Bioinspiration & Biomimetics最新文献

Group cohesion and passive dynamics of a pair of inertial swimmers with three-dimensional hydrodynamic interactions. 具有三维流体动力相互作用的一对惯性游泳者的群体凝聚力和被动动力学。

IF 3.1 3区计算机科学

Bioinspiration & Biomimetics Pub Date : 2024-11-15 DOI: 10.1088/1748-3190/ad936d

Mohamed Niged Mabrouk, Daniel Floryan

引用次数: 0

Effects of maximum thickness position on hydrodynamic performance for fish-like swimmers. 最大厚度位置对鱼类游泳者水动力性能的影响。

IF 3.1 3区计算机科学

Bioinspiration & Biomimetics Pub Date : 2024-11-15 DOI: 10.1088/1748-3190/ad936f

Zhongying Xiong, Tao Han, Huan Xia

引用次数: 0

Bioinspired design and validation of a soft robotic end-effector with integrated SMA-driven suction capabilities. 受生物启发设计并验证了具有集成 SMA 驱动抽吸功能的软机器人末端执行器。

IF 3.1 3区计算机科学

Bioinspiration & Biomimetics Pub Date : 2024-11-15 DOI: 10.1088/1748-3190/ad936e

Weimian Zhou, Chanchan Xu, Guisong Chen, Xiaojie Wang

{"title":"Bioinspired design and validation of a soft robotic end-effector with integrated SMA-driven suction capabilities.","authors":"Weimian Zhou, Chanchan Xu, Guisong Chen, Xiaojie Wang","doi":"10.1088/1748-3190/ad936e","DOIUrl":"https://doi.org/10.1088/1748-3190/ad936e","url":null,"abstract":"The exploration of adaptive robotic systems capable of performing complex tasks in unstructured environments, such as underwater salvage operations, presents a significant challenge. Traditional rigid grippers often struggle with adaptability, whereas bioinspired soft grippers offer enhanced flexibility and adaptability to varied object shapes. In this study, we present a novel bioinspired soft robotic gripper integrated with a shape memory alloy (SMA) actuated suction cup, inspired by the versatile grasping strategies of octopus arms and suckers. Our design leverages a tendon-driven composite arm, enabling precise bending and adaptive grasping, combined with SMA technology to create a compact, efficient suction mechanism. We develop comprehensive kinematic and static models to predict the interaction between arm bending deflection and suction force, thereby optimizing the gripper's performance. Experimental validation demonstrates the efficacy of our integrated design, highlighting its potential for advanced manipulation tasks in challenging environments. This work provides a new perspective on the integration of bioinspired design principles with smart materials, paving the way for future innovations in adaptive robotic systems.&#xD.","PeriodicalId":55377,"journal":{"name":"Bioinspiration & Biomimetics","volume":" ","pages":""},"PeriodicalIF":3.1,"publicationDate":"2024-11-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142640376","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

The influence of neighbor selection on self-organized UAV swarm based on finite perception vision. 邻居选择对基于有限感知视觉的自组织无人机群的影响

IF 3.1 3区计算机科学

Bioinspiration & Biomimetics Pub Date : 2024-11-14 DOI: 10.1088/1748-3190/ad8d98

Hui Xiong, Xiuzhi Shi, Yaozu Ding, Xin Liu, Chenyang Yao, Jinzhen Liu, Yimei Chen, Jiaxing Wang

{"title":"The influence of neighbor selection on self-organized UAV swarm based on finite perception vision.","authors":"Hui Xiong, Xiuzhi Shi, Yaozu Ding, Xin Liu, Chenyang Yao, Jinzhen Liu, Yimei Chen, Jiaxing Wang","doi":"10.1088/1748-3190/ad8d98","DOIUrl":"10.1088/1748-3190/ad8d98","url":null,"abstract":"Recently, vision-based unmanned aerial vehicle (UAV) swarming has emerged as a promising alternative that can overcome the adaptability and scalability limitations of distributed and communication-based UAV swarm systems. While most vision-based control algorithms are predicated on the detection of neighboring objects, they often overlook key perceptual factors such as visual occlusion and the impact of visual sensor limitations on swarm performance. To address the interaction problem of neighbor selection at the core of self-organizing UAV swarm control, a perceptually realistic finite perception visual (FPV) neighbor selection model is proposed, which is based on the lateral visual characteristics of birds, incorporates adjustable lateral visual field widths and orientations, and is able to ignore occluded agents. Based on the FPV model, a neighbor selection method based on the acute angle test (AAT) is proposed, which overcomes the limitation that the traditional neighbor selection mechanism can only interact with the nearest neighboring agents. A large number of Monte Carlo simulation comparison experiments show that the proposed FPV+AAT neighbor selection mechanism can reduce the redundant communication burden between large-scale self-organized UAV swarms, and outperforms the traditional neighbor selection method in terms of order, safety, union, connectivity, and noise resistance.","PeriodicalId":55377,"journal":{"name":"Bioinspiration & Biomimetics","volume":" ","pages":""},"PeriodicalIF":3.1,"publicationDate":"2024-11-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142559547","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Soft robots and soft bodies: biological insights into the structure and function of fluidic soft robots. 软机器人和软体：对流体软机器人结构和功能的生物学见解。

