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Fluid dynamics experiments with a passive robot in regular turbulence

2012 IEEE International Conference on Robotics and Biomimetics, ROBIO 2012 - Conference Digest, Page: 532-537
2012
  • 3
    Citations
  • 0
    Usage
  • 10
    Captures
  • 0
    Mentions
  • 0
    Social Media
Metric Options:   Counts1 Year3 Year

Metrics Details

  • Citations
    3
    • Citation Indexes
      3
  • Captures
    10

Conference Paper Description

This paper presents force measurements of a passive fish robot in a regularly turbulent flow. We placed the robot into a controlled hydrodynamic environment, in running water behind a cylinder which created alternately shed vortices (von Kármán vortex street). We monitored the flow field using digital particle image velocimetry and recorded the force measurements using a force plate. The measurements taken at different locations in the turbulent flow show that the lateral force (perpendicular to the flow stream) experienced by the robot increased significantly in the turbulent flow. On the other hand the drag (force along the flow stream) was reduced up to 42% with respect to swimming in the uniform flow. The drag reduction was mainly due to the shadowing effect of the cylinder. However robots didn't gain any advantage through their passive interaction with the vortex street. The dragposition relationship had a single minimum along both longitudinal and lateral axis highlighting a favorable location for energy saving. We interpret the results as an evidence that the turbulent flows can provide rewarding opportunities to derive more energy efficient and stable behavioral strategies for underwater robots. © 2012 IEEE.

Bibliographic Details

Gert Toming; Taavi Salumae; Asko Ristolainen; Maarja Kruusmaa; Francesco Visentin; Otar Akanyeti

Institute of Electrical and Electronics Engineers (IEEE)

Computer Science; Biochemistry, Genetics and Molecular Biology

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