Optimum control strategies for maximum thrust production in underwater undulatory swimming - Ecole Nationale des Travaux Publics de l'Etat
Pré-Publication, Document De Travail Année : 2024

Optimum control strategies for maximum thrust production in underwater undulatory swimming

Résumé

Fishes, cetaceans, and many other aquatic vertebrates undulate their bodies to propel themselves through water. Swimming requires an intricate interplay between sensing the environment, making decisions, controlling internal dynamics, and moving the body in interaction with the external medium. Within this sequence of actions initiating locomotion, biological and physical laws manifest complex and nonlinear effects, which does not prevent natural swimmers to demonstrate efficient movement. This raises two complementary questions: how to model this intricacy and how to abstract it for practical swimming. In the context of robotics, the second question is of paramount importance to build efficient artificial swimmers driven by digital signals and mechanics. In this study, we tackle these two questions by leveraging a biomimetic robotic swimmer as a platform for investigating optimal control strategies for thrust generation. Through a combination of machine learning techniques and intuitive models, we identify a control signal that maximizes thrust production. Optimum tail-beat frequency and amplitude result from the subtle interplay between the swimmer's internal dynamics and its interaction with the surrounding fluid. We then propose a practical implementation for autonomous robotic swimmers that requires no prior knowledge of systems or equations. Direct fluid-structure simulations confirms the effectiveness and reliability of the proposed approach. Hence, our findings bridge fluid dynamics, robotics, and biology, providing valuable insights into the physics of aquatic locomotion

Fichier principal
Vignette du fichier
Fuetal2024_arXiv.pdf (4.07 Mo) Télécharger le fichier
Origine Fichiers produits par l'(les) auteur(s)

Dates et versions

hal-04772771 , version 1 (08-11-2024)

Identifiants

Citer

Li Fu, Sardor Israilov, Jesús Sánchez-Rodríguez, Christophe Brouzet, Guillaume Allibert, et al.. Optimum control strategies for maximum thrust production in underwater undulatory swimming. 2024. ⟨hal-04772771⟩
0 Consultations
0 Téléchargements

Altmetric

Partager

More