New Designs of Fin Type Propulsive Devices of Robotic Fish

IEEE 15th International Conference on Advanced Robotics: New Boundaries for Robotics (ICAR 2011): Proceedings 2011
Jānis Vība, Vitālijs Beresņevičs, Semjons Cifanskis, Maarja Kruusmaa, Jean-Guy Fontaine, William Megill

Dynamics of a fin type propulsive device of robotic fish moving inside water is studied. On the basis of Pontryagin’s maximum principle the optimal control law for variation of additional area of vibrating tail, which ensures maximal positive impulse of motive forces acting on tail, is found. The proposed method makes it possible to minimize energy losses within operation cycles, when fin’s motion is affected by water resistance forces. Thanks to that useful tractive forces increase, and operation of fin propulsive device becomes more effective. Examples on synthesis of one-tail and two-tail propulsive devices with varying working area of vibrating tail are given.

Atslēgas vārdi
Robotic fish, propulsive device, vibration
DOI
10.1109/ICAR.2011.6088600
Hipersaite
http://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=6088600

Vība, J., Beresņevičs, V., Cifanskis, S., Kruusmaa, M., Fontaine, J., Megill, W. New Designs of Fin Type Propulsive Devices of Robotic Fish. No: IEEE 15th International Conference on Advanced Robotics: New Boundaries for Robotics (ICAR 2011): Proceedings, Igaunija, Tallinn, 20.-23. jūnijs, 2011. Piscataway: IEEE, 2011, 625.-630.lpp. ISBN 978-1-4577-1158-9. Pieejams: doi:10.1109/ICAR.2011.6088600

Publikācijas valoda
English (en)