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Bioinspiration & Biomimetics

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https://read.qxmd.com/read/30875698/bottom-level-motion-control-for-robotic-fish-to-swim-in-groups-modeling-and-experiments
#1
Liang Li, Anquan Liu, Wei Wang, Sridhar Ravi, Rubin Fu, Junzhi Yu, Guangming Xie
Moving in groups is one of the amazing spectacles of collective behaviour in fish and has attracted great interests from many fields including biology, physics and engineering. Although robotic fish has been well studied including algorithms to simulate group swimming, experiments that demonstrate multiple robotic fish swimming as a group stably is yet to be achieved. One of the challenges is the lack of robust bottom-level motion control system for the robotic fish platforms. Here we seek to overcome this challenge by focusing on the design and implementation of a motion controller for robotic fish that can enable multiple individuals to swim in groups...
March 15, 2019: Bioinspiration & Biomimetics
https://read.qxmd.com/read/30870830/fluid-structure-interaction-modeling-on-a-three-dimensional-ray-strengthened-caudal-fin
#2
Guangyu Shi, Qing Xiao, Qiang Zhu, Wei Liao
In this paper, we present a numerical model capable of solving the fluid-structure interaction problems involved in the dynamics of skeleton-reinforced fish fins. In this model, the fluid dynamics is simulated by solving the Navier-Stokes equations using a finite-volume method based on an overset, multi-block structured grid system. The bony rays embedded in the fin are modeled as nonlinear Euler-Bernoulli beams. To demonstrate the capability of this model, we numerically investigate the effect of various ray stiffness distributions on the deformation and propulsion performance of a three-dimensional caudal fin...
March 14, 2019: Bioinspiration & Biomimetics
https://read.qxmd.com/read/30856616/canal-neuromasts-enhance-foraging-in-zebrafish-danio-rerio
#3
Andres Carrillo, Dan Van Le, Margaret L Byron, Houshuo Jiang, Matt McHenry
Aquatic animals commonly sense flow using receptors that extend from the body's surface. The lateral line of teleost fishes is unique among these systems because it additionally possesses receptors, the canal neuromasts (CNs), that are recessed within a channel. The lateral line has inspired the development of engineered sensors and concepts in the analysis of flow fields for submersible navigation. 
 The biophysics of CNs are known to be different from the superficial neuromasts (SNs) and thereby offer a distinct submodality...
March 11, 2019: Bioinspiration & Biomimetics
https://read.qxmd.com/read/30818295/random-sequential-addition-simulations-of-animal-aggregations-provide-null-models-of-group-structure
#4
Daniel Olsen, David Murphy
Apparent structure in animal aggregations such as fish and Antarctic krill schools may result from the tight packing of these elongated animals. This geometrical structure may be difficult to differentiate from behavior-induced structure resulting from individuals preferentially taking up certain positions relative to conspecifics to gain an adaptive advantage such as reduced locomotive cost. Here we use random sequential addition (RSA) simulations to quantify the effect of animal shape, aggregation organization, and aggregation density on two-dimensional school structure...
February 28, 2019: Bioinspiration & Biomimetics
https://read.qxmd.com/read/30726774/a-variable-stiffness-gripper-based-on-differential-drive-particle-jamming
#5
Pei Jiang, Yandong Yang, Michael Z Q Chen, Yonghua Chen
Compared with rigid grippers, a soft gripper show fantastic adaptability and flexibility in grasping the irregularly shaped and the fragile objects. However, the low stiffness of the soft actuator limits the scope of application. And the particle jamming becomes an important method to adjust the stiffness of soft grippers. This paper proposes a novel particle jamming mechanism based on the differential pressure drive. With the differential drive particle jamming mechanism, a soft actuator is designed, which is characterized with a dual deformable chamber structure with one chamber filled with particles...
February 6, 2019: Bioinspiration & Biomimetics
https://read.qxmd.com/read/30721890/effect-of-clap-and-fling-mechanism-on-force-generation-in-flapping-wing-micro-aerial-vehicles
#6
Siddharth Sunil Jadhav, Kim Boon Lua, Wee Beng Tay
The clap-and-fling effect, first observed in a number of insects, serves as a lift-enhancing mechanism for bio-inspired flapping wing micro aerial vehicles (MAV). In our comprehensive literature survey, we observe that the effect manifests differently in insects and contemporary MAVs; insects have active control over the angle of attack and stroke plane of the wing, whereas a number of kinematic parameters of an MAV's flexible wings are determined passively. Although there is consensus that flinging motion significantly enhances aerodynamic lift, the effect of clapping motion is not well-studied...
February 5, 2019: Bioinspiration & Biomimetics
https://read.qxmd.com/read/30708363/amino-acid-functionalized-carbon-nanotube-framework-as-a-biomimetic-catalyst-for-cleavage-of-glycosidic-bonds
#7
Yasuhito Sugano, Suvi Kuittinen, Ossi Turunen, Ari Pappinen
In this work, carbon nanotubes (CNTs) functionalized by acidic amino acids were used as a framework, which aims to form a mimetic structure of an active site of the glycoside hydrolases. It was demonstrated that the glycosidic bonds of the disaccharides were cleaved by the fabricated biofunctionalized CNTs. It was implied that the number of carboxyl groups and their individual pKa values in the amino acids, and the distance between the NH<sub>2</sub> and the side chain carboxyl groups of the amino acid are predominant factors for determining the reaction efficiency and the optimum pH...
