the fish body are also given in this paper.Finally,the 3D wake structure of self-propelled swimming of 3D bionic fish is presented.The in-depth analysis of the 3D vortex structure in the role of 3D biomimetic fish swimming is also performed.展开更多
With the increasing impacts of overfishing and environmental pollution,the deep-sea cage culture of marine fishes has become an important direction of mariculture.In this paper,a tuna-like robotic fish with a three-di...With the increasing impacts of overfishing and environmental pollution,the deep-sea cage culture of marine fishes has become an important direction of mariculture.In this paper,a tuna-like robotic fish with a three-dimensional helix path-following control system is designed for deep-sea net cage inspection.To mimic the flexibility of the fish’s movement,the kinematic model of the robotic fish adopts a tuna-like double-joint design with an addi-tional thruster device at the tail.Since the descending interval control plays a critical role in deep-sea net cage inspection,the control system utilizes the proportion integration differ-entiation(PID)based fuzzy logic control method to control the descending interval and yaw angle during the helix path movement.A polar coordinate path definition method is also proposed to simplify the reference path definition during net cage inspection.The experi-mental results demonstrates that the proposed three-dimensional path-following model can conduct net inspection task in an interferential environment and move along prede-fined reference path.展开更多
In the last decades, surface drag reduction has been re-emphasized because of its practical values in engineering applications,including vehicles, aircrafts, ships, and fuel pipelines. The bionic study of drag reducti...In the last decades, surface drag reduction has been re-emphasized because of its practical values in engineering applications,including vehicles, aircrafts, ships, and fuel pipelines. The bionic study of drag reduction has been attracting scholars' attentions. Here, it was determined that the delicate microstructures on the scales of the fish Ctenopharyngodon idellus exhibit remarkable drag-reduction effect. In addition, the underlying drag-reduction mechanism was carefully investigated. First,exceptional morphologies and structures of the scales were observed and measured using a scanning electron microscope and3-dimensional(3D) microscope. Then, based on the acquired data, optimized 3D models were created. Next, the mechanism of the water-trapping effect of these structures was analyzed through numerical simulations and theoretical calculations. It was determined that there are many microcrescent units with certain distributions on its surface. In fact, these crescents are effective in generating the "water-trapping" effect and forming a fluid-lubrication film, thus reducing the skin friction drag effectively.Contrasting to a smooth surface, the dynamics finite-element analysis indicated that the maximum drag-reduction rate of a bionic surface is 3.014% at 0.66 m/s flow rate. This study can be used as a reference for an in-depth analysis on the bionic drag reduction of boats, underwater vehicles, and so forth.展开更多
Based on the boundary vorticity-flux theory,topology optimization of the caudal fin of the three-dimensional self-propelled swimming fish is investigated by combining unsteady computational fluid dynamics with moving ...Based on the boundary vorticity-flux theory,topology optimization of the caudal fin of the three-dimensional self-propelled swimming fish is investigated by combining unsteady computational fluid dynamics with moving boundary and topology optimization algorithms in this study.The objective functional of topology optimization is the function of swimming efficiency,swimming speed and motion direction control.The optimal caudal fin,whose topology is different from that of the natural fish caudal fin,make the 3D bionic fish achieve higher swimming efficiency,faster swimming speed and better maneuverability.The boundary vorticity-flux on the body surface of the 3D fish before and after optimization reveals the mechanism of high performance swimming of the topology optimization bionic fish.The comparative analysis between the swimming performance of the 3D topology optimization bionic fish and the 3D lunate tail bionic fish is also carried out,and the wake structures of two types of bionic fish show the physical nature that the swimming performance of the 3D topology optimization bionic fish is significantly better than the 3D lunate tail bionic fish.展开更多
基金funded by National Natural Science Foundation of China(Nos.62473236,62073196).
文摘In complex water environments,search tasks often involve multiple Autonomous Underwater Vehicles(AUVs),and a single centralized control cannot handle the complexity and computational burden of large-scale systems.Target search in complex water environments has always been a major challenge in the field of underwater robots.To address this problem,this paper proposes a multi-biomimetic robot fish collaborative target search method based on Distributed Model Predictive Control(DMPC).First,we established a bionic robot fish kinematic model and a multi-biomimetic robot fish communication model;second,this paper proposed a distributed model predictive control algorithm based on the distributed search theory framework,so that the bionic robot fish can dynamically adjust their search path according to each other’s position information and search status,avoid repeated coverage or missing areas,and thus improve the search efficiency;third,we conducted simulation experiments based on DMPC,and the results showed that the proposed method has a target search success rate of more than 90%in static targets,dynamic targets,and obstacle environments.Finally,we compared this method with Centralized Model Predictive Control(CMPC)and Random Walk(RW)algorithms.The DMPC approach demonstrates significant advantages,achieving a remarkable target search success rate of 94.17%.These findings comprehensively validate the effectiveness and superiority of the proposed methodology.It can be seen that DMPC can effectively dispatch multiple bionic robot fish to work together to achieve efficient search of vast waters.It can significantly improve the flexibility,scalability,robustness and cooperation efficiency of the system and has broad application prospects.
