Median and Paired Fin Controllers for Biomimetic Marine Vehicles

[+] Author and Article Information
Naomi Kato

Department of Naval Architecture and Ocean Engineering, Graduate School of Engineering,  Osaka University, 2-1, Yamadaoka, Suita 565-0871, Japankato@naoe.eng.Osaka-u.ac.jp

Appl. Mech. Rev 58(4), 238-252 (Jul 01, 2005) (15 pages) doi:10.1115/1.1946027 History:

This paper reviews the studies on the kinematics, hydrodynamics, and performance of median and paired fin (MPF) in fish and biomimetic mechanical systems from the viewpoint of enhancing the propulsive and maneuvering performance of marine vehicles at low speeds. Precise maneuverability and stability at low swimming speeds by use of MPF propulsion seem to be advantageous in complex habitats such as coral reefs. MPF propulsion in fish consists of undulatory fin motion and oscillatory fin motion. The kinematics of MPF in fish and mechanical systems in both groups is discussed. Hydrodynamic models and experimental data of undulatory and oscillatory motions of MPF in fish and mechanical system are reviewed. Pectoral fin propulsion has two categories which represent biomechanical extremes in the use of appendages for propulsion: drag-based and lift-based mechanisms of thrust production. The hydrodynamic characteristics of the two mechanisms are compared. The performance of fish and vehicles with MPF is reviewed from the viewpoint of maneuverability. Especially, performance of a recently developed fish-like body with a pair of undulatory side fins, a model ship with a pair of ray-wing-type propulsors, and an underwater vehicle with two pairs of mechanical pectoral fins are discussed.

Copyright © 2005 by American Society of Mechanical Engineers
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Figure 1

Classification of MPF swimming modes

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Figure 2

Fin-beat frequency against swimming speed for the dorsal fin of Rhinecanthus aculeatus (A) and the pectoral fins of Cymatogaster aggregate (B) (Blake (9))

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Figure 3

Displacement in three dimensions of the most dorsal marker on the bass pectoral fin relative to the body during locomotion at 0.5L∕s(10.5cm∕s) (Lauder and Jayne (18))

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Figure 4

Left lateral view of fin tip displacement, relative to the body of the fish (the fin base), projected onto the sagittal plane for one individual (A, anterior; P, posterior; D, dorsal; V, ventral) (Walker and Westneat (20))

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Figure 5

Diagram illustrating the undulation-to-oscillation continuum for nine batoid species (the mean wave number for each species is given in parentheses) (Rosenberger (27))

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Figure 6

Fin actuator (Sfakiotakis (29))

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Figure 7

Undulating side fin with a strut (Toda (30))

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Figure 8

Configuration of side fin (Toda (30))

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Figure 9

Model ship with a pair of ray-wing-type propulsors (Kashiwadani and Yokoyama (31))

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Figure 10

Mechanism of ray-wing-type propulsor (from Kashiwadani and Yokoyama (31))

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Figure 11

Two-motor driven mechanical pectoral fin (Kato (32))

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Figure 12

Three-motor driven mechanical pectoral fin Birdfin (Kato (33))

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Figure 13

Oscillating fin around an axis (Kemp (35))

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Figure 14

Underwater vehicle “PilotFish” (Kemp (35))

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Figure 15

Oscillating fin with flapping motion and feathering motion (Licht (37))

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Figure 16

Numerical simulation around a body with a pair of undulating side fins (Toda (30))

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Figure 17

Schematic diagram of fin position during the power and recovery stroke phase of fin-beat cycle of a rowing fish (Blake (9))

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Figure 19

Comparison of time histories of the hydrodynamic force coefficients in X,Y,Z direction during one period (Kato (60))

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Figure 20

Comparison between a numerical simulation and the experimental results for the propeller efficiency (Kato (60))

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Figure 21

Schematic three-dimensional representation of the pectoral fin wake at the end of upstroke in the black surfperch (A–C) and bluegill sunfish (D–F) (Drucker and Lauder (66))

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Figure 22

Fish robot “Bass II” equipped with a pair of 2MDMPFs (Kato (70))

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Figure 23

Loci of fish robot and yaw angle in a water current of 0.05m∕s (Kato (70))

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Figure 24

Model of underwater robot with a manipulator (Kato (71))

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Figure 25

Ratio of root-mean-square of yaw motion of model without control to that with control by a pair of 2MDMPFs (Kato (71))

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Figure 26

Underwater vehicle with two pairs of 3MDMPFs PLATYPUS (Kato (72))

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Figure 27

Comparison of forward swimming performance from rest between lift-based swimming mode and drag-based swimming mode (Kato (72))

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Figure 28

Rendezvous and docking with an underwater post in water currents (Kato (73))



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