—The objective of this study was to realize the backstroke with the swimming humanoid robot. By realizing the backstroke, the backstroke performance of the robot was assessed regarding the speed and the swimming behavior. The motion for the robot was generated based on the motion of an actual swimmer. However, since the robot did not have sufficient degrees-of-freedom to realize the motion, the actual motion was modified. The motion was investigated by simulation and later by the experiment. In the experiment, the robot successfully realized the backstroke at the stroke cycle 2.3 s with a swimming speed of 0.28 m/s.
{"title":"Realization and Swimming Performance of Backstroke by the Swimming Humanoid Robot","authors":"F. Razi, M. Nakashima","doi":"10.5226/jabmech.8.75","DOIUrl":"https://doi.org/10.5226/jabmech.8.75","url":null,"abstract":"—The objective of this study was to realize the backstroke with the swimming humanoid robot. By realizing the backstroke, the backstroke performance of the robot was assessed regarding the speed and the swimming behavior. The motion for the robot was generated based on the motion of an actual swimmer. However, since the robot did not have sufficient degrees-of-freedom to realize the motion, the actual motion was modified. The motion was investigated by simulation and later by the experiment. In the experiment, the robot successfully realized the backstroke at the stroke cycle 2.3 s with a swimming speed of 0.28 m/s.","PeriodicalId":282365,"journal":{"name":"Journal of Aero Aqua Bio-mechanisms","volume":"12 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125410392","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Bacterial cells exhibit chemotaxis by repeating a straight swimming (run) and an abrupt change of the swimming direction (tumble). Cells detect the change in the concentration of a chemical attractant during the run and decrease the frequency of the tumbles if the cells have swum toward the favorable direction. As for the chemotaxis mechanism, a mathematical model has been proposed where the frequency of the tumble is correlated with the chemotaxis intensity. In this study, we observe the chemotactic behaviors of bacterial cells and compare the measurement with the mathematical model to quantify the chemotaxis intensity.
{"title":"Estimation of chemotaxis intensity of Salmonella cells by the capillary assay and biased random walk simulation","authors":"Nakai Tonau, Yoshino Junpei, Goto Tomonobu","doi":"10.5226/JABMECH.8.63","DOIUrl":"https://doi.org/10.5226/JABMECH.8.63","url":null,"abstract":"Bacterial cells exhibit chemotaxis by repeating a straight swimming (run) and an abrupt change of the swimming direction (tumble). Cells detect the change in the concentration of a chemical attractant during the run and decrease the frequency of the tumbles if the cells have swum toward the favorable direction. As for the chemotaxis mechanism, a mathematical model has been proposed where the frequency of the tumble is correlated with the chemotaxis intensity. In this study, we observe the chemotactic behaviors of bacterial cells and compare the measurement with the mathematical model to quantify the chemotaxis intensity.","PeriodicalId":282365,"journal":{"name":"Journal of Aero Aqua Bio-mechanisms","volume":"9 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130431988","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Y. Takada, Tatsuki Kanada, Takahiro Tanaka, Yodai Matsumura
Osaka, 558-8585, Japan, takada@eng.osaka-cu.ac.jp. Abstract— To address the deterioration of bridges and buildings, we have developed a robot, HORNET, to inspect building walls. This robot travels on the wall surface using propellers with wheels on the wall. As the running duration is short on smooth surfaces, the crosssectional shape of the rotor was designed to reduce the power consumption using two-dimensional numerical analysis using a genetic algorithm. Furthermore, we manufactured several kinds of rotors imitating birds and performed experiments to determine the ideal shape to reduce electricity consumption. Experiments were also conducted to evaluate the performance when the rotor was attached to HORNET. First, we developed HORNET's dynamic model and evaluated the performance by running a simulation on a route imitating the actual inspection route. Additionally, by installing a new rotor in HORNET, we evaluated the running performance on the up and down paths.
