{"id":{"repo_id":"essex","oai_identifier":"oai:repository.essex.ac.uk:16550"},"canonical_url":"https://search.dev.ndltd.org/etd/essex/oai:repository.essex.ac.uk:16550","repository":{"repo_id":"essex","name":"University of Essex","base_url":"https://repository.essex.ac.uk/cgi/oai2"},"display":{"title":"Developing High Performance Linear Carangiform Swimming","abstract":"This thesis examines the linear swimming motion of Carangiform fish, and investigates how to improve the swimming performance of robotic fish within the fields of kinematic modeling and mechanical engineering, in a successful attempt to replicate the high performance of real fish. Intensive research was conducted in order to study the Carangiform swimming motion, where observational studies of the common carp were undertaken. Firstly, a full-body length Carangiform swimming motion is proposed to coordinate the anterior, mid-body and posterior displacements in an attempt to reduce the large kinematic errors in the existing free swimming robotic fish. It optimizes the forces around the centre of mass and initiates the starting moment of added mass upstream therefore increasing performance, in terms of swimming speed. The introduced pattern is experimentally tested against the traditional approach (of posterior confined body motion). A first generation robotic fish is devised with a novel mechanical drive system operating in the two swimming patterns. It is shown conclusively that by coordinating the full-body length of the Carangiform swimming motion a significant increase in linear swimming speed is gained over the traditional posterior confined wave form and reduces the large kinematic errors seen in existing free swimming robotic fish (Achieving the cruising speeds of real fish). Based on the experimental results of the first generation, a further three robotic fish are developed: (A) iSplash-OPTIMIZE: it becomes clear that further tuning of the kinematic parameters may provide a greater performance increase in the distance travelled per tail beat. (B) iSplash-II: it shows that combining the critical aspects of the mechanical drive system of iSplash-I with higher frequencies and higher productive forces can significantly increase maximum velocity. This prototype is able to outperform real Carangiform fish in terms of average maximum velocity (measured in body lengths/ second) and endurance, the duration that top speed is maintained. (C) iSplash-MICRO: it verifies that the mechanical drive system could be reduced in scale to improve navigational exploration, whilst retaining high-speed swimming performance. A small robotic fish is detailed with an equivalent maximum velocity (BL/s) to real fish.","abstract_html":"This thesis examines the linear swimming motion of Carangiform fish, and investigates how to improve the swimming performance of robotic fish within the fields of kinematic modeling and mechanical engineering, in a successful attempt to replicate the high performance of real fish. Intensive research was conducted in order to study the Carangiform swimming motion, where observational studies of the common carp were undertaken. Firstly, a full-body length Carangiform swimming motion is proposed to coordinate the anterior, mid-body and posterior displacements in an attempt to reduce the large kinematic errors in the existing free swimming robotic fish. It optimizes the forces around the centre of mass and initiates the starting moment of added mass upstream therefore increasing performance, in terms of swimming speed. The introduced pattern is experimentally tested against the traditional approach (of posterior confined body motion). A first generation robotic fish is devised with a novel mechanical drive system operating in the two swimming patterns. It is shown conclusively that by coordinating the full-body length of the Carangiform swimming motion a significant increase in linear swimming speed is gained over the traditional posterior confined wave form and reduces the large kinematic errors seen in existing free swimming robotic fish (Achieving the cruising speeds of real fish). Based on the experimental results of the first generation, a further three robotic fish are developed: (A) iSplash-OPTIMIZE: it becomes clear that further tuning of the kinematic parameters may provide a greater performance increase in the distance travelled per tail beat. (B) iSplash-II: it shows that combining the critical aspects of the mechanical drive system of iSplash-I with higher frequencies and higher productive forces can significantly increase maximum velocity. This prototype is able to outperform real Carangiform fish in terms of average maximum velocity (measured in body lengths/ second) and endurance, the duration that top speed is maintained. (C) iSplash-MICRO: it verifies that the mechanical drive system could be reduced in scale to improve navigational exploration, whilst retaining high-speed swimming performance. A small robotic fish is detailed with an equivalent maximum velocity (BL/s) to real fish.","abstract_has_math":false,"creators":["Clapham, Richard James"],"institution":"University of Essex","degree_name":"phd","degree_level":"doctoral","degree_discipline":null,"degree_department":null,"school":null,"contributors":[],"advisors":[],"committee_chairs":[],"committee_members":[],"year":2015,"date_issued":"2015-07","date_published":"2015-07","updated_at":"2026-07-24T02:18:05Z","subjects":["Q Science (General)","T Technology (General)","TJ Mechanical engineering and machinery","U Military Science (General)","V Naval Science (General)"],"languages":["en"],"rights":[],"rights_urls":[],"identifier_entries":[]},"links":{"outbound_url":null,"outbound_label":null,"outbound_source":null},"metadata_groups":[{"id":"people","label":"People","entries":[{"key":"dc:creator","label":"Author","values":["Clapham, Richard James"]}]},{"id":"academic_context","label":"Academic Context","entries":[{"key":"dc:date","label":"Dc Date","values":["2015-07-15"]},{"key":"dc:date.issued","label":"Date","values":["2015-07"]},{"key":"dc:publisher.department","label":"Dc Publisher Department","values":["School of Computer Science and Electronic Engineering"]},{"key":"dc:publisher.institution","label":"Dc Publisher Institution","values":["University of Essex"]},{"key":"dc:relation.isreferencedby","label":"Dc Relation Isreferencedby","values":["https://repository.essex.ac.uk/16550/"]},{"key":"dc:type","label":"Dc Type","values":["Thesis"]},{"key":"dc:type.qualificationlevel","label":"Dc Type