Modeling of Fish Adaptive Behaviors in Unsteady Flows

Abstract:

Fish can swim swiftly in complicated flow environments, which conceives inspirations for man-made underwater vehicles. This paper concentrates on observation and modeling of fish adaptive behaviors in unsteady flows. A good representative of bony fish, crucian, is taken as the experimental specimen for investigating biological adaptation with response to alteration of surrounding flow patterns. Difference of swimming parameters is confirmed by recorded samples within several flow patterns. Furthermore, a bio-inspired gait model is constructed to stimulate fish adaptive behaviors, since the traditional model is hardly suitable. The model is inspired and supported by biological neural oscillators. By using the developed neural oscillator model, not only certain rhythmic motions under a steady flow pattern can be generated, but also behavioral transitions between multiple different patterns within unsteady flows come true. Experimental results validate the effectiveness of the developed neural model in continuously and smoothly regulating fish propulsive patterns within unsteady flows.

• Periodical: Applied Mechanics and Materials (Volume 461)
• Pages: 313-319
• DOI: https://doi.org/10.4028/www.scientific.net/AMM.461.313
• Online since: November 2013
• Authors: Zhao Wei Ma, Tiang Jiang Hu, Han Zhou, Guang Ming Wang, Dai Bing Zhang
• Keywords: Adaptive Behaviors, Altered Flow Pattern, Central Pattern Generator (CPG), Gait Model, Neural Oscillators, Unsteady Flow

References

[1] K. Streitlien, G. S. Triantafyllou, M.S. Triantafyllou, Efficient foil propulsion through vortex control, AIAA Journal, 34, 1996, 2315-2319.

DOI: 10.2514/3.13396

[2] Witting J, Safak K, Adamas G. Shape memory alloy actuators applied to biomimetric underwater robots. In: Ayers J, Davis J, Rudolph A (eds). Neurotechnology for Biomimetic Robots, MIT Press, USA, 2011, 117-136.

DOI: 10.7551/mitpress/4962.003.0012

[3] J. Liang, etc, Researchful development of underwater robofish II-develoopment of a small experimental robofish, Robot, 24, (2002).

[4] Yu J, Tan M, Wang S, Chen E. Development of a biomimetic robotic fish and its control algorithm. IEEE Transactions on Systems, Man and Cybernetics, Part B: Cybernetics, 2004, 34, 1798-1810.

DOI: 10.1109/tsmcb.2004.831151

[5] Jindong Liu, Huosheng Hu, A 3D Simulator for Autonomous Robotic Fish, International Journal of Automation and Computing, 2004, 42-50.

[6] M. J. Lighthill, Note on the swimming of slender fish, J. Fluid Mech., 9, 1960, 305-317.

DOI: 10.1017/s0022112060001110

[7] Siby Philip, J.P.M., Fish Lateral Line Innovation: Insights into the Evolutionary Genomic Dynamics of a Unique Mechanosensory Organ. Molecular Biology and Evolution, 29, 2012, 3887–3898.

DOI: 10.1093/molbev/mss194

[8] Zhao W, Yu J. Fang Y, Wang L. Development of multi-mode biomimetic robotic fish based on central pattern generator. Proceedings of International Conference of Intelligent Robots and System, 2006, 3891-3896.

DOI: 10.1109/iros.2006.281800

[9] Matsuoka K. Sustained oscillations generated by mutually inhibiting neurons with adaptation. Biological Cybernetics, 52, 1985, 367-376.

DOI: 10.1007/bf00449593

[10] G. Bard Ermentrout, David H. Terman, Mathematical Foundations of Neuroscience, Springer Press, 2010, 1-25.

[11] Hassan K. Khalili, Nonlinear Systems (Third Edition), ISBN 978-7-121-12838-7.

[12] J. Anderson and E. Rosenfeld. Talking Nets: An Oral History of Neural Networks. MIT, Cambridge, MA, (1998).

[13] T. Allen. On the arithmetic of phase locking: coupled neurons as a lattice on R2. Phys. D, 6(3), 1983, 305–320.

DOI: 10.1016/0167-2789(83)90014-3

[14] Chunlin Zhou and K. H. Low, Kinematic Modeling Framework for Biomimetic Undulatory Fin Motion Based on Coupled Nonlinear Oscillators, The 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2010, 934-939.

DOI: 10.1109/iros.2010.5651162

[15] Anderson J M, Kerrebrock P A. The vorticity control unmanned undersea vehicle (VCUUV): An autonomous robot tuna. Proceedings of 10th International Symposium on Unmanned Untethered Submersible Technology, Durham, NH, USA, 1997, 63-70.

DOI: 10.1109/uust.1989.754724

[16] A. Kamimura, et al., Automatic locomotion design and experiments for a Modular robotic system, IEEE/ASME Transactions on Mechatronics, 10, 2005, 314-325.

DOI: 10.1109/tmech.2005.848299

[17] Ijspeet A. A Connecctionist Central Pattern Generator for the Aquaticand Terrestrial Gaits of a Simulated Salamander. Biological Cybernetics, 84 (5), 2001, 331-348.

DOI: 10.1007/s004220000211

[18] A. Pikovsky, M. Rosenblum, and J. Kurths, Synchronization: A Universal Concept in Nonlinear Science: Cambridge University Press, (2001).

DOI: 10.1017/cbo9780511755743

[19] R. Ding, et al., CPG-based dynamics modeling and simulation for a biomimetic amphibious robot, in Proceedings of the 2009 international conference on Robotics and biomimetics, Guilin, China, 2009, pp.1657-1662.

DOI: 10.1109/robio.2009.5420415