基金National Natural Science Foundation of China(Grant No.51275127).
文摘Fishes have learned how to achieve outstanding swimming performance through the evolution of hundreds of millions of years,which can provide bio-inspiration for robotic fish design.The premise of designing an excellent robotic fish include fully understanding of fish locomotion mechanism and grasp of the advanced control strategy in robot domain.In this paper,the research development on fish swimming is presented,aiming to offer a reference for the later research.First,the research methods including experimental methods and simulation methods are detailed.Then the current research directions including fish locomotion mechanism,structure and function research and bionic robotic fish are outlined.Fish locomotion mechanism is discussed from three views:macroscopic view to find a unified principle,microscopic view to include muscle activity and intermediate view to study the behaviors of single fish and fish school.Structure and function research is mainly concentrated from three aspects:fin research,lateral line system and body stiffness.Bionic robotic fish research focuses on actuation,materials and motion control.The paper concludes with the future trend that curvature control,machine learning and multiple robotic fish system will play a more important role in this field.Overall,the intensive and comprehensive research on fish swimming will decrease the gap between robotic fish and real fish and contribute to the broad application prospect of robotic fish.
基金supported by Shanghai Collaborative Innovation Project(Grant No.XTCX-KJ-2024-01)the National Natural Science Foundation of China(Grant No.52205493).
文摘Increasing the texture complexity of high-performance surfaces can enhance their antifriction properties by altering their distribution and retention of lubricating oils.When a fluid flows through a fish-scale texture,a lubricating layer is formed,effectively reducing friction.In this study,a bionic fish-scale structure is proposed,and ceramic components are fabricated and analyzed using micro/nano additive-manufacturing technology.First,the effects of various parameters on the antifriction performance of the fish-scale texture under hydrodynamic lubrication conditions are investigated.Then,the pressure distribution of the oil film—including both positive and negative pressures—is simulated by adjusting parameters such as the angleα,ratio of textured area to total surface area,and depth of the fish-scale texture.The results indicate that for a textured area that accounts for 20%of the total surface,texture depth of 150μm,and angleαof 30°,the pressure differential reaches its maximum.Finally,based on the optimized parameters,the designed fish-scale structure is fabricated using micro/nano ceramic three-dimensional-printing technology.Friction and wear tests are conducted on the sintered samples.The experimental results align well with the simulation data,indicating that the structure can reduce the friction coefficient by approximately 15%,thereby significantly improving the antifriction performance.This study provides a valuable reference for the surface engineering of other high-performance functional structures.
基金Supported by the Key Project of National Natural Science Foundation of China(Grant No.10532040)
文摘Numerical simulations of self-propelled swimming of a three dimensional bionic fish and fish school in a viscous fluid are carried out.This is done with the assistance of a parallel software package produced for 3D moving boundary problems.This computational fluid dynamics package combines the adaptive multi-grid finite volume method,the immersed boundary method and VOF(volume of fluid)method.By using the package results of the self-propelled swimming of a 3D bionic fish and fish school in a vis-cous fluid are obtained.With comparison to the existing experimental measurements of living fishes,the predicted structure of vortical wakes is in good agreement with the measurements.
基金supported by the National Natural Science Foundation of China (Grant No. 10672183)
文摘Shape optimization of the caudal fin of the three-dimensional self-propelled swimming fish,to increase the swimming efficiency and the swimming speed and control the motion direction more easily,is investigated by combining optimization algorithms,unsteady computational fluid dynamics and dynamic control in this study.The 3D computational fluid dynamics package contains the immersed boundary method,volume of fluid method,the adaptive multi-grid finite volume method and the control strategy of fish swimming.Through shape optimizations of various swimming speeds,the results show that the optimal caudal fins of different swimming modes are not exactly the same shape.However,the optimal fish of high swimming speed,whose caudal fin shape is similar to the crescent,also have higher efficiency and better maneuverability than the other optimal bionic fish at low and moderate swimming speeds.Finally,the mechanisms of vorticity creation of different optimal bionic fish are studied by using boundary vorticity-flux theory,and three-dimensional wake structures of self-propelled swimming of these fish are comparatively analyzed.The study of vortex dynamics reveals the nature of efficient swimming of the 3D bionic fish with the lunate caudal fin.