IF 3.1 3区计算机科学

Bioinspiration & Biomimetics Pub Date : 2024-11-14 DOI: 10.1088/1748-3190/ad8b8d

Amir Hosein Zamanian, Janice Voltzow

引用次数: 0

Optimization of a passive roll absorber for robotic fish based on tune mass damper. 基于调谐质量阻尼器的机器鱼被动滚动吸收器的优化。

IF 3.1 3区计算机科学

Bioinspiration & Biomimetics Pub Date : 2024-11-13 DOI: 10.1088/1748-3190/ad920c

Chunhui Zhu, Chao Zhou, Qianqian Zou, Junfeng Fan, Zhuoliang Zhang, Yaming Ou, Jian Wang

{"title":"Optimization of a passive roll absorber for robotic fish based on tune mass damper.","authors":"Chunhui Zhu, Chao Zhou, Qianqian Zou, Junfeng Fan, Zhuoliang Zhang, Yaming Ou, Jian Wang","doi":"10.1088/1748-3190/ad920c","DOIUrl":"https://doi.org/10.1088/1748-3190/ad920c","url":null,"abstract":"The robotic fish utilizes a bio-inspired undulatory propulsion system to achieve high swimming performance. However, significant roll motion has been observed at the head when the tail oscillates at certain frequencies, adversely affecting both perception accuracy and propulsion efficiency. In this paper, the roll torque acting on the robotic fish is theoretically analyzed and decomposed into gravitational, inertial, and hydrodynamic components. Resonance is identified as a key factor amplifying the roll response. To mitigate this roll and enhance stability, a passive roll absorber based on tuned mass damper is designed. A simplified rolling structure is dynamically modeled to optimize absorber parameters. Experiments are conducted to quantify the roll torque experienced by the robotic fish, with the effectiveness of the absorber verified on both the simplified model and the robotic fish. Results show that the maximum roll angle of the simplified system under harmonic load decreases from 98 degrees to 29 degrees, representing a reduction of over 70%, while a 25.1% reduction is achieved on the robotic fish.","PeriodicalId":55377,"journal":{"name":"Bioinspiration & Biomimetics","volume":" ","pages":""},"PeriodicalIF":3.1,"publicationDate":"2024-11-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142632879","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

The thrust balance model during the dragonfly hovering flight. 蜻蜓盘旋飞行时的推力平衡模型。

IF 3.1 3区计算机科学

Bioinspiration & Biomimetics Pub Date : 2024-11-13 DOI: 10.1088/1748-3190/ad8d29

Kaixuan Zhang, Xiaohui Su, Yong Zhao

{"title":"The thrust balance model during the dragonfly hovering flight.","authors":"Kaixuan Zhang, Xiaohui Su, Yong Zhao","doi":"10.1088/1748-3190/ad8d29","DOIUrl":"10.1088/1748-3190/ad8d29","url":null,"abstract":"In recent years, the micro air vehicle (MAV) oscillations caused by thrust imbalances have received more attention. This paper proposes a dual-wing thrust balance model (DTBM) that can solve the above problem by iterating the modified rotation angle formula. The core control parameter of the DTBM model is the au angle, which refers to the angle between the wing surface and the stroke plane at the mid-stroke position during the upstroke. For each degree change in the au angle, the range of variation in the dimensionless average thrust coefficient is between 0.0225-0.0268. A thrust coefficient of 0.0225 causes the dragonfly to move forward by 9.037 cm in one second, which is equivalent to 1.29 times its body length. By using DTBM, the average thrust coefficient can be reduced to below 0.001 in just a few iterations. No matter how complex the motion pattern is, the DTBM can achieve thrust balance within 0.278 s. Through our research, when selecting the deviation angle motion of real dragonflies, the dual-wing au angles exhibit a highly linear correlation with wing spacing, called linear motion. In contrast, the nonlinear variation of the au angle appears in the hindwing of the no-deviation motion and the forewing of the elliptical deviation motion. All of the nonlinear changes are referred to as nonlinear motion. Nonlinear variation of the au angle arises from larger disturbances of the lateral force during the upstroke. The stronger lateral force is closely related to the flapping trajectory. When the flapping trajectory causes the dual-wing to closely approach each other in the mid-stroke, a continuous positive pressure zone forms between the dual-wing. The collision of the leading-edge vortex and the shedding of the trailing-edge vortex is the special flow field structure in the nonlinear motion. Guided by the DTBM, future designs of MAVs will be able to better achieve thrust balance during hovering flight, requiring only the embedding of the iteration algorithm and prediction function of the DTBM in the internal chip.","PeriodicalId":55377,"journal":{"name":"Bioinspiration & Biomimetics","volume":" ","pages":""},"PeriodicalIF":3.1,"publicationDate":"2024-11-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142549083","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Vertical bending and aerodynamic performance in flying snake-inspired aerial undulation. 飞蛇启发的空中起伏中的垂直弯曲和空气动力性能。

