RTU Research Information System
Latviešu English

Publikācija: New Designs of Fin Type Propulsive Devices of Robotic Fish

Publication Type Full-text conference paper published in conference proceedings indexed in SCOPUS or WOS database
Funding for basic activity Unknown
Defending: ,
Publication language English (en)
Title in original language New Designs of Fin Type Propulsive Devices of Robotic Fish
Field of research 2. Engineering and technology
Sub-field of research 2.3 Mechanical engineering
Authors Jānis Vība
Vitālijs Beresņevičs
Semjons Cifanskis
Maarja Kruusmaa
Jean-Guy Fontaine
William Megill
Keywords Robotic fish, propulsive device, vibration
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.
DOI: 10.1109/ICAR.2011.6088600
Hyperlink: http://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=6088600 
Reference Vība, J., Beresņevičs, V., Cifanskis, S., Kruusmaa, M., Fontaine, J., Megill, W. New Designs of Fin Type Propulsive Devices of Robotic Fish. In: IEEE 15th International Conference on Advanced Robotics: New Boundaries for Robotics (ICAR 2011): Proceedings, Estonia, Tallinn, 20-23 June, 2011. Piscataway: IEEE, 2011, pp.625-630. ISBN 978-1-4577-1158-9. Available from: doi:10.1109/ICAR.2011.6088600
Additional information Citation count:
ID 10849