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Title: Implementation of a BCF mode bio-mimetic robotic-fish underwater vehicle based on Lighthill mathematical model
Authors: Chowdhury, A.R.
Prasad, B.
Vishwanathan, V.
Kumar, R.
Panda, S.K. 
Keywords: BCF
Kinematic Modeling
Lagrange-Euler equations
Lighthill Equation
Issue Date: 2012
Citation: Chowdhury, A.R.,Prasad, B.,Vishwanathan, V.,Kumar, R.,Panda, S.K. (2012). Implementation of a BCF mode bio-mimetic robotic-fish underwater vehicle based on Lighthill mathematical model. International Conference on Control, Automation and Systems : 437-442. ScholarBank@NUS Repository.
Abstract: The objective of this paper is to mimic the propulsion mechanism of the BCF mode carangiform swimming style to show the fish behavior navigating efficiently over large distances at impressive speeds and its exceptional characteristics in the fluid environment. The robofish model (kinematics and dynamics) is integrated with the Lighthill(LH) mathematical model framework. Comparative studies are undertaken between a LH model based and a non-LH based model. A comprehensive propulsion mechanism study of the different parameters namely the tail-beat frequency (TBF), the propulsive wavelength and the caudal amplitude are studied under this framework. The performance factor taken for energy efficient swimming is the overall distance traversed. Inverse kinematics based approach is incorporated for trajectory generation of the robotic fish vehicle motion. Analysis of these critical parameters affecting the kinematics study of the vehicle vis a vis the real fish kinematic study [8] is carried out for a given trajectory. TBF is found to be the effective controlling parameter for the forward speed of the vehicle over a wide operating conditions. Performances and comparative results of propulsive wavelength and amplitude affects are also shown and discussed. © 2012 ICROS.
Source Title: International Conference on Control, Automation and Systems
ISBN: 9781467322478
ISSN: 15987833
Appears in Collections:Staff Publications

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