基金the support of National Natural Science Foundation of China (Grant No.10672183)
文摘Numerical simulations and the control of self-propelled swimming of three-dimensional bionic fish in a viscous flow and the mechanism of fish swimming are carried out in this study,with a 3D computational fluid dynamics package,which includes the immersed boundary method and the volume of fluid method,the adaptive multi-grid finite volume method,and the control strategy of fish swimming.Firstly,the mechanism of 3D fish swimming was studied and the vorticity dynamics root was traced to the moving body surface by using the boundary vorticity-flux theory.With the change of swimming speed,the contributions of the fish body and caudal fin to thrust are analyzed quantitatively.The relationship between vortex structures of fish swimming and the forces exerted on the fish body are also given in this paper.Finally,the 3D wake structure of self-propelled swimming of 3D bionic fish is presented.The in-depth analysis of the 3D vortex structure in the role of 3D biomimetic fish swimming is also performed.
基金This work is supported by the National Key Research and Development Program of China(Grant No.2019YFD0901000)the Key Technical Cooperation of Coastal Deep-water Probe(Grant No.2015DFA00090).
文摘With the increasing impacts of overfishing and environmental pollution,the deep-sea cage culture of marine fishes has become an important direction of mariculture.In this paper,a tuna-like robotic fish with a three-dimensional helix path-following control system is designed for deep-sea net cage inspection.To mimic the flexibility of the fish’s movement,the kinematic model of the robotic fish adopts a tuna-like double-joint design with an addi-tional thruster device at the tail.Since the descending interval control plays a critical role in deep-sea net cage inspection,the control system utilizes the proportion integration differ-entiation(PID)based fuzzy logic control method to control the descending interval and yaw angle during the helix path movement.A polar coordinate path definition method is also proposed to simplify the reference path definition during net cage inspection.The experi-mental results demonstrates that the proposed three-dimensional path-following model can conduct net inspection task in an interferential environment and move along prede-fined reference path.
基金supported by the National Natural Science Foundation of China(Grant Nos.51305282,51505183&51325501)Program for Excellent Talents of Liaoning Provincial Committee of Education(Grant No.LJQ2014071)
文摘In the last decades, surface drag reduction has been re-emphasized because of its practical values in engineering applications,including vehicles, aircrafts, ships, and fuel pipelines. The bionic study of drag reduction has been attracting scholars' attentions. Here, it was determined that the delicate microstructures on the scales of the fish Ctenopharyngodon idellus exhibit remarkable drag-reduction effect. In addition, the underlying drag-reduction mechanism was carefully investigated. First,exceptional morphologies and structures of the scales were observed and measured using a scanning electron microscope and3-dimensional(3D) microscope. Then, based on the acquired data, optimized 3D models were created. Next, the mechanism of the water-trapping effect of these structures was analyzed through numerical simulations and theoretical calculations. It was determined that there are many microcrescent units with certain distributions on its surface. In fact, these crescents are effective in generating the "water-trapping" effect and forming a fluid-lubrication film, thus reducing the skin friction drag effectively.Contrasting to a smooth surface, the dynamics finite-element analysis indicated that the maximum drag-reduction rate of a bionic surface is 3.014% at 0.66 m/s flow rate. This study can be used as a reference for an in-depth analysis on the bionic drag reduction of boats, underwater vehicles, and so forth.
基金support of National Natural Science Foundation of China(Grant No.11302071)and National Postdoctoral Foundation of China(Grant No.2013M541597).Our deep appreciation goes to Professor Wei SHYY of Hong Kong University of Science and Technology,for detailed discussion and kindly help.
文摘Based on the boundary vorticity-flux theory,topology optimization of the caudal fin of the three-dimensional self-propelled swimming fish is investigated by combining unsteady computational fluid dynamics with moving boundary and topology optimization algorithms in this study.The objective functional of topology optimization is the function of swimming efficiency,swimming speed and motion direction control.The optimal caudal fin,whose topology is different from that of the natural fish caudal fin,make the 3D bionic fish achieve higher swimming efficiency,faster swimming speed and better maneuverability.The boundary vorticity-flux on the body surface of the 3D fish before and after optimization reveals the mechanism of high performance swimming of the topology optimization bionic fish.The comparative analysis between the swimming performance of the 3D topology optimization bionic fish and the 3D lunate tail bionic fish is also carried out,and the wake structures of two types of bionic fish show the physical nature that the swimming performance of the 3D topology optimization bionic fish is significantly better than the 3D lunate tail bionic fish.
