Finbot: Fish-like swimming and wake structures in an autonomous robot (BioBio 2021) скачать в хорошем качестве

Finbot: Fish-like swimming and wake structures in an autonomous robot (BioBio 2021)

Finbot uses four independently controllable fins and sensory feedback for precise closed-loop underwater locomotion. Different caudal fins can be attached magnetically to reconfigure Finbot for swimming at top speed (122 mm/s ≡ 1 BL/s) or minimal cost of transport (CoT = 8.2) at Strouhal numbers as low as 0.53. We conducted more than 150 experiments with 12 different caudal fins to measure three key characteristics of swimming fish: (i) linear speed-frequency relationships, (ii) U-shaped costs of transport, and (iii) reverse Kármán wakes (visualized with particle image velocimetry). For more information see: Florian Berlinger, Mehdi Saadat, Hossein Haj-Hariri, George V Lauder, and Radhika Nagpal. 2021. “Fish-like three-dimensional swimming with an autonomous, multi-fin, and biomimetic robot.” Bioinspiration & Biomimetics, 16, 2. Supplemental Movie 1