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Ligman M, Lund J, Fürth M. A comprehensive review of hydrodynamic studies on fish schooling. BIOINSPIRATION & BIOMIMETICS 2023; 19:011002. [PMID: 38061054 DOI: 10.1088/1748-3190/ad1335] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Received: 06/26/2023] [Accepted: 12/07/2023] [Indexed: 12/23/2023]
Abstract
Collective motion of organisms is a widespread phenomenon exhibited by many species, most commonly associated with colonial birds and schools of fish. The benefits of schooling behavior vary from defense against predators, increased feeding efficiency, and improved endurance. Schooling motions can be energetically beneficial as schools allow for channeling and vortex-based interactions, creating a less demanding stroke rate to sustain high swimming velocities and increased movement efficiency. Biomimetics is a fast-growing field, and there have been several attempts to quantify the hydrodynamics behind group dynamics and the subsequent benefits of increased maneuverability, which can be applied to unmanned vehicles and devices traveling in a group or swarm-like scenarios. Earlier efforts to understand these phenomena have been composed of physical experimentation and numerical simulations. This literature review examines the existing studies performed to understand the hydrodynamics of group collective motion inspired by schooling habits. Both numerical simulation and physical experimentation are discussed, and the benefits and drawbacks of the two approaches are compared to help future researchers and engineers expand on these models and concepts. This paper also identifies some of the limitations associated with different approaches to studies on fish schooling and suggests potential directions for future work.
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Affiliation(s)
- Montana Ligman
- Texas A&M University, Department of Ocean Engineering, College Station, TX 77843, United States of America
| | - Joshua Lund
- Texas A&M University, Department of Ocean Engineering, College Station, TX 77843, United States of America
| | - Mirjam Fürth
- Texas A&M University, Department of Ocean Engineering, College Station, TX 77843, United States of America
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Chen D, Wu Z, Dong H, Meng Y, Yu J. Platform development and gliding optimization of a robotic flying fish with morphing pectoral fins. BIOINSPIRATION & BIOMIMETICS 2023; 18. [PMID: 37075757 DOI: 10.1088/1748-3190/acce86] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Received: 12/04/2022] [Accepted: 04/19/2023] [Indexed: 05/03/2023]
Abstract
The aquatic-aerial robot with the free interface crossing can enhance adaptability in complex aquatic environments. However, its design is extremely challenging for the striking discrepancies in propulsion principles. The flying fish in nature exhibits remarkable multi-modal cross-domain locomotion capability, such as high-maneuvers swimming, agile water-air crossing, and long-distance gliding, providing extensive inspiration. In this paper, we present a unique aquatic-aerial robotic flying fish with powerful propulsion and a pair of morphing wing-like pectoral fins to realize cross-domain motion. Furthermore, to explore the gliding mechanism of flying fish, a dynamic model with a morphing structure of pectoral fins is established, and a double deep Q-network-based control strategy is proposed to optimize the gliding distance. Finally, experiments were conducted to analyze the locomotion of the robotic flying fish. The results suggest that the robotic flying fish can successfully perform the 'fish leaping and wing spreading' cross-domain locomotion with an exiting speed of 1.55 m s-1(5.9 body lengths per second, BL/s) and a crossing time of 0.233 s indicating its great potential in cross-domain. Simulation results have validated the effectiveness of the proposed control strategy and indicated that the dynamical adjustment of morphing pectoral fins contributes to improving the gliding distance. The maximum gliding distance has increased by 7.2%. This study will offer some significant insights into the system design and performance optimization of aquatic-aerial robots.
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Affiliation(s)
- Di Chen
- State Key Laboratory for Turbulence and Complex Systems, Department of Advanced Manufacturing and Robotics, College of Engineering, Peking University, Beijing 100871, People's Republic of China
| | - Zhengxing Wu
- State Key Laboratory of Management and Control for Complex Systems, Institute of Automation, Chinese Academy of Sciences, Beijing 100190, People's Republic of China
| | - Huijie Dong
- Key Laboratory of Advanced Transducers and Intelligent Control System, Ministry of Education, Taiyuan University of Technology, Taiyuan 030024, People's Republic of China
| | - Yan Meng
- State Key Laboratory for Turbulence and Complex Systems, Department of Advanced Manufacturing and Robotics, College of Engineering, Peking University, Beijing 100871, People's Republic of China
| | - Junzhi Yu
- State Key Laboratory for Turbulence and Complex Systems, Department of Advanced Manufacturing and Robotics, College of Engineering, Peking University, Beijing 100871, People's Republic of China
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Xue G, Bai F, Li Z, Liu Y. Experiment for Effect of Attack Angle and Environmental Condition on Hydrodynamics of Near-Surface Swimming Fish-Like Robot. Appl Bionics Biomech 2023. [DOI: 10.1155/2023/4377779] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 04/04/2023] Open
Abstract
Fish-like robot is a special autonomous underwater vehicle with broad application prospects. Some previous studies concentrated on the hydrodynamics of free-swimming fish-like robots. But the hydrodynamic performance of fish-like robot swimming with a tilt angle in constrained space has not been well studied, and the influence of environmental wave and current on its is also still unclear. In this paper, the experiment devices, including a physical fish-like robot, a hydrodynamics measurement platform, and a six-axis force sensor, are used to study the effect of attack angle and environmental condition on the hydrodynamics of near-surface swimming fish-like robot. Nine attack angles, five oscillating amplitudes, and three environmental conditions are analyzed in the experiments. It shows that thrust force decreases when caudal fin passes above water surface, but the increased difference between gravity force and buoyancy force will compensate the decreased force generated by caudal fin when fish-like robot swims with certain dive angle. The extra reaction force generated by solid bottom boundary will promote the thrust force and vertical force. The surface water wave condition or surface water current condition also has obvious effects on hydrodynamic performance. This paper provides a new perspective to the research on the hydrodynamic performance of fish-like robot and will do favor in the development of fish-like robot.