Qualificationlevel","values":["doctoral"]},{"key":"dc:type.qualificationname","label":"Dc Type Qualificationname","values":["phd"]}]},{"id":"subjects_keywords","label":"Subjects and Keywords","entries":[{"key":"dc:subject","label":"Dc Subject","values":["Q Science (General)","T Technology (General)","TJ Mechanical engineering and machinery","U Military Science (General)","V Naval Science (General)"]}]},{"id":"language_rights","label":"Language and Rights","entries":[{"key":"dc:language","label":"Dc Language","values":["en"]}]},{"id":"identifiers","label":"Identifiers","entries":[{"key":"dc:identifier.uri","label":"Identifier URI","values":["https://repository.essex.ac.uk/16550/1/Developing%20High%20Performance%20Linear%20Carangiform%20Swimming.pdf"]}]},{"id":"additional","label":"Additional Metadata","entries":[{"key":"dc:description.abstract","label":"Abstract","values":["This thesis examines the linear swimming motion of Carangiform fish, and investigates how to improve the swimming performance of robotic fish within the fields of kinematic modeling and mechanical engineering, in a successful attempt to replicate the high performance of real fish. Intensive research was conducted in order to study the Carangiform swimming motion, where observational studies of the common carp were undertaken. Firstly, a full-body length Carangiform swimming motion is proposed to coordinate the anterior, mid-body and posterior displacements in an attempt to reduce the large kinematic errors in the existing free swimming robotic fish. It optimizes the forces around the centre of mass and initiates the starting moment of added mass upstream therefore increasing performance, in terms of swimming speed. The introduced pattern is experimentally tested against the traditional approach (of posterior confined body motion). A first generation robotic fish is devised with a novel mechanical drive system operating in the two swimming patterns. It is shown conclusively that by coordinating the full-body length of the Carangiform swimming motion a significant increase in linear swimming speed is gained over the traditional posterior confined wave form and reduces the large kinematic errors seen in existing free swimming robotic fish (Achieving the cruising speeds of real fish). Based on the experimental results of the first generation, a further three robotic fish are developed: (A) iSplash-OPTIMIZE: it becomes clear that further tuning of the kinematic parameters may provide a greater performance increase in the distance travelled per tail beat. (B) iSplash-II: it shows that combining the critical aspects of the mechanical drive system of iSplash-I with higher frequencies and higher productive forces can significantly increase maximum velocity. This prototype is able to outperform real Carangiform fish in terms of average maximum velocity (measured in body lengths/ second) and endurance, the duration that top speed is maintained. (C) iSplash-MICRO: it verifies that the mechanical drive system could be reduced in scale to improve navigational exploration, whilst retaining high-speed swimming performance. A small robotic fish is detailed with an equivalent maximum velocity (BL/s) to real fish."]},{"key":"dc:format","label":"Dc Format","values":["text"]},{"key":"dc:title","label":"Title","values":["Developing High Performance Linear Carangiform Swimming"]}]}],"canonical_facts":{"dc:creator":["Clapham, Richard James"],"dc:date":["2015-07-15"],"dc:date.issued":["2015-07"],"dc:description.abstract":["This thesis examines the linear swimming motion of Carangiform fish, and investigates how to improve the swimming performance of robotic fish within the fields of kinematic modeling and mechanical engineering, in a successful attempt to replicate the high performance of real fish. Intensive research was conducted in order to study the Carangiform swimming motion, where observational studies of the common carp were undertaken. Firstly, a full-body length Carangiform swimming motion is proposed to coordinate the anterior, mid-body and posterior displacements in an attempt to reduce the large kinematic errors in the existing free swimming robotic fish. It optimizes the forces around the centre of mass and initiates the starting moment of added mass upstream therefore increasing performance, in terms of swimming speed. The introduced pattern is experimentally tested against the traditional approach (of posterior confined body motion). A first generation robotic fish is devised with a novel mechanical drive system operating in the two swimming patterns. It is shown conclusively that by coordinating the full-body length of the Carangiform swimming motion a significant increase in linear swimming speed is gained over the traditional posterior confined wave form and reduces the large kinematic errors seen in existing free swimming robotic fish (Achieving the cruising speeds of real fish). Based on the experimental results of the first generation, a further three robotic fish are developed: (A) iSplash-OPTIMIZE: it becomes clear that further tuning of the kinematic parameters may provide a greater performance increase in the distance travelled per tail beat. (B) iSplash-II: it shows that combining the critical aspects of the mechanical drive system of iSplash-I with higher frequencies and higher productive forces can significantly increase maximum velocity. This prototype is able to outperform real Carangiform fish in terms of average maximum velocity (measured in body lengths/ second) and endurance, the duration that top speed is maintained. (C) iSplash-MICRO: it verifies that the mechanical drive system could be reduced in scale to improve navigational exploration, whilst retaining high-speed swimming performance. A small robotic fish is detailed with an equivalent maximum velocity (BL/s) to real fish."],"dc:format":["text"],"dc:identifier.uri":["https://repository.essex.ac.uk/16550/1/Developing%20High%20Performance%20Linear%20Carangiform%20Swimming.pdf"],"dc:language":["en"],"dc:publisher.department":["School of Computer Science and Electronic Engineering"],"dc:publisher.institution":["University of Essex"],"dc:relation.isreferencedby":["https://repository.essex.ac.uk/16550/"],"dc:subject":["Q Science (General)","T Technology (General)","TJ Mechanical engineering and machinery","U Military Science (General)","V Naval Science (General)"],"dc:title":["Developing High Performance Linear Carangiform Swimming"],"dc:type":["Thesis"],"dc:type.qualificationlevel":["doctoral"],"dc:type.qualificationname":["phd"]},"updated_at":"2026-07-24T02:18:05Z"}