Multimodal swimming control of a robotic fish with pectoral fins using a CPG network

The neural-based approaches inspired by biological neural mechanisms of locomotion are becoming increasingly popular in robot control.This paper investigates a systematic method to formulate a Central Pattern Generator(CPG) based control model for mul-timodal swimming of a multi-articulated robotic fish with flexible pectoral fins.A CPG network is created to yield diverse swim-ming in three dimensions by coupling a set of nonlinear neural oscillators using nearest-neighbor interactions.In particular,a sensitivity analysis of characteristic parameters and a stability proof of the CPG network are given.Through the coordinated con-trol of the joint CPG,caudal fin CPG,and pectoral fin CPG,a diversity of swimming modes are defined and successfully imple-mented.The latest results obtained demonstrate the effectiveness of the proposed method.It is also confirmed that the CPG-based swimming control exhibits better dynamic invariability in preserving rhythm than the conventional body wave method.     

云南省洞穴盲金线鲃一新种——额凸盲金线鲃

2015年10月,在云南省丘北县温浏乡一喀斯特洞穴因山洪爆发形成的小湖泊中,捕到1尾无眼盲金线鲃标本.经研究系一新种,以头上额前有一短粗凸起命名额凸盲金线鲃Sinocyclocheilus convexiforeheadus Li Yang et Li sp,nov.新种与透明金线鲃S. hylinus Chen et Yang（1994）、鹰喙角金线鲃S. aquihornes Li et Yang（2007）的区别是,额部凸起短粗VS棒状长角或鹰喙状长角,胸鳍不达腹鳍起点VS胸鳍超过腹鳍起点,背鳍起点在腹鳍起点之前VS背鳍起点在腹鳍起点之后.     

一种新型微型仿生机器鱼控制系统的设计

针对ICPF（ionic conducting polymer film）驱动的微型智能仿生机器鱼进行研究.以鱼类为仿生对象,通过对鱼类游动机理的仿生学研究,设计了鱼形结构的主体框架、两自由度的胸鳍和尾鳍推进机构及基于AVR单片机的机器鱼硬件控制系统.针对微型仿生鱼运动特点,设计了直线巡游和转弯运动等运动模式及自动避障功能.最后建立了仿生机器鱼实验系统,进行了仿生机器鱼驱动性能测试和推进实验,实现了仿生机器鱼的避障功能,验证了系统设计的可行性.     

The pectoral fin of Tiktaalik roseae and the origin of the tetrapod limb

Wrists, ankles and digits distinguish tetrapod limbs from fins, but direct evidence on the origin of these features has been unavailable. Here we describe the pectoral appendage of a member of the sister group of tetrapods, Tiktaalik roseae, which is morphologically and functionally transitional between a fin and a limb. The expanded array of distal endochondral bones and synovial joints in the fin of Tiktaalik is similar to the distal limb pattern of basal tetrapods. The fin of Tiktaalik was capable of a range of postures, including a limb-like substrate-supported stance in which the shoulder and elbow were flexed and the distal skeleton extended. The origin of limbs probably involved the elaboration and proliferation of features already present in the fins of fish such as Tiktaalik.     

鱼形微机器人推进的力学分析

基于鱼类肌肉水动力学的研究,利用鱼类尾鳍与微机器人摆翼运动相似性,对仿生鱼形微机器人摆翼所产生的推进力进行了分析。分析表明,鱼形微机器人推进力与流体的粘性系数、摆翼面积和偏移角等因素有关。     

几种鱼类畸形及致畸原因的分析

作者自1977年以来,收集和研究了6种畸形鱼类。它们包括:仅长有左腹鳍的鲫;长有多余的第二背鳍的鲶;后半身短小的鳙;后半身上下弯曲的蒙古红鲌;性腺发育不健全的翘嘴红鲌和侧线中断、错位、分枝的细鳞斜颌鲴等。经过分析,认为致畸原因主要取决于遗传物质和环境因素的影响。     

The pelvic fin and girdle of Panderichthys and the origin of tetrapod locomotion

One of the most marked transformations in the vertebrate transition to land was that of fins to limbs. This transformation involved not only the generation of morphological novelties (digits, sacrum) but also a shift in locomotory dominance from the pectoral to the pelvic appendage. Despite its importance, the transformation from pelvic fin to hindlimb is the least studied and least well-documented part of this transformation, which is bracketed by the osteolepiform Eusthenopteron and the early tetrapods Ichthyostega and Acanthostega, but is not directly illuminated by any intermediate form. Panderichthys is the closest tetrapod relative currently represented by complete fossils, but its pelvic fin skeleton has not been described. Here, I present the only known articulated pelvic fin endoskeleton and associated partial pelvis of Panderichthys. The pelvic girdle is even less tetrapod-like than that of the osteolepiform Eusthenopteron, but the pelvic fin endoskeleton shares derived characteristics with basal tetrapods despite being more primitive than the pectoral fin of Panderichthys. The evolution of tetrapod locomotion appears to have passed through a stage of body-flexion propulsion, in which the pelvic fins played a relatively minor anchoring part, before the emergence of hindlimb-powered propulsion in the interval between Panderichthys and Acanthostega.     

