Computational analysis of undulatory batoid motion for underwater robotic propulsion

Nicholas Sharp; Virginia Hagen-Gates; Evan Hemingway; Molly Syme; Juelyan Via; Jeffrey Feaster; Javid Bayandor; Sunghwan Jung; Francine Battaglia; Andrew Kurdila

doi:10.1115/FEDSM2014-22077

Computational analysis of undulatory batoid motion for underwater robotic propulsion

Nicholas Sharp
, Virginia Hagen-Gates
, Evan Hemingway
, Molly Syme
, Juelyan Via
, Jeffrey Feaster
, Javid Bayandor
, Sunghwan Jung
, Francine Battaglia
, Andrew Kurdila

Department of Mechanical and Aerospace Engineering

Virginia Polytechnic Institute and State University

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

8 Scopus citations

Abstract

Underwater fish of the class Batoidea, commonly known as rays and skates, use large cartilaginous wings to propel themselves through the water. This motion is of great interest in bioinspired robotics as an alternative propulsion mechanism. Prior research has focused primarily on the oscillating kinematics used by some species which resembles flapping; this study investigates undulatory motion induced by propagating sinusoidal waves along the fin. An analytical model of undulatory kinematics is presented and correlated with biological literature, and the model is then simulated via unsteady computational fluid dynamics and multiparticle collision dynamics. A bioinspired robot, Batoid Underwater Robotics Testbed (BURT), was developed to test the kinematics of the undulating propulsion system proposed. Finally, BURT was utilized as a platform to investigate engineering challenges in undulating Batoid robotics.

Original language	English
Title of host publication	Symposia
Subtitle of host publication	Advances in Fluids Engineering Education; Turbomachinery Flow Predictions and Optimization; Applications in CFD; Bio-Inspired Fluid Mechanics; Droplet-Surface Interactions; CFD Verification and Validation; Development and Applications of Immersed Boundary Methods; DNS, LES, and Hybrid RANS/LES Methods
Publisher	American Society of Mechanical Engineers (ASME)
ISBN (Electronic)	9780791846216
DOIs	https://doi.org/10.1115/FEDSM2014-22077
State	Published - 2014
Event	ASME 2014 4th Joint US-European Fluids Engineering Division Summer Meeting, FEDSM 2014, Collocated with the ASME 2014 12th International Conference on Nanochannels, Microchannels, and Minichannels - Chicago, United States Duration: Aug 3 2014 → Aug 7 2014

Publication series

Name	American Society of Mechanical Engineers, Fluids Engineering Division (Publication) FEDSM
Volume	1A
ISSN (Print)	0888-8116

Conference

Conference	ASME 2014 4th Joint US-European Fluids Engineering Division Summer Meeting, FEDSM 2014, Collocated with the ASME 2014 12th International Conference on Nanochannels, Microchannels, and Minichannels
Country/Territory	United States
City	Chicago
Period	08/3/14 → 08/7/14

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10.1115/FEDSM2014-22077

Cite this

Sharp, N., Hagen-Gates, V., Hemingway, E., Syme, M., Via, J., Feaster, J., Bayandor, J., Jung, S., Battaglia, F., & Kurdila, A. (2014). Computational analysis of undulatory batoid motion for underwater robotic propulsion. In Symposia: Advances in Fluids Engineering Education; Turbomachinery Flow Predictions and Optimization; Applications in CFD; Bio-Inspired Fluid Mechanics; Droplet-Surface Interactions; CFD Verification and Validation; Development and Applications of Immersed Boundary Methods; DNS, LES, and Hybrid RANS/LES Methods (American Society of Mechanical Engineers, Fluids Engineering Division (Publication) FEDSM; Vol. 1A). American Society of Mechanical Engineers (ASME). https://doi.org/10.1115/FEDSM2014-22077

Sharp, Nicholas ; Hagen-Gates, Virginia ; Hemingway, Evan et al. / Computational analysis of undulatory batoid motion for underwater robotic propulsion. Symposia: Advances in Fluids Engineering Education; Turbomachinery Flow Predictions and Optimization; Applications in CFD; Bio-Inspired Fluid Mechanics; Droplet-Surface Interactions; CFD Verification and Validation; Development and Applications of Immersed Boundary Methods; DNS, LES, and Hybrid RANS/LES Methods. American Society of Mechanical Engineers (ASME), 2014. (American Society of Mechanical Engineers, Fluids Engineering Division (Publication) FEDSM).

@inproceedings{c2f220ea159d449b9c53dd5a6e30b615,

title = "Computational analysis of undulatory batoid motion for underwater robotic propulsion",

abstract = "Underwater fish of the class Batoidea, commonly known as rays and skates, use large cartilaginous wings to propel themselves through the water. This motion is of great interest in bioinspired robotics as an alternative propulsion mechanism. Prior research has focused primarily on the oscillating kinematics used by some species which resembles flapping; this study investigates undulatory motion induced by propagating sinusoidal waves along the fin. An analytical model of undulatory kinematics is presented and correlated with biological literature, and the model is then simulated via unsteady computational fluid dynamics and multiparticle collision dynamics. A bioinspired robot, Batoid Underwater Robotics Testbed (BURT), was developed to test the kinematics of the undulating propulsion system proposed. Finally, BURT was utilized as a platform to investigate engineering challenges in undulating Batoid robotics.",

author = "Nicholas Sharp and Virginia Hagen-Gates and Evan Hemingway and Molly Syme and Juelyan Via and Jeffrey Feaster and Javid Bayandor and Sunghwan Jung and Francine Battaglia and Andrew Kurdila",