{"title":"Investigation of Rotors Imitating Bird Wings to Reduce Electricity Consumption of HORNET","authors":"Y. Takada, Tatsuki Kanada, Takahiro Tanaka, Yodai Matsumura","doi":"10.5226/JABMECH.8.48","DOIUrl":"https://doi.org/10.5226/JABMECH.8.48","url":null,"abstract":"Osaka, 558-8585, Japan, takada@eng.osaka-cu.ac.jp. Abstract— To address the deterioration of bridges and buildings, we have developed a robot, HORNET, to inspect building walls. This robot travels on the wall surface using propellers with wheels on the wall. As the running duration is short on smooth surfaces, the crosssectional shape of the rotor was designed to reduce the power consumption using two-dimensional numerical analysis using a genetic algorithm. Furthermore, we manufactured several kinds of rotors imitating birds and performed experiments to determine the ideal shape to reduce electricity consumption. Experiments were also conducted to evaluate the performance when the rotor was attached to HORNET. First, we developed HORNET's dynamic model and evaluated the performance by running a simulation on a route imitating the actual inspection route. Additionally, by installing a new rotor in HORNET, we evaluated the running performance on the up and down paths.","PeriodicalId":282365,"journal":{"name":"Journal of Aero Aqua Bio-mechanisms","volume":"10 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116803655","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
— In this study, we describe a palm-sized robotic fish that can automatically track a goldfish. A robotic fish is suitable for ecological surveys because it is difficult to be noticed by aquatic animals. However, so far, there is no palm-sized robotic fish that can automatically track an aquatic animal. Automatic tracking by the robot is carried out by recognizing the goldfish with a camera and changing the swimming direction towards the goldfish. To follow the agile movement of the goldfish, the robot has a high turning ability with multiple joints. Finally, we have confirmed the robot can track a goldfish.
{"title":"Small Robotic Fish with Two Magnetic Actuators for Autonomous Tracking of a Goldfish","authors":"Takuya Aritani, N. Kawasaki, Y. Takada","doi":"10.5226/jabmech.8.69","DOIUrl":"https://doi.org/10.5226/jabmech.8.69","url":null,"abstract":"— In this study, we describe a palm-sized robotic fish that can automatically track a goldfish. A robotic fish is suitable for ecological surveys because it is difficult to be noticed by aquatic animals. However, so far, there is no palm-sized robotic fish that can automatically track an aquatic animal. Automatic tracking by the robot is carried out by recognizing the goldfish with a camera and changing the swimming direction towards the goldfish. To follow the agile movement of the goldfish, the robot has a high turning ability with multiple joints. Finally, we have confirmed the robot can track a goldfish.","PeriodicalId":282365,"journal":{"name":"Journal of Aero Aqua Bio-mechanisms","volume":"37 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134063574","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
{"title":"Improvement in wing performance using a wing with sinusoidal leading edge (The effect of the wing camber and the wing camber position)","authors":"K. Fukui, T. Yasuda, H. Minagawa, Ryo Kurimoto","doi":"10.5226/JABMECH.8.13","DOIUrl":"https://doi.org/10.5226/JABMECH.8.13","url":null,"abstract":"","PeriodicalId":282365,"journal":{"name":"Journal of Aero Aqua Bio-mechanisms","volume":"110 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115800069","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
—Catch connective tissue (CCT) is the connective tissue that shows large stiffness changes in response to stimulation under nervous control. The dermis of sea cucumbers is a typical example of CCT. Mechanical properties of the dermis are determined by the extracellular materials that are made of collagen fibrils embedded in a hydrogel of proteoglycans. The dermis takes 3 mechanical states soft (S a ), standard ( S b ) and stiff (S c ). Different molecular mechanisms of stiffening have been found in the transition S a → S b and in the transition S b → S c . In this article I will review my works on this intelligent material.
{"title":"Skin of sea cucumbers: the smart connective tissue that alters mechanical properties in response to external stimuli","authors":"T. Motokawa","doi":"10.5226/JABMECH.8.2","DOIUrl":"https://doi.org/10.5226/JABMECH.8.2","url":null,"abstract":"—Catch connective tissue (CCT) is the connective tissue that shows large stiffness changes in response to stimulation under nervous control. The dermis of sea cucumbers is a typical example of CCT. Mechanical properties of the dermis are determined by the extracellular materials that are made of collagen fibrils embedded in a hydrogel of proteoglycans. The dermis takes 3 mechanical states soft (S a ), standard ( S b ) and stiff (S c ). Different molecular mechanisms of stiffening have been found in the transition S a → S b and in the transition S b → S c . In this article I will review my works on this intelligent material.","PeriodicalId":282365,"journal":{"name":"Journal of Aero Aqua Bio-mechanisms","volume":"7 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129454780","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Gen Li, D. Kolomenskiy, Hao Liu, B. Thiria, R. Godoy-Diana
— In collective swimming, vorticity and pressure fields near a fish may be modified through hydrodynamic interactions between fish, and eventually influence swimming performance. We developed a three-dimensional (3D) computational approach and implemented a parametric study to: 1) make comparisons of the vorticity and pressure fields topology between a single fish and a pair of fish; 2) investigate the change of vorticity and pressure fields topology by varying the relative position and phase shift between the two fish in a pair; 3) investigate the perceivable pressure signals on the lateral line of fish due to the interference between the two fish.