仿生机器鱼胸鳍的三维设计及数控加工

胸鳍是机器鱼实现沉浮、变向、倒退和推进的关键部件,胸鳍的三维设计及型面质量直接影响机器鱼实现稳定的各种运动.本文运用Soildworks2007对仿生机器鱼的胸鳍进行三维设计,通过CAM功能生成了胸鳍数控加工的代码,并用数控机床实现了机器鱼胸鳍的数控加工.     

基于无线控制的仿生刀鱼设计

成熟的潜水器大多是利用螺旋桨进行驱动,噪声较大,对水下环境的扰动比较大,根据对刀鱼的运动机理的研究,提出了一种利用腹鳍驱动的仿生机器鱼,具有结构简单,低速性能好,对环境扰动较小的特点.     

Simplified propulsive model for biomimetic robot fish and its experimental validation

As a combination of bio-mechanism and engineering technology, robot fish has become a multidisci- plinary research that mainly involves both hydrodynamics-based control and actuation technology. This paper presents a simplified propulsive model for carangiform propulsion, which is a swimming mode suitable for high speed and high efficiency. The carangiform motion is modeled as an N-joint nscillating mechanism that is composed of two basic components： the streamlined fish body represented by a planar spline curve and its hmate caudal tail by an oscillating foil. The speed of fish＇s straight swimming is adjusted by modulating the joint＇s oscillating frequency, and its orientation is tuned by different joint＇s deflection. The results from actual experiment showed that the proposed simplified propulsive model could be a viable eandidate for application in aquatic： swimming vehicles.     

机器海豚尾鳍运动模型的建立及仿真

以海豚背腹式摆动推进方程为基础,应用坐标变换的方法,建立了描述海豚尾鳍俯仰--沉浮运动的数学模型,同时建立了描述豚尾各运动参数之间关系的方程,随后运用Matlab的仿真功能再现了海豚在游动过程中尾鳍的运动规律.该模型可用于定性描述运动参数对海豚推进性能的影响,为进一步研究豚尾动力学提供了理论基础,同时也为机器海豚尾鳍的控制设计提供了理论依据.     

细锯脂鲤银膜及全透两个品系的体色及发育的对比

细锯脂鲤(Pristella maxillaris)因其成鱼体色透明而越来越受到模式生物研究学者们的青睐.本研究从组织形态学和细胞学水平连续观察了银膜和全透两个品系细锯脂鲤不同发育时期眼睛、鳃部、腹部、背鳍、臀鳍及尾鳍的特征.结果表明:(1)银膜系鱼中观察到3种色素细胞,发育时序为黑色素细胞、虹彩细胞和黄色素细胞;全透系鱼中仅先后出现黑色素细胞与黄色素细胞2种色素细胞.(2)背鳍中部,银膜系鱼仅有树突状黑色素细胞,全透系鱼还具有颗粒状黄色素细胞;臀鳍中部,银膜系鱼的黑色素细胞均为树突状,但全透系鱼中黑色素细胞与黄色素细胞形态都为颗粒状;尾鳍中部,银膜系鱼均匀分布着散射状黄色素细胞,而全透系鱼黄色素细胞形态除散射状外还呈颗粒状形态.(3)银膜系鱼眼睛、背鳍与臀鳍上的黑色素细胞数量均多于全透系鱼,而黄色素细胞数量则相反.上述研究结果可为后续相关鱼类体色发育机制及可视化模式生物的建立提供重要的基础资料.     

计算肋片散热的一种改进方法

通过对二维肋片导热机理的分析，提出了一种改进的计算二维肋片散热和温度分布的一维近似方法。这一方法与经典的一维近似方法一样简单实用，并可套用经典方法的所有公式和图表，分别用改进的一维近似方法、经典一维方法和二维方法对工程中几种常见肋片进行了计算并加以比较。结果表明，一维近似方法较经典一维方法的精度有明显提高。     

The pectoral fin of Panderichthys and the origin of digits

One of the identifying characteristics of tetrapods (limbed vertebrates) is the presence of fingers and toes. Whereas the proximal part of the tetrapod limb skeleton can easily be homologized with the paired fin skeletons of sarcopterygian (lobe-finned) fish, there has been much debate about the origin of digits. Early hypotheses interpreted digits as derivatives of fin radials, but during the 1990s the idea gained acceptance that digits are evolutionary novelties without direct equivalents in fish fin skeletons. This was partly based on developmental genetic data, but also substantially on the pectoral fin skeleton of the elpistostegid (transitional fish/tetrapod) Panderichthys, which appeared to lack distal digit-like radials. Here we present a CT scan study of an undisturbed pectoral fin of Panderichthys demonstrating that the plate-like 'ulnare' of previous reconstructions is an artefact and that distal radials are in fact present. This distal portion is more tetrapod-like than that found in Tiktaalik and, in combination with new data about fin development in basal actinopterygians, sharks and lungfish, makes a strong case for fingers not being a novelty of tetrapods but derived from pre-existing distal radials present in all sarcopterygian fish.     