February 1, 2019: Bioinspiration & Biomimetics
https://read.qxmd.com/read/30708361/musculoskeletal-design-control-and-application-of-human-mimetic-humanoid-kenshiro
#8
Yuki Asano, Kei Okada, Masayuki Inaba
We have been developing a human mimetic musculoskeletal humanoid called Kenshiro, whose design concept is to thoroughly pursue an unprecedented anatomical delity to the human musculoskeletal structure. We believe that research on human mimetic musculoskeletal humanoids advances our understanding of humans and expands the applications of humanoids|such as a human body simulator that can quantitatively analyze internal human motion data. This paper describes Kenshiro's musculoskeletal body characteristics, software system, and preliminary experiments explaining the concept of potential application...
February 1, 2019: Bioinspiration & Biomimetics
https://read.qxmd.com/read/30699390/bio-inspired-sensing-and-actuating-architectures-for-feedback-control-of-civil-structures
#9
Courtney Peckens, Ireana Cook, Camille Fogg
Civil structures, such as buildings and bridges, are constantly at risk of failure due to external environmental loads, such as earthquakes or strong winds. To minimize the effects of these loads, active feedback control systems have been proposed but such systems still face numerous challenges which impede their widespread adoption. In order to overcome many of these challenges, inspiration can be drawn from the signal processing and actuating techniques employed by the biological central nervous system to develop a bio-inspired control algorithm...
January 30, 2019: Bioinspiration & Biomimetics
https://read.qxmd.com/read/30699386/hydrodynamics-of-frontal-striking-in-aquatic-snakes-drag-added-mass-and-the-possible-consequences-for-prey-capture-success
#10
Marion Segall, Anthony Herrel, Ramiro Godoy-Diana
Transient locomotion under water is highly constrained by drag and added mass, yet some aquatic snakes catch their prey using a fast forward acceleration, with the mouth opened. These aquatic snakes show a convergence of their head shape in comparison with closely related species that do not forage under water. As both drag and added mass are related to some extent to the shape of the moving object, we explored how shape impacts the hydrodynamic forces applied to the head of a snake during a prey capture event...
January 30, 2019: Bioinspiration & Biomimetics
https://read.qxmd.com/read/30690442/organismal-aggregations-exhibit-fluidic-behaviors-a-review
#11
Nicholas Miguel Smith, Andrew Keith Dickerson, David Murphy
Groups of organisms such as flocks, swarms, herds, and schools form for a variety of motivations linked to survival and proliferation. Their size, locomotive domain, population, and the environmental stimuli guiding motion make challenging the study of member interactions and global behaviors. In this review, we borrow principles and analogies from fluids to describe the characteristics of organismal aggregations, which may inspire new tools for the analysis of collective motion. Examples of fluid resemblance include open channel flow, droplet formation, and particle-laden flow...
January 28, 2019: Bioinspiration & Biomimetics
https://read.qxmd.com/read/30658344/design-and-demonstration-of-a-bio-inspired-flapping-wing-assisted-jumping-robot
#12
Thien Ngoc Truong, Hoang Vu Phan, Hoon Cheol Park
Jumping insects such as fleas, froghoppers, grasshoppers, and locusts take off from the ground using a catapult mechanism to push their legs against the surface of the ground while using their pairs of flapping wings to propel them into the air. Such combination of jumping and flapping is expected as an efficient way to overcome unspecified terrain or avoid large obstacles. In this work, we present the conceptual design and verification of a bio-inspired flapping-wing-assisted jumping robot, named Jump-flapper, which mimics jumping insects' locomotion strategy...
January 18, 2019: Bioinspiration & Biomimetics
https://read.qxmd.com/read/30654337/review-of-state-of-art-artificial-compound-eye-imaging-systems
#13
Yang Cheng, Jie Cao, Yangkun Zhang, Qun Hao
Natural compound eye has received much attention in recent years due to remarkable properties, such as large field of view, compact structure, and high sensitivity to moving objects. Many studies have been devoted to mimicking imaging system of the natural compound eye. The paper gives a review of state-of-art artificial compound eye imaging systems. Firstly, we introduce imaging principle of three types of the natural compound eye. Then, we divide current artificial compound eye imaging systems into four categories according to the difference of structural composition...
January 17, 2019: Bioinspiration & Biomimetics
https://read.qxmd.com/read/30654332/a-bio-inspired-sighted-robot-chase-like-a-hoverfly
#14
Fabien Colonnier, Soledad Ramirez-Martinez, Stephane Viollet, Franck Ruffier
Here we present a novel bio-inspired visual processing system, which enables a robot to locate and follow a target, using an artificial compound eye called CurvACE. This visual sensor actively scanned the environment at an imposed frequency (50Hz) with an angular scanning amplitude of 4.2° and succeeded in locating a textured cylindrical target with hyperacuity, <i>i.e.</i> much finer resolution than the coarse inter-receptor angle of the compound eye.
