New designs of fin type propulsive devices of robotic fish

Janis Viba, Vitaly Beresnevich, Semyon Tsyfansky, Maarja Kruusmaa, Jean-Guy Fontaine, William Megill

Research output: Chapter in Book/Report/Conference proceedingChapter

3 Citations (Scopus)

Abstract

Dynamics of a fin type propulsive device of robotic fish moving inside water is studied. On the basis of Pontryagin's maximum principle the optimal control law for variation of additional area of vibrating tail, which ensures maximal positive impulse of motive forces acting on tail, is found. The proposed method makes it possible to minimize energy losses within operation cycles, when fin's motion is affected by water resistance forces. Thanks to that useful tractive forces increase, and operation of fin propulsive device becomes more effective. Examples on synthesis of one-tail and two-tail propulsive devices with varying working area of vibrating tail are given.
Original languageEnglish
Title of host publicationIEEE 15th International Conference on Advanced Robotics: New Boundaries for Robotics, ICAR 2011
Place of PublicationPiscataway, NJ
PublisherIEEE
Pages625-630
Number of pages6
DOIs
Publication statusPublished - 2011
EventIEEE 15th International Conference on Advanced Robotics: New Boundaries for Robotics, ICAR 2011, June 20, 2011 - June 23, 2011 - Tallinn, Estonia
Duration: 1 Jan 2011 → …

Publication series

NameIEEE 15th International Conference on Advanced Robotics: New Boundaries for Robotics, ICAR 2011
PublisherIEEE Computer Society

Conference

ConferenceIEEE 15th International Conference on Advanced Robotics: New Boundaries for Robotics, ICAR 2011, June 20, 2011 - June 23, 2011
CountryEstonia
CityTallinn
Period1/01/11 → …

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