三关节机器鱼的尾部动力学建模与仿真

机器鱼技术为研究高效、高机动性和低噪声的水下运载器提供了新的思路,是近几年水下机器人领域的研究热点之一.以三关节机器鱼为研究对象,建立了尾部动力学模型,并进行了仿真,由该模型出发对机器鱼的动力学进行了研究,分析了机器鱼速度与频率等的关系.该方法实现的运动仿真与真实的鱼的运动基本一致,速度随着摆动频率的降低而减小,随着相位差的减小而增加,摆幅对速度的影响很大.     

超磁机器鱼游动数值模拟及其控制

针对管道中微小型机器人的研究和开发,提出一种利用外磁场驱动起小型机器鱼的研究方法.采用合金薄板模拟鱼尾骨架,贴在该薄板的超磁致伸缩材料模拟鱼体肌肉,建立了该问题的力学模型.通过研究机器鱼的游动机理,设计了一种机器鱼的超磁动力驱动器(GMMA).利用调整外界磁场频率,实现神经模拟以控制鱼尾摆动,即机器鱼的游动.结果表明,鱼尾摆动平均驱动力的大小取决于鱼尾的材料参数、几何参数和外磁场频率.特别是当外磁场频率接近系统固有频率时,该驱动力相对较大,该结论可作为鱼尾设计和控制的主要思路和依据.     

基于单刃-圆锥面刀具的三维整体外翅片成形机理

采用单刃-圆锥面刀具加工三维整体外翅片管,研究了翅片成形过程及圆锥面半径对翅片成形的影响,分析了翅片微观形貌的形成机理及加工参数对翅片形貌的影响.翅片成形机理在于单刃-圆锥面刀具切削时能将工件表层金属与基体分离但并不去除,被分离的金属在圆锥面的挤压下形成翅片.翅片成形过程可分为犁切分离、滑动挤压和成翅3个阶段,较大的圆弧半径有利于翅片的成形.翅片顶部有一条贯穿整个翅片的微裂缝,使翅片在微观上成为双翅片;随着犁切深度的增加,翅片厚度增加;随着进给量的增大,翅片间距增加.     

无缆微型仿鱼泳动机器人的设计与运动分析

根据鱼类的游动推进原理,提出一种基于螺线管线圈结构的外磁场驱动微型仿鱼机器人的设计方案,构建了其实验控制系统,分析了机器人在液体中的推进力和动力学模型,以及尾鳍对其推进性能的影响。实验结果表明,不同的尾鳍摆动频率和尾鳍长度对推进速度有很大影响,其运动速度随驱动频率的增大而逐步增大,但当驱动频率大于7 Hz时运动速度减慢。实验结果与理论分析相一致。     

基于锦鲤BCF摆动推进特性分析

以锦鲤为仿生对象,研究躯干和尾鳍的摆动推进特性。根据鱼体形态特征建立仿生鱼几何模型,并根据鱼体躯干和尾鳍的摆动姿态,分别建立不同的运动学模型,进而采用动网格技术并编写控制鱼体的UDF程序,对仿生鱼在被两种控制方程的驱动下的运动状态进行数值模拟,研究不同的运动频率、摆动幅度、来流速度对仿生鱼游动速度、加速度、位移及其压力分布的影响,揭示两种控制方程下仿生鱼摆动的推进性能特性。结果表明：在两种控制方程的驱动下,无论运动频率怎样变化,仿生鱼达到稳定状态时间相同,相同周期内游动距离相近;当摆动幅度为30°时,仿生鱼达到稳态时间最短,且波动相对较小,是最佳幅度;来流速度低于0.1时,可以在流场中稳定游动。且该模型在稳定游动状态下,高压低压分布在尾鳍两端,推动鱼体前进,与实际相符合。     

错齿翅片的传热与阻力性能试验

对9种不同结构参数的错齿翅片进行传热和流动阻力性能试验,分析比较翅片的间距、高度和节距等结构参数对其传热因子和阻力性能的影响.同时,利用场协同原理揭示错齿翅片强化传热的机理,并采用单位面积泵功率的评价方法,比较9种翅片的强化传热效果.结果表明,错齿翅片的节距和长度对其热工性能影响最为显著.