Propulsive Velocity Optimization of 3-Joint Fish Robot Using Genetic-Hill Climbing Algorithm

Underwater robot is a new research field which is emerging quickly in recent years.Previous researches in this field focus on Remotely Operated Vehicles(ROVs),Autonomous Underwater Vehicles(AUVs),underwater manipulators,etc.Fish robot, which is a new type of underwater biomimetic robot,has attracted great attention because of its silence in moving and energy efficiency compared to conventional propeller-oriented propulsive mechanism. However,most of researches on fish robots have been carried out via empirical or experimental approaches,not based on dynamic optimality.In this paper,we proposed an analytical optimization approach which can guarantee the maximum propulsive velocity of fish robot in the given parametric conditions.First,a dynamic model of 3-joint(4 links)carangiform fish robot is derived,using which the influences of parameters of input torque functions,such as amplitude,frequency and phase difference,on its velocity are investigated by simulation.Second,the maximum velocity of the fish robot is optimized by combining Genetic Algorithm(GA)and Hill Climbing Algorithm(HCA).GA is used to generate the initial optimal parameters of the input functions of the system.Then,the parameters are optimized again by HCA to ensure that the final set of parameters is the'near'global optimization.Finally,both simulations and primitive experiments are carried out to prove the feasibility of the proposed method.

Dynamic Modeling of a Non-Uniform Flexible Tail for a Robotic Fish

In this paper, a non-uniform flexible tail of a fish robot was presented and the dynamic model was developed. In this model, the non-uniform flexible tail was modeled by a rotary slender beam. The hydrodynamics forces, including the reactive force and resistive force, were analyzed in order to derive the governing equation. This equation is a fourth-order in space and second-order in time Partial Differential Equation （PDE） of the lateral movement function. The coefficients of this PDE were not constants because of the non-uniform beams, so they were approximated by exponential functions in order to obtain an analytical solution. This solution describes the lateral movement of the flexible tail as a function of material, geometrical and actuator properties. Experiments were then carried out and compared to simulations. It was proved that the proposed model is suitable for predicting the real behavior of fish robots.

Thrust and Swimming Speed Analysis of Fish Robot with Non-uniform Flexible Tail

We present a dynamic model of a fish robot with a Non-uniform Flexible Tail （NFT）. We investigate the tendencies of the thrust and swimming speed when the input driving moment changes. Based on the proposed dynamic model of the NFT, we derive the thrust estimation, equation of motion, and performance evaluation of a fish robot with a NFT. By defining the optimal stiffness of the NFT in simulation, a fish robot prototype is then designed and fabricated. A series of experiments are performed to verify the proposed model. Experiment results are in good agreement with simulation data. The results show that the thrust and swimming speed of the fish robot are proportional to the amplitude of the driving moment. There are two resonant fre- quencies （f = 1.4 Hz and 2.2 Hz）, the maximum thrust and swimming speed （about 0.7 BL.s-1） are found to be around f = 1.4 Hz. The above results inidicate the proposed model is suitable for predicting the behavior, thrust and swimming speed of a fish robot with a NFT.

Dynamic Modeling and Experiment of a Fish Robot with a Flexible Tail Fin

This paper presents the dynamic modeling of a flexible tail for a robotic fish. For this purpose firstly, the flexible tail was simplified as a slewing beam actuated by a driving moment. The governing equation of the flexible tail was derived by using the Euler-Bernoulli theory. In this equation, the resistive forces were estimated as a term analogous to viscous damping. Then, the modal analysis method was applied in order to derive an analytical solution of the governing equation, by which the relationship between the driving moment and the lateral movement of the flexible tail was described. Finally, simulations and experiments were carried out and the results were compared to verify the accuracy of the dynamic model. It was proved that the dynamic model of a fish robot with a flexible tail fin well explains the real behavior of robotic fish in underwater environment.