Understanding and replicating the locomotion principles offish are fundamental in the development of artificial fishlike robotic systems,termed robotic fish.This paper has two objectives:(1) to review biological clues...Understanding and replicating the locomotion principles offish are fundamental in the development of artificial fishlike robotic systems,termed robotic fish.This paper has two objectives:(1) to review biological clues on biomechanics and hydrodynamic flow control offish swimming and(2) to summarize design and control methods for efficient and stable swimming in robotic fishes.Our review of state-of-the-art research and future-oriented new directions indicates that fish-inspired biology and engineering interact in mutually beneficial ways.This strong interaction offers an important insight into the design and control of novel fish-inspired robots that addresses the challenge of environmental uncertainty and competing objectives;in addition,it also facilitates refinement of biological knowledge and robotic strategies for effective and efficient swimming.展开更多
Minipump is widely used in microfluidics system, active cooling system, etc. But building a high efficiency minipump is still a challenging problem. In this paper, a systematic method was developed to design, characte...Minipump is widely used in microfluidics system, active cooling system, etc. But building a high efficiency minipump is still a challenging problem. In this paper, a systematic method was developed to design, characterize and optimize a particular mechanical minipump. The optimization work was conducted to cope with the conflict between pressure head and hydraulic efficiency by an improved back-propagation neural network （BPNN） with the non-dominated sorting genetic algorithm-II （NSGA-II）. The improved BPNN was utilized to predicate hydraulic performance and, moreover, was modified to improve the prediction accuracy. The NSGA-II was processed for minipump multi-objective optimization which is dominated by four impeller dimensions. During hydraulic optimization, the processing feasibility was also taken into consideration. Experiments were conducted to validate the above optimization methods. It was proved that the optimized minipump was improved by about 24 % in pressure head and 4.75 % in hydraulic efficiency compared to the original designed prototype. Meanwhile, the sensitivity test was used to analyze the influence of the four impeller dimensions. It was found that the blade outlet angle β2 and the impeller inlet diameter Do significantly influence the pressure head H and the hydraulic efficiency η, respec- tively. Detailed internal flow fields showed that the optimum model can relieve the impeller wake and improve both the pressure distribution and flow orientation.展开更多
基金supported by the National Natural Science Foundation of China(Grant Nos.61333016,61403012,61633004&61633020)the Beijing Natural Science Foundation(Grant Nos.4154077&4161002)
文摘Understanding and replicating the locomotion principles offish are fundamental in the development of artificial fishlike robotic systems,termed robotic fish.This paper has two objectives:(1) to review biological clues on biomechanics and hydrodynamic flow control offish swimming and(2) to summarize design and control methods for efficient and stable swimming in robotic fishes.Our review of state-of-the-art research and future-oriented new directions indicates that fish-inspired biology and engineering interact in mutually beneficial ways.This strong interaction offers an important insight into the design and control of novel fish-inspired robots that addresses the challenge of environmental uncertainty and competing objectives;in addition,it also facilitates refinement of biological knowledge and robotic strategies for effective and efficient swimming.
文摘Minipump is widely used in microfluidics system, active cooling system, etc. But building a high efficiency minipump is still a challenging problem. In this paper, a systematic method was developed to design, characterize and optimize a particular mechanical minipump. The optimization work was conducted to cope with the conflict between pressure head and hydraulic efficiency by an improved back-propagation neural network （BPNN） with the non-dominated sorting genetic algorithm-II （NSGA-II）. The improved BPNN was utilized to predicate hydraulic performance and, moreover, was modified to improve the prediction accuracy. The NSGA-II was processed for minipump multi-objective optimization which is dominated by four impeller dimensions. During hydraulic optimization, the processing feasibility was also taken into consideration. Experiments were conducted to validate the above optimization methods. It was proved that the optimized minipump was improved by about 24 % in pressure head and 4.75 % in hydraulic efficiency compared to the original designed prototype. Meanwhile, the sensitivity test was used to analyze the influence of the four impeller dimensions. It was found that the blade outlet angle β2 and the impeller inlet diameter Do significantly influence the pressure head H and the hydraulic efficiency η, respec- tively. Detailed internal flow fields showed that the optimum model can relieve the impeller wake and improve both the pressure distribution and flow orientation.
