Design and Implementation of a Biologically Inspired Swimming Robot - An EPS@ISEP 2014 Spring Project

This paper presents the development of a fish-like robot called Bro-Fish. Bro-Fish aims to be an educational toy dedicated to teaching mechanics, programming and the physics of floating objects to youngsters. The underlying intention is to awaken the interest of children for technology, especially biomimetic (biologically inspired) approaches, in order to promote sustainability and raise the level of ecological awareness. The main focus of this project was to create a robot with carangiform locomotion and controllable swimming, providing the opportunity to customize parts and experiment with the physics of floating objects. Therefore, the locomotion principles of fishes and mechanisms developed in related projects were analysed. Inspired by this background knowledge, a prototype was designed and implemented. The main achievement is the new tail mechanism that propels the robot. The tail resembles the undulation motion of fish bodies and is actuated in an innovative way, triggered by an elegant movement of a rotating helicoidal. First experimental tests revealed the potential of the proposed methodology to effectively generate forward propulsion.

Projeto, desenvolvimento e implementação de um robô nadador de inspiração biológica

A elaboração deste trabalho surge no âmbito da unidade curricular de Tese/Dissertação, pertencente ao Mestrado em Engenharia Eletrotécnica e Computadores, ramo de Automação e Sistemas, do Instituto Superior de Engenharia do Porto (ISEP). Este trabalho enquadra-se no âmbito da robótica de inspiração biológica no meio aquático. Pretendeu-se com este trabalho desenvolver e implementar um robô nadador de inspiração biológica. Inicialmente foi realizado um estudo acerca da locomoção dos peixes, para perceber a sua forma de se movimentar. Foi ainda efetuado um estudo acerca dos robôs nadadores existentes, de forma a verificar a sua constituição e formas de locomoção. Numa fase inicial foi desenvolvido um protótipo e, de seguida, procedeu-se à implementação do robô de uma forma sequencial. Implementou-se a estrutura do robô, com o objetivo de se assemelhar o mais possível com um peixe biológico. Foram utilizados servomotores para a locomoção do robô. Para que o robô possua a capacidade de se movimentar numa determinada direção recorreu-se à utilização de uma bússola digital. Posteriormente introduziu-se um emissor/recetor de radiofrequência (RF) para ligar/desligar o robô. Numa fase final procederam-se aos testes da locomoção do robô. Nos ensaios realizados verificou-se que o robô conseguiu nadar com estabilidade e com sentido de direção.

BR3: a biologically inspired fish-like robot actuated by SMA-based artificial muscles

