Design considerations for an underwater soft-robot inspired from marine invertebrates

This article serves as an overview of the unique challenges and opportunities made possible by a soft, jellyfish inspired, underwater robot. We include a description of internal pressure modeling as it relates to propulsive performance, leading to a desired energy-minimizing volume flux program. Strategies for determining optimal actuator placement derived from biological body motions are presented. In addition a feedback mechanism inspired by the epidermal line sensory system of cephalopods is presented, whereby internal pressure distribution can be used to determine pertinent deformation parameters.

[1]  K. Mohseni,et al.  Identifying and modeling motion primitives for the hydromedusae Sarsia tubulosa and Aequorea victoria , 2015, Bioinspiration & biomimetics.

[2]  Kamran Mohseni,et al.  Pressure and work analysis of unsteady, deformable, axisymmetric, jet producing cavity bodies , 2015, Journal of Fluid Mechanics.

[3]  Kamran Mohseni,et al.  Bioinspired Hydrodynamic Force Feedforward for Autonomous Underwater Vehicle Control , 2014, IEEE/ASME Transactions on Mechatronics.

[4]  A. Smits,et al.  Scaling the propulsive performance of heaving flexible panels , 2013, Journal of Fluid Mechanics.

[5]  Peter A. Dewey,et al.  Scaling laws for the thrust production of flexible pitching panels , 2013, Journal of Fluid Mechanics.

[6]  C. Laschi,et al.  Biomimetic Vortex Propulsion: Toward the New Paradigm of Soft Unmanned Underwater Vehicles , 2013, IEEE/ASME Transactions on Mechatronics.

[7]  Kamran Mohseni,et al.  Modelling circulation, impulse and kinetic energy of starting jets with non-zero radial velocity , 2013, Journal of Fluid Mechanics.

[8]  Maarja Kruusmaa,et al.  Hydrodynamic pressure sensing with an artificial lateral line in steady and unsteady flows , 2012, Bioinspiration & biomimetics.

[9]  Kamran Mohseni,et al.  New perspectives on collagen fibers in the squid mantle , 2012, Journal of morphology.

[10]  G. Lauder,et al.  Dynamics of freely swimming flexible foils , 2011 .

[11]  Shashank Priya,et al.  A biomimetic robotic jellyfish (Robojelly) actuated by shape memory alloy composite actuators , 2011, Bioinspiration & biomimetics.

[12]  Jeffrey H. Lang,et al.  Lateral-line inspired sensor arrays for navigation and object identification , 2011 .

[13]  Keith Moored,et al.  Batoid Fishes: Inspiration for the Next Generation of Underwater Robots , 2011 .

[14]  Peter A. Dewey,et al.  Bioinspired Propulsion Mechanisms Based on Manta Ray Locomotion , 2011 .

[15]  Robert Hodgkinson,et al.  A hybrid class underwater vehicle: bioinspired propulsion, embedded system, and accoustic communication and localization system , 2011 .

[16]  P. Krueger,et al.  The effect of Reynolds number on the propulsive efficiency of a biomorphic pulsed-jet underwater vehicle , 2011, Bioinspiration & biomimetics.

[17]  Paulo Ferreira de Sousa,et al.  Thrust efficiency of harmonically oscillating flexible flat plates , 2011, Journal of Fluid Mechanics.

[18]  P. Krueger,et al.  Propulsive efficiency of a biomorphic pulsed-jet underwater vehicle , 2010, Bioinspiration & biomimetics.

[19]  Sheryl Coombs,et al.  Active wall following by Mexican blind cavefish (Astyanax mexicanus) , 2010, Journal of Comparative Physiology A.

[20]  K. Mohseni,et al.  A model of the lateral line of fish for vortex sensing , 2010, Bioinspiration & biomimetics.

[21]  Kamran Mohseni,et al.  Dynamic Modeling and Control of Biologically Inspired Vortex Ring Thrusters for Underwater Robot Locomotion , 2010, IEEE Transactions on Robotics.

[22]  S. Priya,et al.  A bio-inspired shape memory alloy composite (BISMAC) actuator , 2010 .

[23]  Stephen A. Wainwright,et al.  Locomotory aspects of squid mantle structure , 2009 .

[24]  Kamran Mohseni,et al.  The numerical comparison of flow patterns and propulsive performances for the hydromedusae Sarsia tubulosa and Aequorea victoria , 2009, Journal of Experimental Biology.

[25]  Kamran Mohseni,et al.  Flow structures and fluid transport for the hydromedusae Sarsia tubulosa and Aequorea victoria , 2009, Journal of Experimental Biology.

[26]  Kamran Mohseni,et al.  An arbitrary Lagrangian-Eulerian formulation for the numerical simulation of flow patterns generated by the hydromedusa Aequorea victoria , 2009, J. Comput. Phys..

[27]  P. Krueger,et al.  Hydrodynamics of pulsed jetting in juvenile and adult brief squid Lolliguncula brevis: evidence of multiple jet `modes' and their implications for propulsive efficiency , 2009, Journal of Experimental Biology.

[28]  Kamran Mohseni,et al.  Simulation of flow patterns generated by the hydromedusa Aequorea victoria using an arbitrary Lagrangian–Eulerian formulation , 2009 .

[29]  P. Krueger,et al.  Swimming dynamics and propulsive efficiency of squids throughout ontogeny. , 2008, Integrative and comparative biology.

