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Underwater Labriform-swimming Robot [Kietas viršelis]

(Univ Of Basrah, Iraq), (University Of Catania, Italy), (Univ Of Basrah, Iraq)
  • Formatas: Hardback, 208 pages
  • Serija: Topics In Systems Engineering 1
  • Išleidimo metai: 03-Dec-2021
  • Leidėjas: World Scientific Publishing Co Pte Ltd
  • ISBN-10: 9811237395
  • ISBN-13: 9789811237393
Kitos knygos pagal šią temą:
Underwater Labriform-swimming RobotDidesnis paveikslėlis
  • Formatas: Hardback, 208 pages
  • Serija: Topics In Systems Engineering 1
  • Išleidimo metai: 03-Dec-2021
  • Leidėjas: World Scientific Publishing Co Pte Ltd
  • ISBN-10: 9811237395
  • ISBN-13: 9789811237393
Kitos knygos pagal šią temą:
Pastovi nuoroda: https://www.kriso.lt/db/9789811237393.html
"This book provides a simplified description of how to design an underwater swimming robot, inspired by the mechanism of the Labriform mode of fish. This style of swimming depends on the pectoral fins only as a main locomotor for movement. A unique modelwith fins having a concave shape allows the highest thrust force to be achieved during the power period and the lowest drag force during the recovery period, especially if the velocity values between the powering and recovery periods are manipulated. Besides the ability to swim quickly, the proposed model was also inspired by a method of maneuvering based on the principle of differential drive for two-wheel mobile robot, achieving the minimum turning radius by controlling the speed of the rowing fins. Also, by applying the technique of the diving model used by gliders, the robot achieves underwater gliding by changing the center of the body's mass. Thus, the robot obtains the ability to dive and float in a manner similar to the Sawtooth wave. All the mentioned tasks were conducted via laboratory experiments and proven to be both effective and efficient"--

Naser, Rashid, and Fortuna describe the design and implementation of a swimming robot based on a Labriform swimming mode, and highlight several issues that constitute the important factors in the success of the design while swimming underwater. They cover the design and validation of the pectoral fins, a swimming robot design, the steering process of a swimming robot, and the diving process of a swimming robot. During the past decade, they say, swimming robots have developed greatly due to their many important applications. Annotation ©2022 Ringgold, Inc., Portland, OR (protoview.com)
Preface vii
1 Introduction 1(26)
1.1 Overview
1(8)
1.2 Literature Review
9(7)
1.3 Organization of
Chapters
16(4)
1.3.1
Chapter 2
16(1)
1.3.2
Chapter 3
17(1)
1.3.3
Chapter 4
18(1)
1.3.4
Chapter 5
19(1)
1.3.5
Chapter 6
20(1)
References
20(7)
2 Design and Validation of the Pectoral Fins 27(44)
2.1 Introduction
27(1)
2.2 The Description of Fins
27(7)
2.2.1 Propulsion by Undulation of Median or Pectoral Fins
29(4)
2.2.1.1 Amiiform Mode
30(1)
2.2.1.2 Gymnotiform Mode
30(1)
2.2.1.3 Balastiform Mode
30(1)
2.2.1.4 Rajiform Mode
31(1)
2.2.1.5 Diodontiform Mode
31(2)
2.2.2 Propulsion by Oscillation of Median or Pectoral Fins
33(13)
2.2.2.1 Tetraodontiform Mode
33(1)
2.2.2.2 Labriform Mode
33(1)
2.3 Employing Pectoral Fin as Locomotors
34(2)
2.4 Optimum Design of Pectoral Fins
36(3)
2.5 Modeling the Pectoral Fins of Swimming Robot
39(2)
2.6 Hydrodynamic Force of Pectoral Fins
41(3)
2.7 Design of Pectoral Fins
44(2)
2.8 Validation of Pectoral Fins Design
46(20)
2.8.1 The Computational Fluid Dynamics (CFD) Analysis
47(5)
2.8.2 Simulation Results
52(8)
2.8.3 Practical Experiments Result
60(6)
2.9 Conclusions
66(1)
References
67(4)
3 Swimming Robot Design 71(36)
3.1 Introduction
71(1)
3.2 Construction of the Swimming Robot
72(3)
3.2.1 The Waterproof Body Part
72(1)
3.2.2 The Head Part
73(2)
3.3 Hydrodynamic Reactive Force and Moment Evaluation
75(1)
3.4 Rigid Body Dynamics
76(7)
3.5 Improvement of the Pectoral Fin Performance
83(4)
3.6 Parameter Identification
87(1)
3.7 Simulation and Experimental Results
88(12)
3.7.1 The Effect of the Starting Angle
89(1)
3.7.2 Power to Recovery Ratio Effect
90(6)
3.7.3 Frequency Effect
96(4)
3.8 Performance in Terms of Dimensionless Numbers
100(2)
3.8.1 Strouhal Number
100(1)
3.8.2 Reynolds Number
100(1)
3.8.3 Amplitude to Length Ratio
101(1)
3.9 Conclusion
102(1)
References
103(4)
4 Steering Process of Swimming Robot 107(40)
4.1 Introduction
107(4)
4.2 Steering by a Caudal Fin in the Boxfish
111(19)
4.2.1 Background
112(1)
4.2.2 Model, Caudal Peduncle and Caudal Fin Reconstruction
113(3)
4.2.3 Specification of Environment Measurements
116(3)
4.2.4 Computational Fluid Dynamics (CFD) Simulations
119(1)
4.2.5 Results
119(7)
4.2.5.1 Rigid tail model and turnable tail model: No caudal fin at tail angle theta of 0°
119(1)
4.2.5.2 Rigid tail model and turnable tail model: Closed caudal fin and open caudal fin at tail angle theta of 0°
120(2)
4.2.5.3 Turnable tail model: Closed caudal fin and open caudal fin at tail angles theta of 0°, 10°, 20°, 30° and 40°
122(3)
4.2.5.4 Hydrodynamic forces on the body, caudal peduncle and caudal fin
125(1)
4.2.6 Discussion and Conclusion
126(4)
4.3 Steering by Pectoral Fin in Swimming Robot
130(10)
4.3.1 Steering Process
130(2)
4.3.2 Simulation and Experimental Results
132(7)
4.3.2.1 Experimental setup
132(1)
4.3.2.2 Experimental results
133(6)
4.3.3 Conclusions
139(1)
References
140(7)
5 Diving Process of Swimming Robot 147(40)
5.1 Introduction
147(1)
5.2 Diving System of Carangiform Swimming Robot
148(18)
5.2.1 Design Procedure of the Swimming Robot
149(1)
5.2.2 Mechanical Design of the Swimming Robot
150(4)
5.2.3 Propulsive Two-Link Tail Mechanism
154(3)
5.2.4 CoG Control Mechanism Design
157(2)
5.2.5 The Front View of Unit Design
159(1)
5.2.6 Electronic System Design of the Swimming Robot
160(3)
5.2.7 Experimental Results and Discussion
163(2)
5.2.8 Conclusions
165(1)
5.3 Diving System of Labriform Swimming Robot
166(17)
5.3.1 Diving System of Swimming Robot
167(1)
5.3.2 Modeling of Diving System
168(6)
5.3.2.1 Swimming robot kinematic model
169(2)
5.3.2.2 Swimming robot dynamic model
171(3)
5.3.3 Simulation and Experimental Results
174(6)
5.3.3.1 Simulation results
174(3)
5.3.3.2 Practical experimental results
177(3)
5.3.4 Conclusion
180(3)
References
183(4)
6 Conclusions 187(4)
Index 191