Los peces son animales, donde en la mayoría de los casos, son considerados como nadadores muy eficientes y con una alta capacidad de maniobra. En general los peces se caracterizan por su capacidad de maniobra, locomoción silencioso, giros y partidas rápidas y viajes de larga distancia. Los estudios han identificado varios tipos de locomoción que los peces usan para generar maniobras y natación constante. A bajas velocidades la mayoría de los peces utilizan sus aletas pares y / o impares para su locomoción, que ofrecen una mayor maniobrabilidad y mejor eficiencia de propulsión. A altas velocidades la locomoción implica el cuerpo y / o aleta caudal porque esto puede lograr un mayor empuje y aceleración. Estas características pueden inspirar el diseo y fabricación de una piel muy flexible, una aleta caudal mórfica y una espina dorsal no articulada con una gran capacidad de maniobra. Esta tesis presenta el desarrollo de un novedoso pez robot bio-inspirado y biomimético llamado BR3, inspirado en la capacidad de maniobra y nado constante de los peces vertebrados. Inspirado por la morfología de los peces Micropterus salmoides o también conocido como lubina negra, el robot BR3 utiliza su fundamento biológico para desarrollar modelos y métodos matemáticos precisos que permiten imitar la locomoción de los peces reales. Los peces Largemouth Bass pueden lograr un nivel increíble de maniobrabilidad y eficacia de la propulsión mediante la combinación de los movimientos ondulatorios y aletas morficas. Para imitar la locomoción de los peces reales en una contraparte artificial se necesita del análisis de tecnologías de actuación alternativos, como arreglos de fibras musculares en lugar de servo actuadores o motores DC estándar, así como un material flexible que proporciona una estructura continua sin juntas. Las aleaciones con memoria de forma (SMAs) proveen la posibilidad de construir robots livianos, que no emiten ruido, sin motores, sin juntas y sin engranajes. Asi es como un pez robot submarino se ha desarrollado y cuyos movimientos son generados mediante SMAs. Estos actuadores son los adecuados para doblar la espina dorsal continua del pez robot, que a su vez provoca un cambio en la curvatura del cuerpo. Este tipo de arreglo estructural está inspirado en los músculos rojos del pescado, que son usados principalmente durante la natación constante para la flexión de una estructura flexible pero casi incompresible como lo es la espina dorsal de pescado. Del mismo modo la aleta caudal se basa en SMAs y se modifica para llevar a cabo el trabajo necesario. La estructura flexible proporciona empuje y permite que el BR3 nade. Por otro lado la aleta caudal mórfica proporciona movimientos de balanceo y guiada. Motivado por la versatilidad del BR3 para imitar todos los modos de natación (anguilliforme, carangiforme, subcarangiforme y tunniforme) se propone un controlador de doblado y velocidad. La ley de control de doblado y velocidad incorpora la información del ángulo de curvatura y de la frecuencia para producir el modo de natación deseado y a su vez controlar la velocidad de natación. Así mismo de acuerdo con el hecho biológico de la influencia de la forma de la aleta caudal en la maniobrabilidad durante la natación constante se propone un control de actitud. Esta novedoso robot pescado es el primero de su tipo en incorporar sólo SMAs para doblar una estructura flexible continua y sin juntas y engranajes para producir empuje e imitar todos los modos de natación, así como la aleta caudal que es capaz de cambiar su forma. Este novedoso diseo mecatrónico presenta un futuro muy prometedor para el diseo de vehículos submarinos capaces de modificar su forma y nadar mas eficientemente. La nueva metodología de control propuesto en esta tesis proporcionan una forma totalmente nueva de control de robots basados en SMAs, haciéndolos energéticamente más eficientes y la incorporación de una aleta caudal mórfica permite realizar maniobras más eficientemente. En su conjunto, el proyecto BR3 consta de cinco grandes etapas de desarrollo: • Estudio y análisis biológico del nado de los peces con el propósito de definir criterios de diseño y control. • Formulación de modelos matemáticos que describan la: i) cinemática del cuerpo, ii) dinámica, iii) hidrodinámica iv) análisis de los modos de vibración y v) actuación usando SMA. Estos modelos permiten estimar la influencia de modular la aleta caudal y el doblado del cuerpo en la producción de fuerzas de empuje y fuerzas de rotación necesarias en las maniobras y optimización del consumo de energía. • Diseño y fabricación de BR3: i) estructura esquelética de la columna vertebral y el cuerpo, ii) mecanismo de actuación basado en SMAs para el cuerpo y la aleta caudal, iii) piel artificial, iv) electrónica embebida y v) fusión sensorial. Está dirigido a desarrollar la plataforma de pez robot BR3 que permite probar los métodos propuestos. • Controlador de nado: compuesto por: i) control de las SMA (modulación de la forma de la aleta caudal y regulación de la actitud) y ii) control de nado continuo (modulación de la velocidad y doblado). Está dirigido a la formulación de los métodos de control adecuados que permiten la modulación adecuada de la aleta caudal y el cuerpo del BR3. • Experimentos: está dirigido a la cuantificación de los efectos de: i) la correcta modulación de la aleta caudal en la producción de rotación y su efecto hidrodinámico durante la maniobra, ii) doblado del cuerpo para la producción de empuje y iii) efecto de la flexibilidad de la piel en la habilidad para doblarse del BR3. También tiene como objetivo demostrar y validar la hipótesis de mejora en la eficiencia de la natación y las maniobras gracias a los nuevos métodos de control presentados en esta tesis. A lo largo del desarrollo de cada una de las cinco etapas, se irán presentando los retos, problemáticas y soluciones a abordar. Los experimentos en