Please use this identifier to cite or link to this item: https://hdl.handle.net/10356/105061
Title: On-line optimization of biomimetic undulatory swimming by an experiment-based approach
Authors: Zhou, Chunlin
Low, Kin Huat
Keywords: DRNTU::Engineering::Bioengineering
Issue Date: 2014
Source: Zhou, C., & Low, K. H. (2014). On-line optimization of biomimetic undulatory swimming by an experiment-based approach. Journal of bionic engineering, 11(2), 213-225.
Series/Report no.: Journal of bionic engineering
Abstract: An experiment-based approach is proposed to improve the performance of biomimetic undulatory locomotion through on-line optimization. The approach is implemented through two steps: (1) the generation of coordinated swimming gaits by artificial Central Pattern Generators (CPGs); (2) an on-line searching of optimal parameter sets for the CPG model using Genetic Algorithm (GA). The effectiveness of the approach is demonstrated in the optimization of swimming speed and energy efficiency for a biomimetic fin propulsor. To evaluate how well the input energy is converted into the kinetic energy of the propulsor, an energy-efficiency index is presented and utilized as a feedback to regulate the on-line searching with a closed-loop swimming control. Experiments were conducted on propulsor prototypes with different fin segments and the optimal swimming patterns were found separately. Comparisons of results show that the optimal curvature of undulatory propulsor, which might have different shapes depending on the actual prototype design and control scheme. It is also found that the propulsor with six fin segments, is preferable because of higher speed and lower energy efficiency.
URI: https://hdl.handle.net/10356/105061
http://hdl.handle.net/10220/20414
ISSN: 1672-6529
DOI: 10.1016/S1672-6529(14)60042-1
Rights: © 2014 Jilin University. This paper was published in Journal of Bionic Engineering and is made available as an electronic reprint (preprint) with permission of Jilin University. The paper can be found at the following official DOI: http://dx.doi.org/10.1016/S1672-6529(14)60042-1.  One print or electronic copy may be made for personal use only. Systematic or multiple reproduction, distribution to multiple locations via electronic or other means, duplication of any material in this paper for a fee or for commercial purposes, or modification of the content of the paper is prohibited and is subject to penalties under law.
Fulltext Permission: open
Fulltext Availability: With Fulltext
Appears in Collections:MAE Journal Articles

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