Global optimization is used to find suitable propulsive configurations and control parameters in order to achieve successive robotic tasks.
To uncover an influence of various parameters influencing propulsive force or its components, experimental studies [ 6– 8] as well as numerical studies were carried out in the past [ 5, 9– 12].
The systematic analysis of the effect of different motion parameters on the propulsive efficiency of the AUG is carried out, including the hydrofoil's heaving amplitude, the pitching amplitude, the phase lag between heaving and pitching and the flapping frequency.
An operating region is found for the dominant kinematic parameter TBF and propulsive wavelength each to facilitate future experiments for such bio-inspired systems.
Temporal-stride parameters, and peak vertical, anterior (propulsive), posterior (braking), and lateral shear forces, as well as propulsive-breaking impulses were analyzed.
Results indicated that the propulsive force is the optimal GRF parameter for evaluating recovery of useful function.
With the help of the simulation results, closed-loop experiments are done and an operating region is established for critical kinematic parameters tail-beat frequency and propulsive wavelength.
The adaptivity of the automation process to several critical propulsive conditions reduces significantly the number of the control parameters to be estimated, as recently demonstrated by the automation design of a new twin-screw ship.
Previous studies on the plasma brake effect have emphasized the existence of a number of different parameters necessary to obtain an accurate description of the propulsive acceleration from a physical viewpoint.
The simulation results [28],[29] are useful during the closed-loop experimental verification [9] and operation of the robotic fish prototype as we know the variation of forward velocity with major kinematic parameters like tail-beat frequency (TBF), caudal amplitude (CA), propulsive wavelength (PW), and yaw angle.