canales de agua estarán orientados a discutir y demostrar cómo la aleta caudal y el cuerpo pueden afectar considerablemente la dinámica / hidrodinámica de natación / maniobras y cómo tomar ventaja de la modulación de curvatura que la aleta caudal mórfica y el cuerpo permiten para cambiar correctamente la geometría de la aleta caudal y del cuerpo durante la natación constante y maniobras. ABSTRACT Fishes are animals where in most cases are considered as highly manoeuvrable and effortless swimmers. In general fishes are characterized for his manoeuvring skills, noiseless locomotion, rapid turning, fast starting and long distance cruising. Studies have identified several types of locomotion that fish use to generate maneuvering and steady swimming. At low speeds most fishes uses median and/or paired fins for its locomotion, offering greater maneuverability and better propulsive efficiency At high speeds the locomotion involves the body and/or caudal fin because this can achieve greater thrust and accelerations. This can inspire the design and fabrication of a highly deformable soft artificial skins, morphing caudal fins and non articulated backbone with a significant maneuverability capacity. This thesis presents the development of a novel bio-inspired and biomimetic fishlike robot (BR3) inspired by the maneuverability and steady swimming ability of ray-finned fishes (Actinopterygii, bony fishes). Inspired by the morphology of the Largemouth Bass fish, the BR3 uses its biological foundation to develop accurate mathematical models and methods allowing to mimic fish locomotion. The Largemouth Bass fishes can achieve an amazing level of maneuverability and propulsive efficiency by combining undulatory movements and morphing fins. To mimic the locomotion of the real fishes on an artificial counterpart needs the analysis of alternative actuation technologies more likely muscle fiber arrays instead of standard servomotor actuators as well as a bendable material that provides a continuous structure without joins. The Shape Memory Alloys (SMAs) provide the possibility of building lightweight, joint-less, noise-less, motor-less and gear-less robots. Thus a swimming underwater fish-like robot has been developed whose movements are generated using SMAs. These actuators are suitable for bending the continuous backbone of the fish, which in turn causes a change in the curvature of the body. This type of structural arrangement is inspired by fish red muscles, which are mainly recruited during steady swimming for the bending of a flexible but nearly incompressible structure such as the fishbone. Likewise the caudal fin is based on SMAs and is customized to provide the necessary work out. The bendable structure provides thrust and allows the BR3 to swim. On the other hand the morphing caudal fin provides roll and yaw movements. Motivated by the versatility of the BR3 to mimic all the swimming modes (anguilliform, caranguiform, subcaranguiform and thunniform) a bending-speed controller is proposed. The bending-speed control law incorporates bend angle and frequency information to produce desired swimming mode and swimming speed. Likewise according to the biological fact about the influence of caudal fin shape in the maneuverability during steady swimming an attitude control is proposed. This novel fish robot is the first of its kind to incorporate only SMAs to bend a flexible continuous structure without joints and gears to produce thrust and mimic all the swimming modes as well as the caudal fin to be morphing. This novel mechatronic design is a promising way to design more efficient swimming/morphing underwater vehicles. The novel control methodology proposed in this thesis provide a totally new way of controlling robots based on SMAs, making them more energy efficient and the incorporation of a morphing caudal fin allows to perform more efficient maneuvers. As a whole, the BR3 project consists of five major stages of development: • Study and analysis of biological fish swimming data reported in specialized literature aimed at defining design and control criteria. • Formulation of mathematical models for: i) body kinematics, ii) dynamics, iii) hydrodynamics, iv) free vibration analysis and v) SMA muscle-like actuation. It is aimed at modelling the e ects of modulating caudal fin and body bend into the production of thrust forces for swimming, rotational forces for maneuvering and energy consumption optimisation. • Bio-inspired design and fabrication of: i) skeletal structure of backbone and body, ii) SMA muscle-like mechanisms for the body and caudal fin, iii) the artificial skin, iv) electronics onboard and v) sensor fusion. It is aimed at developing the fish-like platform (BR3) that allows for testing the methods proposed. • The swimming controller: i) control of SMA-muscles (morphing-caudal fin modulation and attitude regulation) and ii) steady swimming control (bend modulation and speed modulation). It is aimed at formulating the proper control methods that allow for the proper modulation of BR3’s caudal fin and body. • Experiments: it is aimed at quantifying the effects of: i) properly caudal fin modulation into hydrodynamics and rotation production for maneuvering, ii) body bending into thrust generation and iii) skin flexibility into BR3 bending ability. It is also aimed at demonstrating and validating the hypothesis of improving swimming and maneuvering efficiency thanks to the novel control methods presented in this thesis. This thesis introduces the challenges and methods to address these stages. Waterchannel experiments will be oriented to discuss and demonstrate how the caudal fin and body can considerably affect the dynamics/hydrodynamics of swimming/maneuvering and how to take advantage of bend modulation that the morphing-caudal fin and body enable to properly change caudal fin and body’ geometry during steady swimming and maneuvering.

