<abstract xmlns="http://www.w3.org/1999/xhtml"><p>Recently a new type of autonomous underwater vehicle uses artificial fins to imitate the movements of marine animals, e.g. fish. These vehicles are biomimetic and their driving system is an undulating propulsion. There are two main methods of reproducing undulating motion. The first method uses a flexible tail fin, which is connected to a rigid hull by a movable axis. The second method is based on the synchronised operation of several mechanical joints to imitate the tail movement that can be observed among real marine animals such as fish. This paper will examine the first method of reproducing tail fin movement. The goal of the research presented in the paper is to identify the parameters of the one-piece flexible fin kinematics model. The model needs further analysis, e.g. using it with Computational Fluid Dynamics (CFD) in order to select the most suitable prototype for a Biomimetic Underwater Vehicle (BUV). The background of the work is explained in the first section of the paper and the kinematic model for the flexible fin is described in the next section. The following section is entitled Materials and Methods, and includes a description of a laboratory test of a water tunnel, a description of a Vision Algorithm (VA)which was used to determine the positions of the fin, and a Genetic Algorithm (GA) which was used to find the parameters of the kinematic fin. In the next section, the results of the research are presented and discussed. At the end of the paper, the summary including main conclusions and a schedule of the future research is inserted.</p></abstract>

Recently a new type of autonomous underwater vehicle uses artificial fins to imitate the movements of marine animals, e.g. fish. These vehicles are biomimetic and their driving system is an undulating propulsion. There are two main methods of reproducing undulating motion. The first method uses a flexible tail fin, which is connected to a rigid hull by a movable axis. The second method is based on the synchronised operation of several mechanical joints to imitate the tail movement that can be observed among real marine animals such as fish. This paper will examine the first method of reproducing tail fin movement. The goal of the research presented in the paper is to identify the parameters of the one-piece flexible fin kinematics model. The model needs further analysis, e.g. using it with Computational Fluid Dynamics (CFD) in order to select the most suitable prototype for a Biomimetic Underwater Vehicle (BUV). The background of the work is explained in the first section of the paper and the kinematic model for the flexible fin is described in the next section. The following section is entitled Materials and Methods, and includes a description of a laboratory test of a water tunnel, a description of a Vision Algorithm (VA)which was used to determine the positions of the fin, and a Genetic Algorithm (GA) which was used to find the parameters of the kinematic fin. In the next section, the results of the research are presented and discussed. At the end of the paper, the summary including main conclusions and a schedule of the future research is inserted.

Parameters Identification of the Flexible Fin Kinematics Model Using Vision and Genetic Algorithms

Polish Maritime Research

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 License.

Recently a new type of autonomous underwater vehicle uses artificial fins to imitate the movements of marine animals, e.g. fish. These vehicles are biomimetic...

Parameters Identification of the Flexible Fin Kinematics Model Using Vision and Genetic Algorithms

Published Online: Jul 17, 2020

Page range: 39 - 47

DOI: https://doi.org/10.2478/pomr-2020-0025

Keywords
Biomimetic Underwater Vehicle, flexible fin kinematics model, parameters identification using vision, Genetic Algorithm

© 2020 Karolina Jurczyk et al., published by Sciendo

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 License.

Parameters Identification of the Flexible Fin Kinematics Model Using Vision and Genetic Algorithms

Published Online: Jul 17, 2020

Page range: 39 - 47

DOI: https://doi.org/10.2478/pomr-2020-0025

KeywordsBiomimetic Underwater Vehicle, flexible fin kinematics model, parameters identification using vision, Genetic Algorithm

© 2020 Karolina Jurczyk et al., published by Sciendo

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 License.

Keywords
Biomimetic Underwater Vehicle, flexible fin kinematics model, parameters identification using vision, Genetic Algorithm