HISTORY OF DEVELOPMENT OF SQUID-LIKE BIOMIMETIC UNDERWATER ROBOTS WITH UNDULATING SIDE FINS

Md. Mahbubar Rahman, W. B. Wan Nik, Yasuyuki Toda

Abstract


The underwater robot is a basic tool to explore the unknown territories in the underwater region of the coastal areas and oceans, both from the scientific and industrial perspectives. With the aim of developing an efficient and environmentally friendly underwater robot, a Squid-like robot with two undulating side fins has been developing for many years by the authors' group in Osaka University, Japan. The high ambitious project started in 2002; from then different models have been developed to reach the goal of achieving a high-performance underwater vehicle. The body and propulsion system of the robot have been developed by following the swimming mechanism of flat-fishes that use undulating side fins, e.g. Squid, Stingray Cuttlefish and Manta. The Squid-robot is now in its fifth generation of development. In the present paper, the review of the development of models of the Squid-robot is presented. The development of the mechanical system and the control system of each model is described in brief. Some CFD computations and motion simulations of Model-4 are also discussed. The background of developing a new model and the updated features are stated for each model respectively. The future target of development of the robot is also pointed out. The objective of this paper is to provide relevant and useful information to the engineers involved in underwater vehicle design, and for those with an interest in the fast-growing area of biomimetic swimming robots.


Keywords


Underwater robotics, biomimetics; squid-robot, undulating fin propulsion system

Full Text:

PDF

References


Sfakiotakis, M., Lane, D. M. and Davies, J. B. C. 1999. Review of Fish Swimming Modes for Aquatic Locomotion. IEEE Journal of Oceanic Engineering. 24(2).

Kato, N. 2000. Control Performance of Fish Robot with Mechanical Pectoral Fins in Horizontal Plane. IEEE Journal of Oceanic Engineering. 25(1): 121-129.

Breder, C. 1926. The Locomotion of Fishes. Zoologica. 4.

Kato, N., Ayers, J., and Morikawa, H. 2004. Bio-Mechanism of Swimming and Flying. Springer-Verlag, Tokyo, Japan.

Low, K. H. 2009. Modelling and Parametric Study of Modular Undulating Fin Rays for Fish Robot. Mechanism and Machine Theory. 44: 615-632.

Toda, Y., Fukui, K., and Sugiguchi, T. 2002. Fundamental Study on Propulsion of a Fish-Like Body with Two Undulating Side Fins. Proceedings of the 1st Asia Pacific Workshop on Marine Hydrodynamics. Kobe, Japan. 227-232.

Toda, Y., Suzuki, T., Uto, S. and Tanaka, N. 2004. Fundamental Study of a Fishlike Body with Two Undulating Side-Fins. Bio- Mechanisms of Swimming and Flying. Springer. 93-110.

Toda, Y., Ikeda, H., and Sogihara, N. 2006. The Motion of a Fish-like Under-water Vehicle with Two Undulating Side Fins. Proceedings of the Third International Symposium on Aero Aqua Biomechanisms S. No. 27. Ginowan, Okinawa, Japan.

Toda, Y., Danno, M., Sasajima, K., and Miki, H. 2009. Model Experiments on the Squid-like Under-water Vehicle with Two Undulating Side Fins. Proceedings of the 4th International Symposium on Aero Aqua Biomechanisms, S. No. 45. Shanghai, China.

Rahman, M. M., Mochida, K., Jufuku, N. and Toda, Y. 2014. Development of Undulating Fin Propulsion System of a Squid-Like Biomimetic Underwater Robot by using Scotch-Yoke Mechanism. Proceedings of the 6th International Symposium on Aero Aqua Biomechanisms, S. No. 3. Hawaii, USA.

Rahman, M. M., Toda, Y. and Miki, H. 2010. Study on the Performance of the Undulating Side Fins with Various Aspect Ratios Using Computed Flow, Pressure Field and Hydrodynamic Forces. Proceedings of the 5th Asia-Pasific Workshop on Marine Hydrodynamics. Osaka, Japan. 333-338.

Rahman, M. M., Toda, Y. and Miki, H. 2010. Computational Study on the Fish-like Underwater Robot with Two Undulating Side Fins for Various Aspect Ratios, Fin Angles and Frequencies. Proceedings of the International Conference on Marine Technology (MARTEC). Dhaka, Bangladesh. 29-34.

Rahman, M. M., Toda, Y. and Miki, H. 2011. Computational Study on a Squid-like Underwater Robot With Two Undulating Side Fins. Journal of Bionic Engineering. 8(1): 25-32.

Rahman, M. M., Miki, H., Yamamoto, R., Sanada, Y. and Toda, Y. 2012. Study on the Braking Performance of a Biomimetic Squid-Like Robot with Two Undulating Side Fins. Proceedings of the 6th Asia Pacific Workshop on Marine Hydrodynamics. Johor Bahru, Malaysia. 547-552.

Rahman, M. M., Sugimori, S., Miki, H., Yamamoto, R., Sanada, Y. and Toda, Y. 2013. Braking Performance of the Undulating Fin Propulsion System of a Biomimetic Squid-like Underwater Robot. Journal of Bionic Engineering. 10(3): 265-273.

Rahman, M. M., Miki, H., Sugimori, S., Sanada, Y. and Toda, Y. 2013. Development of a Real Time Simulator Based on the Analysis of 6-Degrees of Freedom Motion of a Biomimetic Robot with Two Undulating Side Fins. Journal of Aero Aqua Bio-mechanisms. 3(1): 71-78.




DOI: http://dx.doi.org/10.11113/jt.v74.4816

Refbacks

  • There are currently no refbacks.


Copyright © 2012 Penerbit UTM Press, Universiti Teknologi Malaysia.
Disclaimer : This website has been updated to the best of our knowledge to be accurate. However, Universiti Teknologi Malaysia shall not be liable for any loss or damage caused by the usage of any information obtained from this web site.
Best viewed: Mozilla Firefox 4.0 & Google Chrome at 1024 × 768 resolution.