IF 3.1 3区计算机科学

Bioinspiration & Biomimetics Pub Date : 2024-11-13 DOI: 10.1088/1748-3190/ad920b

Yuchen Gong, Zihao Huang, Haibo Dong

{"title":"Vertical bending and aerodynamic performance in flying snake-inspired aerial undulation.","authors":"Yuchen Gong, Zihao Huang, Haibo Dong","doi":"10.1088/1748-3190/ad920b","DOIUrl":"https://doi.org/10.1088/1748-3190/ad920b","url":null,"abstract":"This paper presents a numerical investigation into the aerodynamic characteristics and fluid dynamics of a flying snake-like model employing vertical bending locomotion during aerial undulation in steady gliding. In addition to its typical horizontal undulation, the modeled kinematics incorporates vertical undulations and dorsal-to-ventral bending movements while in motion. Using a computational approach with an incompressible flow solver based on the immersed-boundary method, this study employs Topological Local Mesh Refinement (TLMR) mesh blocks to ensure the high resolution of the grid around the moving body. Initially, we applied a vertical wave undulation to a snake model undulating horizontally, investigating the effects of vertical wave amplitudes (ψ_m). The vortex dynamics analysis unveiled alterations in leading-edge vortices (LEV) formation within the midplane due to changes in the effective angle of attack resulting from vertical bending, directly influencing lift generation. Our findings highlighted peak lift production at ψ_m=2.5° and the highest lift-to-drag ratio at ψ_m=5°, with aerodynamic performance declining beyond this threshold. Subsequently, we studied the effects of the dorsal-ventral bending amplitude (ψ_DV), showing that the tail-up/down body posture can result in different fore-aft body interactions. Compared to the baseline configuration, the lift generation is observed to increase by 17.3% at ψ_DV = 5°, while a preferable lift-to-drag ratio is found at ψ_DV = -5°. This study explains the flow dynamics associated with vertical bending and uncovers fundamental mechanisms governing body-body interaction, contributing to the enhancement of lift production and efficiency of aerial undulation in snake-inspired gliding.","PeriodicalId":55377,"journal":{"name":"Bioinspiration & Biomimetics","volume":" ","pages":""},"PeriodicalIF":3.1,"publicationDate":"2024-11-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142632920","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

A bio-inspired looming detection for stable landing in unmanned aerial vehicles^. 用于无人驾驶飞行器稳定着陆的生物感知探测系统。

IF 3.1 3区计算机科学

Bioinspiration & Biomimetics Pub Date : 2024-11-13 DOI: 10.1088/1748-3190/ad8d99

Yupeng Xie, Zhiteng Li, Linkun Song, Jiannan Zhao

引用次数: 0

Enhancing the performance of a resonance-based sensor network for soft robots using binary excitation. 利用二元激励提高基于共振的软机器人传感器网络的性能

IF 3.1 3区计算机科学

Bioinspiration & Biomimetics Pub Date : 2024-11-12 DOI: 10.1088/1748-3190/ad8c08

Kevin Chubb, Damon Berry, Ted Burke

{"title":"Enhancing the performance of a resonance-based sensor network for soft robots using binary excitation.","authors":"Kevin Chubb, Damon Berry, Ted Burke","doi":"10.1088/1748-3190/ad8c08","DOIUrl":"10.1088/1748-3190/ad8c08","url":null,"abstract":"Embedded, flexible, multi-sensor sensing networks have shown the potential to provide soft robots with reliable feedback while navigating unstructured environments. Time delay associated with extracting information from these sensing networks and the complexity of constructing them are significant obstacles to their development. This paper presents a novel enhancement to an existing class of embedded sensor network with the potential to overcome these challenges. In its original version, this sensor network extracts information from multiple reactive sensors on a two-wire electrical circuit simultaneously. This paper proposes to change the excitation signal applied to this sensor network to a binary signal. This change offers two key advantages: it provides the ability to employ small, inexpensive microcontrollers and results in a faster data extraction process. The potential of this enhanced system is demonstrated here with a proof of concept implementation. The self-inductance of all inductance-based sensors within this proof of concept sensor network can be measured at a rate of over 5000 times per second with an average measurement error of less than 2%.","PeriodicalId":55377,"journal":{"name":"Bioinspiration & Biomimetics","volume":" ","pages":""},"PeriodicalIF":3.1,"publicationDate":"2024-11-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142523681","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0