 Equipped with this small, lightweight visual scanning sensor, a Mecanum-wheeled mobile robot named ACEbot was able to follow a target at a constant distance by localizing the right and left edges of the target...
January 17, 2019: Bioinspiration & Biomimetics
https://read.qxmd.com/read/30634176/a-trapezoidal-wing-equivalent-to-a-janatella-leucodesma-s-wing-in-terms-of-aerodynamic-performance-in-the-flapping-flight-of-a-butterfly-model
#15
Kosuke Suzuki, Masato Yoshino
Wing planform is one of important factors for lift and thrust generation and enhancement in flapping flight. In our previous study using a simple numerical model of a butterfly, it was found that the wing planform of an actual butterfly (Janatella leucodesma) is more efficient than any of the rectangular or trapezoidal wing planforms. In the present study, we make a hypothesis that the efficient aerodynamic performance of the butterfly's wing can be reproduced by the following four geometrical parameters of wing planform: aspect ratio, taper ratio, position of the rotational axis for the geometric angle of attack, and sweepback angle...
January 11, 2019: Bioinspiration & Biomimetics
https://read.qxmd.com/read/30616233/aerodynamic-effects-of-deviating-motion-of-flapping-wings-in-hovering-flight
#16
Ho-Young Kim, Jong-Seob Han, Jae-Hung Han
Nature's flyers adopt deviating motion when they fly, however, the effect of deviating motion on the aerodynamics of flapping wings is not yet clearly understood. In this study, the aerodynamic characteristics of figure-of-eight deviating motion were investigated by comparing the aerodynamic force obtained from an experiment and the quasi-steady model (QS model) in wide ranges of both the pitch and deviation amplitude. A flapping-wing robotic manipulator with a one-ton water tank was used in the experiment...
January 7, 2019: Bioinspiration & Biomimetics
https://read.qxmd.com/read/30616229/a-torque-actuated-dissipative-spring-loaded-inverted-pendulum-model-with-rolling-contact-and-its-application-to-hexapod-running
#17
Chia-Jui Hu, Tso-Kang Wang, Chun-Kai Huang, Pei-Chun Lin
We report on the development and analysis of a new torque-actuated dissipative spring loaded inverted pendulum model with rolling contact (TDR-SLIP), which is a successor to the previously developed spring loaded inverted pendulum model with rolling contact (R-SLIP) model. The stability properties of the models were analyzed numerically via steps-to-fall analysis and return map analysis, wherein the dimensionless parameters are varied to analyze their effects on the dynamic performance of the model, including torque, damping constant, touchdown angle, touchdown speed, and landing angle...
January 7, 2019: Bioinspiration & Biomimetics
https://read.qxmd.com/read/30742587/evidence-for-multiple-dynamic-climbing-gait-families
#18
Jason M Brown, Max P Austin, Bruce D Miller, Jonathan E Clark
While numerous gait families have been defined and studied for legged systems traversing level ground (e.g. walking, running, bounding, etc), formal distinctions have yet to be developed for dynamic gaits in the vertical regime. Recognition and understanding of different gait families has clear implications to control strategy, efficiency, and stability. While several climbing robotic systems have been described as achieving 'running' behaviors on vertical surfaces, the question of whether distinct dynamic gaits exist and what differentiates these gaits has not been rigorously explored...
February 11, 2019: Bioinspiration & Biomimetics
https://read.qxmd.com/read/30706849/estimating-the-maximum-attachment-performance-of-tree-frogs-on-rough-substrates
#19
Julian K A Langowski, Anne Rummenie, Remco P M Pieters, Alexander Kovalev, Stanislav N Gorb, Johan L van Leeuwen
Tree frogs can attach to smooth and rough substrates using their adhesive toe pads. We present the results of an experimental investigation of tree frog attachment to rough substrates, and of the role of mechanical interlocking between superficial toe pad structures and substrate asperities in the tree frog species Litoria caerulea and Hyla cinerea. Using a rotation platform setup, we quantified the adhesive and frictional attachment performance of whole frogs clinging to smooth, micro-, and macrorough substrates...
February 1, 2019: Bioinspiration & Biomimetics
https://read.qxmd.com/read/30616230/modeling-and-control-of-flapping-wing-micro-aerial-vehicles
#20
Shiba Biswal, Marc Mignolet, Armando A Rodriguez
Research in robots that emulate insect flight or micro aerial vehicles (MAV) has gained significant momentum in the past decade owing to the vast number of fields they could be employed in. In this paper, key modeling and control aspects of a flapping wing MAV in hover have been discussed. Models of varying complexity have been developed by previous researchers. Here, we examine the validity of key assumptions involved in some of these models in a closed-loop control setting. Every model has limitations and with proper design of feedback control these limitations can be overcome up to a certain degree...
January 31, 2019: Bioinspiration & Biomimetics
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