[30]  K. Mohseni,et al.  Thrust Characterization of a Bioinspired Vortex Ring Thruster for Locomotion of Underwater Robots , 2008, IEEE Journal of Oceanic Engineering.

[31]  Ian D. Walker,et al.  Soft robotics: Biological inspiration, state of the art, and future research , 2008 .

[32]  Ian Hunter,et al.  The application of conducting polymers to a biorobotic fin propulsor , 2007, Bioinspiration & biomimetics.

[33]  A. Smits,et al.  Thrust production and wake structure of a batoid-inspired oscillating fin , 2005, Journal of Fluid Mechanics.

[34]  Franz S. Hover,et al.  Review of Hydrodynamic Scaling Laws in Aquatic Locomotion and Fishlike Swimming , 2005 .

[35]  Christian P. Robert,et al.  Monte Carlo Statistical Methods , 2005, Springer Texts in Statistics.

[36]  Kamran Mohseni,et al.  ZERO-MASS PULSATILE JETS FOR UNMANNED UNDERWATER VEHICLE MANEUVERING , 2004 .

[37]  Paul S. Krueger,et al.  An over-pressure correction to the slug model for vortex ring circulation , 2003, Journal of Fluid Mechanics.

[38]  R. Satterlie Neuronal control of swimming in jellyfish: a comparative story , 2002 .

[39]  Jamie M Anderson,et al.  Maneuvering and Stability Performance of a Robotic Tuna1 , 2002, Integrative and comparative biology.

[40]  S. Shigeno,et al.  Early Ontogeny of the Japanese Common Squid Todarodes pacificus (Cephalopoda, Ommastrephidae) with Special Reference to its Characteristic Morphology and Ecological Significance , 2001 .

[41]  S. Coombs,et al.  The orienting response of Lake Michigan mottled sculpin is mediated by canal neuromasts. , 2001, The Journal of experimental biology.

[42]  M. E. Demont,et al.  The mechanics of locomotion in the squid Loligo pealei: locomotory function and unsteady hydrodynamics of the jet and intramantle pressure. , 2000, The Journal of experimental biology.

[43]  Triantafyllou,et al.  Near-body flow dynamics in swimming fish , 1999, The Journal of experimental biology.

[44]  M. J. Wolfgang,et al.  Drag reduction in fish-like locomotion , 1999, Journal of Fluid Mechanics.

[45]  C. F. Baker,et al.  The sensory basis of rheotaxis in the blind Mexican cave fish, Astyanax fasciatus , 1999, Journal of Comparative Physiology A.

[46]  M. E. Demont,et al.  Structure and mechanics of the squid mantle , 1999, The Journal of experimental biology.

[47]  Naomi Kato,et al.  Locomotion by mechanical pectoral fins , 1998 .

[48]  George V. Lauder,et al.  Pectoral Fin Locomotion in Fishes: Testing Drag-based Models Using Three-dimensional Kinematics , 1996 .

[49]  Lauder,et al.  KINEMATICS OF PECTORAL FIN LOCOMOTION IN THE BLUEGILL SUNFISH LEPOMIS MACROCHIRUS , 1994, The Journal of experimental biology.

[50]  N A Schellart,et al.  Velocity- and acceleration-sensitive units in the trunk lateral line of the trout. , 1992, Journal of neurophysiology.

[51]  George V. Lauder,et al.  Pectoral fin locomotion in the bluegill sunfish , 1991 .

[52]  H. Bleckmann,et al.  A lateral line analogue in cephalopods: water waves generate microphonic potentials in the epidermal head lines ofSepia andLolliguncula , 1988, Journal of Comparative Physiology A.

[53]  R. Satterlie,et al.  Neuronal control of locomotion in hydrozoan medusae , 1983, Journal of comparative physiology.

[54]  John M. Gosline,et al.  The role of elastic energy storage mechanisms in swimming: an analysis of mantle elasticity in escape jetting in the squid, Loligo opalescens , 1983 .

[55]  T. Pitcher,et al.  The sensory basis of fish schools: Relative roles of lateral line and vision , 1980, Journal of comparative physiology.

[56]  A. Kroese,et al.  Frequency response of the lateral-line organ of xenopus laevis , 1978, Pflügers Archiv.

[57]  T. Y. Wu,et al.  Hydromechanics of swimming propulsion. Part 2. Some optimum shape problems , 1971, Journal of Fluid Mechanics.

[58]  T. Y. Wu,et al.  Hydromechanics of swimming propulsion. Part 1. Swimming of a two-dimensional flexible plate at variable forward speeds in an inviscid fluid , 1971, Journal of Fluid Mechanics.

[59]  M. Lighthill Aquatic animal propulsion of high hydromechanical efficiency , 1970, Journal of Fluid Mechanics.

[60]  T. Y. Wu,et al.  Swimming of a waving plate , 1961, Journal of Fluid Mechanics.

[61]  D. S. B Arrett,et al.  Drag reduction in sh-like locomotion , 1999 .

[62]  S. Lenz Cilia in the epidermis of late embryonic stages and paralarvae of Octopus vulgaris (Mollusca : Cephalopoda) , 1997 .

[63]  S. Berman A bivariate markov process with diffusion and discrete components , 1994 .

[64]  M. Lighthill Hydromechanics of Aquatic Animal Propulsion , 1969 .