note = "Publisher Copyright: Copyright {\textcopyright} 2014 by ASME.; ASME 2014 4th Joint US-European Fluids Engineering Division Summer Meeting, FEDSM 2014, Collocated with the ASME 2014 12th International Conference on Nanochannels, Microchannels, and Minichannels ; Conference date: 03-08-2014 Through 07-08-2014",

year = "2014",

doi = "10.1115/FEDSM2014-22077",

language = "English",

series = "American Society of Mechanical Engineers, Fluids Engineering Division (Publication) FEDSM",

publisher = "American Society of Mechanical Engineers (ASME)",

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Sharp, N, Hagen-Gates, V, Hemingway, E, Syme, M, Via, J, Feaster, J, Bayandor, J, Jung, S, Battaglia, F & Kurdila, A 2014, Computational analysis of undulatory batoid motion for underwater robotic propulsion. in Symposia: Advances in Fluids Engineering Education; Turbomachinery Flow Predictions and Optimization; Applications in CFD; Bio-Inspired Fluid Mechanics; Droplet-Surface Interactions; CFD Verification and Validation; Development and Applications of Immersed Boundary Methods; DNS, LES, and Hybrid RANS/LES Methods. American Society of Mechanical Engineers, Fluids Engineering Division (Publication) FEDSM, vol. 1A, American Society of Mechanical Engineers (ASME), ASME 2014 4th Joint US-European Fluids Engineering Division Summer Meeting, FEDSM 2014, Collocated with the ASME 2014 12th International Conference on Nanochannels, Microchannels, and Minichannels, Chicago, United States, 08/3/14. https://doi.org/10.1115/FEDSM2014-22077

Computational analysis of undulatory batoid motion for underwater robotic propulsion. / Sharp, Nicholas; Hagen-Gates, Virginia; Hemingway, Evan et al.
Symposia: Advances in Fluids Engineering Education; Turbomachinery Flow Predictions and Optimization; Applications in CFD; Bio-Inspired Fluid Mechanics; Droplet-Surface Interactions; CFD Verification and Validation; Development and Applications of Immersed Boundary Methods; DNS, LES, and Hybrid RANS/LES Methods. American Society of Mechanical Engineers (ASME), 2014. (American Society of Mechanical Engineers, Fluids Engineering Division (Publication) FEDSM; Vol. 1A).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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T1 - Computational analysis of undulatory batoid motion for underwater robotic propulsion

AU - Sharp, Nicholas

AU - Hagen-Gates, Virginia

AU - Hemingway, Evan

AU - Syme, Molly

AU - Via, Juelyan

AU - Feaster, Jeffrey

AU - Bayandor, Javid

AU - Jung, Sunghwan

AU - Battaglia, Francine

AU - Kurdila, Andrew

PY - 2014

Y1 - 2014

N2 - Underwater fish of the class Batoidea, commonly known as rays and skates, use large cartilaginous wings to propel themselves through the water. This motion is of great interest in bioinspired robotics as an alternative propulsion mechanism. Prior research has focused primarily on the oscillating kinematics used by some species which resembles flapping; this study investigates undulatory motion induced by propagating sinusoidal waves along the fin. An analytical model of undulatory kinematics is presented and correlated with biological literature, and the model is then simulated via unsteady computational fluid dynamics and multiparticle collision dynamics. A bioinspired robot, Batoid Underwater Robotics Testbed (BURT), was developed to test the kinematics of the undulating propulsion system proposed. Finally, BURT was utilized as a platform to investigate engineering challenges in undulating Batoid robotics.

AB - Underwater fish of the class Batoidea, commonly known as rays and skates, use large cartilaginous wings to propel themselves through the water. This motion is of great interest in bioinspired robotics as an alternative propulsion mechanism. Prior research has focused primarily on the oscillating kinematics used by some species which resembles flapping; this study investigates undulatory motion induced by propagating sinusoidal waves along the fin. An analytical model of undulatory kinematics is presented and correlated with biological literature, and the model is then simulated via unsteady computational fluid dynamics and multiparticle collision dynamics. A bioinspired robot, Batoid Underwater Robotics Testbed (BURT), was developed to test the kinematics of the undulating propulsion system proposed. Finally, BURT was utilized as a platform to investigate engineering challenges in undulating Batoid robotics.

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M3 - Conference contribution

AN - SCOPUS:84920059867

T3 - American Society of Mechanical Engineers, Fluids Engineering Division (Publication) FEDSM

BT - Symposia

PB - American Society of Mechanical Engineers (ASME)

T2 - ASME 2014 4th Joint US-European Fluids Engineering Division Summer Meeting, FEDSM 2014, Collocated with the ASME 2014 12th International Conference on Nanochannels, Microchannels, and Minichannels

Y2 - 3 August 2014 through 7 August 2014

ER -

Sharp N, Hagen-Gates V, Hemingway E, Syme M, Via J, Feaster J et al. Computational analysis of undulatory batoid motion for underwater robotic propulsion. In Symposia: Advances in Fluids Engineering Education; Turbomachinery Flow Predictions and Optimization; Applications in CFD; Bio-Inspired Fluid Mechanics; Droplet-Surface Interactions; CFD Verification and Validation; Development and Applications of Immersed Boundary Methods; DNS, LES, and Hybrid RANS/LES Methods. American Society of Mechanical Engineers (ASME). 2014. (American Society of Mechanical Engineers, Fluids Engineering Division (Publication) FEDSM). doi: 10.1115/FEDSM2014-22077

Computational analysis of undulatory batoid motion for underwater robotic propulsion

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