Relationship Between Aerobic And Anaerobic Parameters From 3-minute All-out Tethered Swimming And 400-m Maximal Front Crawl Effort.

The main aim of this investigation was to verify the relationship of the variables measured during a 3-minute all-out test with aerobic (i.e., peak oxygen uptake [(Equation is included in full-text article.)] and intensity corresponding to the lactate minimum [LMI]) and anaerobic parameters (i.e., anaerobic work) measured during a 400-m maximal performance. To measure force continually and to avoid the possible influences caused by turns, the 3-minute all-out effort was performed in tethered swimming. Thirty swimmers performed the following tests: (a) a 3-minute all-out tethered swimming test to determine the final force (equivalent to critical force: CF3-MIN) and the work performed above CF3-MIN (W'3-MIN), (b) a LMI protocol to determine the LMI during front crawl swimming, and (c) a 400-m maximal test to determine the (Equation is included in full-text article.)and total anaerobic contribution (WANA). Correlations between the variables were tested using the Pearson's correlation test (p ≤ 0.05). CF3-MIN (73.9 ± 13.2 N) presented a high correlation with the LMI (1.33 ± 0.08 m·s; p = 0.01) and (Equation is included in full-text article.)(4.5 ± 1.2 L·min; p = 0.01). However, the W'3-MIN (1,943.2 ± 719.2 N·s) was only moderately correlated with LMI (p = 0.02) and (Equation is included in full-text article.)(p = 0.01). In summary, CF3-MIN determined during the 3-minute all-out effort is associated with oxidative metabolism and can be used to estimate the aerobic capacity of swimmers. In contrast, the anaerobic component of this model (W'3-MIN) is not correlated with WANA.

Influência da hipermobilidade articular na performance e incidência de lesões no atleta de natação = : Influence of articular hypermobility in the performance and incidence of injuries in the athlete swimming

Universidade Estadual de Campinas . Faculdade de Educação Física

Análise do desempenho em testes de triathlon com diferentes intensidades durante a etapa natação = : Analysis of triathlon trials performance using different intensities during swimming phase

Universidade Estadual de Campinas . Faculdade de Educação Física

Acute reversible inactivation of the bed nucleus of stria terminalis induces antidepressant-like effect in the rat forced swimming test

Background: The bed nucleus of stria terminalis (BNST) is a limbic forebrain structure involved in hypothalamo-pituitary-adrenal axis regulation and stress adaptation. Inappropriate adaptation to stress is thought to compromise the organism's coping mechanisms, which have been implicated in the neurobiology of depression. However, the studies aimed at investigating BNST involvement in depression pathophysiology have yielded contradictory results. Therefore, the objective of the present study was to investigate the effects of temporary acute inactivation of synaptic transmission in the BNST by local microinjection of cobalt chloride (CoCl(2)) in rats subjected to the forced swimming test (FST). Methods: Rats implanted with cannulae aimed at the BNST were submitted to 15 min of forced swimming (pretest). Twenty- four hours later immobility time was registered in a new 5 min forced swimming session (test). Independent groups of rats received bilateral microinjections of CoCl(2) (1 mM/100 nL) before or immediately after pretest or before the test session. Additional groups received the same treatment and were submitted to the open field test to control for unspecific effects on locomotor behavior. Results: CoCl(2) injection into the BNST before either the pretest or test sessions reduced immobility in the FST, suggesting an antidepressant-like effect. No significant effect of CoCl(2) was observed when it was injected into the BNST immediately after pretest. In addition, no effect of BNST inactivation was observed in the open field test. Conclusion: These results suggest that acute reversible inactivation of synaptic transmission in the BNST facilitates adaptation to stress and induces antidepressant-like effects.