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Affiliation(s)
- Gang Xue
- Institute of Marine Science and Technology, Shandong University, Qingdao, China
- School of Mechanical Engineering, Key Laboratory of High-Efficiency and Clean Mechanical Manufacture of Ministry of Education, National Demonstration Center for Experimental Mechanical Engineering Education, Shandong University, Jinan, China
- Key Laboratory of Ocean Observation Technology, Ministry of Natural Resources, Tianjin, China
| | - Fagang Bai
- Institute of Marine Science and Technology, Shandong University, Qingdao, China
| | - Zhitong Li
- Qingdao Institute of Marine Geology, Qingdao, China
| | - Yanjun Liu
- Institute of Marine Science and Technology, Shandong University, Qingdao, China
- School of Mechanical Engineering, Key Laboratory of High-Efficiency and Clean Mechanical Manufacture of Ministry of Education, National Demonstration Center for Experimental Mechanical Engineering Education, Shandong University, Jinan, China
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Li L, Ravi S, Xie G, Couzin ID. Using a robotic platform to study the influence of relative tailbeat phase on the energetic costs of side-by-side swimming in fish. Proc Math Phys Eng Sci 2021; 477:20200810. [PMID: 35153556 PMCID: PMC8300603 DOI: 10.1098/rspa.2020.0810] [Citation(s) in RCA: 7] [Impact Index Per Article: 2.3] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 10/07/2020] [Accepted: 04/15/2021] [Indexed: 11/25/2022] Open
Abstract
A potential benefit of swimming together in coordinated schools is to allow fish to extract energy from vortices shed by their neighbours, thus reducing the costs of locomotion. This hypothesis has been very hard to test in real fish schools, and it has proven very difficult to replicate the complex hydrodynamics at relevant Reynolds numbers using computational simulations. A complementary approach, and the one we adopt here, is to develop and analyse the performance of biomimetic autonomous robotic models that capture the salient kinematics of fish-like swimming, and also interact via hydrodynamic forces. We developed bio-inspired robotic fish which perform sub-carangiform locomotion, and measured the speed and power consumption of robots when swimming in isolation and when swimming side-by-side in pairs. We found that swimming side-by-side confers a substantial increase in both the speed and efficiency of locomotion of both fish regardless of the relative phase relationship of their body undulations. However, we also find that each individual can slightly increase their own power efficiency if they change relative tailbeat phase by approximately 0.25π with respect to, and at the energetic expense of, their neighbour. This suggests the possibility of a competitive game-theoretic dynamic between individuals in swimming groups. Our results also demonstrate the potential applicability of our platform, and provide a natural connection between the biology and robotics of collective motion.
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Affiliation(s)
- Liang Li
- Department of Collective Behaviour, Max Planck Institute of Animal Behavior, Konstanz, Germany.,Centre for the Advanced Study of Collective Behaviour, University of Konstanz, Konstanz, Germany.,Department of Biology, University of Konstanz, Konstanz, Germany
| | - Sridhar Ravi
- School of Engineering and Information Technology, University of New South Wales - Canberra, Australia
| | - Guangming Xie
- State Key Laboratory for Turbulence and Complex Systems, College of Engineering, Peking University, Beijing, People's Republic of China.,Institute of Ocean Research, Peking University, Beijing, People's Republic of China
| | - Iain D Couzin
- Department of Collective Behaviour, Max Planck Institute of Animal Behavior, Konstanz, Germany.,Centre for the Advanced Study of Collective Behaviour, University of Konstanz, Konstanz, Germany.,Department of Biology, University of Konstanz, Konstanz, Germany
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