{"title":"On the interference of vorticity and pressure fields of a minimal fish school","authors":"Gen Li, D. Kolomenskiy, Hao Liu, B. Thiria, R. Godoy-Diana","doi":"10.5226/JABMECH.8.27","DOIUrl":"https://doi.org/10.5226/JABMECH.8.27","url":null,"abstract":"— In collective swimming, vorticity and pressure fields near a fish may be modified through hydrodynamic interactions between fish, and eventually influence swimming performance. We developed a three-dimensional (3D) computational approach and implemented a parametric study to: 1) make comparisons of the vorticity and pressure fields topology between a single fish and a pair of fish; 2) investigate the change of vorticity and pressure fields topology by varying the relative position and phase shift between the two fish in a pair; 3) investigate the perceivable pressure signals on the lateral line of fish due to the interference between the two fish.","PeriodicalId":282365,"journal":{"name":"Journal of Aero Aqua Bio-mechanisms","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125410979","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
I. Rohmawati, H. Arai, T. Nakashima, Hidemi Mutsuda, Y. Doi
— Experimental and numerical study on the effect of wavy leading edge (WLE) on pitching rectangle wings were conducted using NACA 0018 airfoil. The shape of WLE is sinusoidal function. URANS simulations were employed using SST k-ω turbulence model. The WLE wing has preferable forces at the post-stall region compared to baseline wing. The lift force improvement at upstroke motion was higher than downstroke motion, whereas the drag increase was found to be less than the lift increase. The numerical simulation clarified that stall is suppressed during pitching motion of the WLE wing.
{"title":"Effect of Wavy Leading Edge on Pitching Rectangular Wing","authors":"I. Rohmawati, H. Arai, T. Nakashima, Hidemi Mutsuda, Y. Doi","doi":"10.5226/jabmech.9.1","DOIUrl":"https://doi.org/10.5226/jabmech.9.1","url":null,"abstract":"— Experimental and numerical study on the effect of wavy leading edge (WLE) on pitching rectangle wings were conducted using NACA 0018 airfoil. The shape of WLE is sinusoidal function. URANS simulations were employed using SST k-ω turbulence model. The WLE wing has preferable forces at the post-stall region compared to baseline wing. The lift force improvement at upstroke motion was higher than downstroke motion, whereas the drag increase was found to be less than the lift increase. The numerical simulation clarified that stall is suppressed during pitching motion of the WLE wing.","PeriodicalId":282365,"journal":{"name":"Journal of Aero Aqua Bio-mechanisms","volume":"54 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123480594","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
D. Kolomenskiy, S. Ravi, Ru Xu, K. Ueyama, T. Jakobi, T. Engels, T. Nakata, J. Sesterhenn, M. Farge, K. Schneider, R. Onishi, Hao Liu
{"title":"Wing Morphology and Inertial Properties of Bumblebees","authors":"D. Kolomenskiy, S. Ravi, Ru Xu, K. Ueyama, T. Jakobi, T. Engels, T. Nakata, J. Sesterhenn, M. Farge, K. Schneider, R. Onishi, Hao Liu","doi":"10.5226/JABMECH.8.41","DOIUrl":"https://doi.org/10.5226/JABMECH.8.41","url":null,"abstract":"","PeriodicalId":282365,"journal":{"name":"Journal of Aero Aqua Bio-mechanisms","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128286959","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
K. Kugai, I. Yamamoto, Yuuki Matsumoto, Meitarou Takahashi
The swimming motion of Tuna type fishes has excellent ability for its speed and efficiency. And some studies have been reported about the most efficient swimming motion by using numerical analysis on 2-joint bending mechanism model. And several fish type robots are developed based on these studies. But almost all robots have spring held caudal fin, so they cannot confirm theoretical result by experimental way. Therefore, we developed a fish type robot which has caudal fin angle actuating mechanism and tail oscillating mechanism. We made some experiments about the relationship between the swimming motion scheme and the swimming speed.
{"title":"Development of Fish type Robot based on the Analysis of Swimming Motion of Bluefin Tuna -Experimental Discussion-","authors":"K. Kugai, I. Yamamoto, Yuuki Matsumoto, Meitarou Takahashi","doi":"10.5226/JABMECH.8.34","DOIUrl":"https://doi.org/10.5226/JABMECH.8.34","url":null,"abstract":"The swimming motion of Tuna type fishes has excellent ability for its speed and efficiency. And some studies have been reported about the most efficient swimming motion by using numerical analysis on 2-joint bending mechanism model. And several fish type robots are developed based on these studies. But almost all robots have spring held caudal fin, so they cannot confirm theoretical result by experimental way. Therefore, we developed a fish type robot which has caudal fin angle actuating mechanism and tail oscillating mechanism. We made some experiments about the relationship between the swimming motion scheme and the swimming speed.","PeriodicalId":282365,"journal":{"name":"Journal of Aero Aqua Bio-mechanisms","volume":"45 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114813120","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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