An external focus of attention results in greater swimming speed

We examined effects of attentional focus on swimming speed. Participants` task was to swim one length of a pool (16 m) using the front crawl stroke. In Experiment 1, intermediate swimmers were given attentional focus instructions related to the crawl arm stroke or the leg kick, respectively. Participants were instructed to focus on ""pulling your hands back"" or ""pushing the instep down"" (internal focus), or on ""pushing the water back/down"" (external focus), respectively. Swim times were significantly shorter with an external focus. In Experiment 2, a control condition was included. Times were significantly faster in the external focus compared with both the internal focus and control conditions. These findings have implications for enhancing performance in swimming.

EFFECTS OF 14-WEEK SWIMMING TRAINING PROGRAM ON THE PSYCHOLOGICAL, HORMONAL, AND PHYSIOLOGICAL PARAMETERS OF ELITE WOMEN ATHLETES

Santhiago, V, da Silva, ASR, Papoti, M, and Gobatto, CA. Effects of 14-week swimming training program on the psychological, hormonal, and physiological parameters of elite women athletes. J Strength Cond Res 25(3): 825-832, 2011-The purpose of the study was to investigate the influence of a 14-week swimming training program on psychological, hormonal, and performance parameters of elite women swimmers. Ten Olympic and international-level elite women swimmers were evaluated 4 times along the experiment (i.e., in T1, T2, T3, and T4). On the first day at 8: 00 AM, before the blood collecting at rest for the determination of hormonal parameters, the athletes had their psychological parameters assessed by the profile of mood-state questionnaire. At 3: 00 AM, the swimmers had their anaerobic threshold assessed. On the second day at 3: 00 AM, the athletes had their alactic anaerobic performance measured. Vigor score and testosterone levels were lower (p <= 0.05) in T4 compared with T3. In addition, the rate between the peak blood lactate concentration and the median velocity obtained in the alactic anaerobic performance test increased in T4 compared with T3 (p < 0.05). For practical applications, the swimming coaches should not use a tapering with the present characteristics to avoid unexpected results.

A Fault-Tolerant Manipulator Robot Based on H(2), H(infinity), and Mixed H(2)/H(infinity) Markovian Controls

This paper develops a Markovian jump model to describe the fault occurrence in a manipulator robot of three joints. This model includes the changes of operation points and the probability that a fault occurs in an actuator. After a fault, the robot works as a manipulator with free joints. Based on the developed model, a comparative study among three Markovian controllers, H(2), H(infinity), and mixed H(2)/H(infinity) is presented, applied in an actual manipulator robot subject to one and two consecutive faults.

Robot measuring form errors

This work presents an automated system for the measurement of form errors of mechanical components using an industrial robot. A three-probe error separation technique was employed to allow decoupling between the measured form error and errors introduced by the robotic system. A mathematical model of the measuring system was developed to provide inspection results by means of the solution of a system of linear equations. A new self-calibration procedure, which employs redundant data from several runs, minimizes the influence of probes zero-adjustment on the final result. Experimental tests applied to the measurement of straightness errors of mechanical components were accomplished and demonstrated the effectiveness of the employed methodology. (C) 2007 Elsevier Ltd. All rights reserved.

Design and Characterization of a Biomimetic Piezoelectric Pump Inspired on Group Fish Swimming Effect

Flow pumps are important tools in several engineering areas, such as in the fields of bioengineering and thermal management solutions for electronic devices. Nowadays, many of the new flow pump principles are based on the use of piezoelectric actuators, which present some advantages such as miniaturization potential and lower noise generation. In previous work, authors presented a study of a novel pump configuration based on placing an oscillating bimorph piezoelectric actuator in water to generate flow. It was concluded that this oscillatory behavior (such as fish swimming) yields vortex interaction, generating flow rate due to the action and reaction principle. Thus, following this idea the objective of this work is to explore this oscillatory principle by studying the interaction among generated vortex from two bimorph piezoelectric actuators oscillating inside the same pump channel, which is similar to the interaction of vortex generated by frontal fish and posterior ones when they swim together in a group formation. It is shown that parallel-series configurations of bimorph piezoelectric actuators inside the same pump channel provide higher flow rates and pressure for liquid pumping than simple parallel-series arrangements of corresponding single piezoelectric pumps, respectively. The scope of this work includes structural simulations of bimorph piezoelectric actuators, fluid flow simulations, and prototype construction for result validation.

