CMBUV: A Composite-Mechanism Bioinspired Underwater Vehicle Integrated With Elasticity and Shear Damping Possesses High-Performance Capability

doi:10.1109/TIV.2023.3286820

	CMBUV: A Composite-Mechanism Bioinspired Underwater Vehicle Integrated With Elasticity and Shear Damping Possesses High-Performance Capability
	Wang, Xiaofei1,2 ; Zhou, Chao1,2 ; Wang, Jian1,2 ; Fan, Junfeng1,2 ; Yin, Zhaoran1,2 ; Zhu, Chunhui 1,2; Deng, Liangwei 1,2
发表期刊	IEEE TRANSACTIONS ON INTELLIGENT VEHICLES
ISSN	2379-8858
	2024
卷号	9 期号:1 页码:1628-1640
通讯作者	Zhou, Chao(chao.zhou@ia.ac.cn)
摘要	Benefiting from the potential advantages of low noise, high efficiency and little disturbance, bionic propulsion has attracted wide attentions. Compared with the rigid structure, the performance of the elastic propulsion structure such as flexible caudal fin and passive compliant joint has been improved, yet the effective frequency range is limited due to the single mechanism. The optimal propulsion can only be produced in a certain frequency range. In this article, a biological passive peduncle joint integrated with the composite mechanism of elasticity and shear damping is proposed, solving the problem of the narrow frequency range of effective propulsive capacity. Through the optimal regulation of the elastic function at a certain frequency range and characterization of the damping function which increases with frequency, the response features of the passive joint are optimized over a wide range of frequencies, thereby improving the propulsive performance of the composite-mechanism bioinspired underwater vehicle (CMBUV). A dynamic model is built and the deformation analysis of the compliant caudal fin is carried out. The propulsive efficiency is characterized, and the results indicate that the compliant caudal fin modulates the power transmission for enhancing thrust production. Extensive simulations and experiments reveal that the CMBUV achieves both high swimming speed with 4.42 body length per second and low cost of transport with 90.33 J kg- 1 m-1. Bioinspired propulsion from this study takes advantage of undulating propulsion of natural fish, offering valuable insights into performing marine tasks in ocean environments.
关键词	Damping Propulsion Underwater vehicles Sports Shock absorbers Deformation Vehicle dynamics Shearing damper composite propulsion compliant caudal fin
DOI	10.1109/TIV.2023.3286820
关键词[WOS]	FISH ; ROBOT
收录类别	SCI
语种	英语
资助项目	National Natural Science Foundation of China[62033013] ; National Natural Science Foundation of China[62003341] ; National Natural Science Foundation of China[62203436] ; Beijing Natural Science Foundation[4232057] ; Youth lnnovation Promotion Association, Chinese Academy of Sciences[2022130]
项目资助者	National Natural Science Foundation of China ; Beijing Natural Science Foundation ; Youth lnnovation Promotion Association, Chinese Academy of Sciences
WOS研究方向	Computer Science ; Engineering ; Transportation
WOS类目	Computer Science, Artificial Intelligence ; Engineering, Electrical & Electronic ; Transportation Science & Technology
WOS记录号	WOS:001173317800140
出版者	IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
引用统计
文献类型	期刊论文
条目标识符	http://ir.ia.ac.cn/handle/173211/58699
专题	复杂系统认知与决策实验室_水下机器人
通讯作者	Zhou, Chao
作者单位	1.Chinese Acad Sci, Inst Automat, Lab Cognit & Decis Intelligence Complex Syst, Beijing 100190, Peoples R China 2.Univ Chinese Acad Sci, Sch Artificial Intelligence, Beijing 100049, Peoples R China
第一作者单位	中国科学院自动化研究所
通讯作者单位	中国科学院自动化研究所
推荐引用方式 GB/T 7714	Wang, Xiaofei,Zhou, Chao,Wang, Jian,et al. CMBUV: A Composite-Mechanism Bioinspired Underwater Vehicle Integrated With Elasticity and Shear Damping Possesses High-Performance Capability[J]. IEEE TRANSACTIONS ON INTELLIGENT VEHICLES,2024,9(1):1628-1640.
APA	Wang, Xiaofei.,Zhou, Chao.,Wang, Jian.,Fan, Junfeng.,Yin, Zhaoran.,...&Deng, Liangwei.(2024).CMBUV: A Composite-Mechanism Bioinspired Underwater Vehicle Integrated With Elasticity and Shear Damping Possesses High-Performance Capability.IEEE TRANSACTIONS ON INTELLIGENT VEHICLES,9(1),1628-1640.
MLA	Wang, Xiaofei,et al."CMBUV: A Composite-Mechanism Bioinspired Underwater Vehicle Integrated With Elasticity and Shear Damping Possesses High-Performance Capability".IEEE TRANSACTIONS ON INTELLIGENT VEHICLES 9.1(2024):1628-1640.