Bio-Inspired Swimming Techniques for Robotic Fish using Fow and Pressure Sensing Mechanism (Computational Bio-Mimetic)

S  Rajamohamed   and P  Raviraj

doi:10.17485/ijst/2015/v8i24/79993

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Bio-Inspired Swimming Techniques for Robotic Fish using Fow and Pressure Sensing Mechanism (Computational Bio-Mimetic)

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Indian Journal of Science and Technology

DOI: 10.17485/ijst/2015/v8i24/79993

Year: 2015, Volume: 8, Issue: 24, Pages: 1-10

Original Article

Bio-Inspired Swimming Techniques for Robotic Fish using Fow and Pressure Sensing Mechanism (Computational Bio-Mimetic)

S. Rajamohamed^1* and P. Raviraj²

¹MS University, Tirunelveli - 627012, Tamil Nadu, India; [email protected]
² KIT, Coimbatore - 641 402, Tamil Nadu, India; [email protected]

This work is licensed under a Creative Commons Attribution 4.0 International License.

Abstract

This paper presents the findings of our research work to develop bio-inspired techniques for robotic fish navigation based on flow sensing and efficient cum optimized propulsion with a tractable mechanism inspired by fish. We describe the outcomes of simulation for stream flow sensing to choose angle of attack (Rheotaxis) and tail fin based propulsion investigations using SOLEIL with respect to salmon and zebra fish models. To detect difference in pressure on either side we have used Bayesian estimation of flow speed and orientation (direction) by ingesting pressure measurements into 2D & 3D potential flow model. Subsequently based on flow and pressure we have formulated suitable propulsion system to counter up and down streams.
Keywords: AUV, Biohydrodynamics, Bio-mimetic, Fin Propulsion, Karman Vortex, Rhetoaxis, SOLEIL