Simulated annealing with adaptive neighborhood: A case study in off-line robot path planning

Simulated annealing (SA) is an optimization technique that can process cost functions with degrees of nonlinearities, discontinuities and stochasticity. It can process arbitrary boundary conditions and constraints imposed on these cost functions. The SA technique is applied to the problem of robot path planning. Three situations are considered here: the path is represented as a polyline; as a Bezier curve; and as a spline interpolated curve. In the proposed SA algorithm, the sensitivity of each continuous parameter is evaluated at each iteration increasing the number of accepted solutions. The sensitivity of each parameter is associated to its probability distribution in the definition of the next candidate. (C) 2010 Elsevier Ltd. All rights reserved.

Regulation by the exogenous polyamine spermidine of Na,K-ATPase activity from the gills of the euryhaline swimming crab Callinectes danae (Brachyura, Portunidae)

Euryhaline crustaceans rarely hyporegulates and employ the driving force of the Na,K-ATPase, located at the basal surface of the gill epithelium, to maintain their hemolymph osmolality within a range compatible with cell function during hyper-regulation. Since polyamine levels increase during the adaptation of crustaceans to hyperosmotic media, we investigate the effect of exogenous polyamines on Na,K-ATPase activity in the posterior gills of Callinectes danae, a euryhaline swimming crab. Polyamine inhibition was dependent on cation concentration, charge and size in the following order: spermine > spermidine > putrescine. Spermidine affected K-0.5 values for Na+ with minor alterations in K-0.5 values for K+ and N-H-4(+), causing a decrease in maximal velocities under saturating Na+, K+ and NH4+ concentrations. Phosphorylation measurements in the presence of 20 mu M ATP revealed that the Na,K-ATPase possesses a high affinity site for this substrate. In the presence of 10 mM Na+, both spermidine and spermine inhibited formation of the phosphoenzyme; however, in the presence of 100 mM Na+, the addition of these polyamines allowed accumulation of the phosphoenzyme. The polyamines inhibited pumping activity, both by competing with Na+ at the Na+-binding site, and by inhibiting enzyme dephosphorylation. These findings suggest that polyamine-induced inhibition of Na,K-ATPase activity may be physiologically relevant during migration to fully marine environments. (c) 2008 Elsevier Inc. All rights reserved.

Hemolymph ionic regulation and adjustments in gill (Na(+), K(+))-ATPase activity during salinity acclimation in the swimming crab Callinectes ornatus (Decapoda, Brachyura)

We evaluate hemolymph osmotic and ionic regulatory abilities and characterize a posterior gill microsomal (Na(+), K(+))-ATPase from the marine swimming crab, Callinectes ornatus, acclimated to 21 parts per thousand or 33 parts per thousand salinity. C ornatus is isosmotic after acclimation to 21 parts per thousand but is hyposmotic at 33 parts per thousand salinity; hemolymph ions do not recover initial levels on acclimation to 21 parts per thousand salinity but are anisoionic compared to ambient concentrations, revealing modest regulatory ability. NH(4)(+) modulates enzyme affinity for K(+), which increases 187-fold in crabs acclimated to 33%. salinity. The (Na(+), K(+))-ATPase redistributes into membrane fractions of different densities, suggesting that altered membrane composition results from salinity acclimation. ATP was hydrolyzed at maximum rates of 182.6 +/- 7.1 nmol Pi min(-1) mg(-1) (21 parts per thousand) and 76.2 +/- 3.5 nmol Pi min(-1) mg(-1) (33 parts per thousand), with little change in K(M) values (approximate to 50 mu mol L(-1)). K(+) together with NH(4)(+) synergistically stimulated activity to maximum rates of approximate to 240 nmol Pi min(-1) mg(-1). K, values for ouabain inhibition (approximate to 110 mu mol L(-1)) decreased to 44.9 +/- 1.0 mu mol L(-1) (21 parts per thousand) and 28.8 +/- 1.3 mu mol L(-1) (33 parts per thousand) in the presence of both K(+) and NH(4)(+). Assays employing various inhibitors suggest the presence of mitochondrial F(0)F(1)- and K(+)- and V-ATPase activities in the gill microsomes. (C) 2009 Elsevier Inc. All rights reserved.