{"id":{"repo_id":"uiuc","oai_identifier":"oai:www.ideals.illinois.edu:2142/31080"},"canonical_url":"https://search.dev.ndltd.org/etd/uiuc/oai:www.ideals.illinois.edu:2142/31080","repository":{"repo_id":"uiuc","name":"University of Illinois - Urbana-Champaign","base_url":"https://www.ideals.illinois.edu/oai-pmh"},"display":{"title":"Optimization of biomimetic propulsion in a fish like robot","abstract":"The study of biomimetics is largely driven by the desire to integrate design advantages found in the natural world to experimental devices and, ultimately, practical machines. The work contained herein consisted of the construction of a biomimetic carangiform robotic fish as a functional experimental apparatus, the prediction of propulsive forces based on mechanical fish tail linkage kinematics using a lift based theory, an experimental process to obtain fish swimming velocity data for a number of different swim profiles, and the comparison of theoretical to experimental results. The robot constructed possesses a propulsive section with five short links capable of fitting the sinusoids produced by Lighthill’s model of fish tail motion accurately. A lift based model was developed and estimated the net propulsive force generated per square foot of foil to be 6.53 lbf/ft2 of foil, 7.78 lbf/ft2, and 7.95 lbf/ft2 for the three cases evaluated theoretically. The trends in the experimental fish swimming velocity data point to convergence at 0.375 ft/s, 0.40 ft/s, and 0.42 ft/s in the three varied C-term wave envelope coefficients tests corresponding to the force estimates above. The experimental data points to validation of the theoretical model, and it has the potential to be a useful tool in planning fish tail kinematics in future work.","abstract_html":"The study of biomimetics is largely driven by the desire to integrate design advantages found in the natural world to experimental devices and, ultimately, practical machines. The work contained herein consisted of the construction of a biomimetic carangiform robotic fish as a functional experimental apparatus, the prediction of propulsive forces based on mechanical fish tail linkage kinematics using a lift based theory, an experimental process to obtain fish swimming velocity data for a number of different swim profiles, and the comparison of theoretical to experimental results. The robot constructed possesses a propulsive section with five short links capable of fitting the sinusoids produced by Lighthill’s model of fish tail motion accurately. A lift based model was developed and estimated the net propulsive force generated per square foot of foil to be 6.53 lbf/ft2 of foil, 7.78 lbf/ft2, and 7.95 lbf/ft2 for the three cases evaluated theoretically. The trends in the experimental fish swimming velocity data point to convergence at 0.375 ft/s, 0.40 ft/s, and 0.42 ft/s in the three varied C-term wave envelope coefficients tests corresponding to the force estimates above. The experimental data points to validation of the theoretical model, and it has the potential to be a useful tool in planning fish tail kinematics in future work.","abstract_has_math":false,"creators":["Kamadulski, Steve"],"institution":"University of Illinois at Urbana-Champaign","degree_name":"M.S.","degree_level":"Thesis","degree_discipline":"Mechanical Engineering","degree_department":null,"school":null,"contributors":["Bentsman, Joseph"],"advisors":[],"committee_chairs":[],"committee_members":[],"year":2012,"date_issued":"2012-05-22T00:26:40Z","date_published":"2012-05-22T00:26:40Z","updated_at":"2026-07-22T22:25:30Z","subjects":["robotics","biomimetics","fish","Actuation Biomimic fish robot (AHAB)"],"languages":["en"],"rights":["Copyright 2012 Steve Kamadulski"],"rights_urls":[],"identifier_entries":[]},"links":{"outbound_url":"http://hdl.handle.net/2142/31080","outbound_label":"Handle","outbound_source":"dc:identifier"},"metadata_groups":[{"id":"people","label":"People","entries":[{"key":"dc:contributor","label":"Contributor","values":["Bentsman, Joseph"]},{"key":"dc:creator","label":"Author","values":["Kamadulski, Steve"]}]},{"id":"academic_context","label":"Academic Context","entries":[{"key":"dc:date","label":"Dc Date","values":["2012-05-22T00:26:40Z","2012-05"]},{"key":"dc:type","label":"Dc Type","values":["text"]},{"key":"thesis:degree_discipline","label":"Discipline","values":["Mechanical Engineering"]},{"key":"thesis:degree_level","label":"Degree Level","values":["Thesis"]},{"key":"thesis:degree_name","label":"Degree Name","values":["M.S."]},{"key":"thesis:institution_name","label":"Thesis Institution Name","values":["University of Illinois at Urbana-Champaign"]}]},{"id":"subjects_keywords","label":"Subjects and Keywords","entries":[{"key":"dc:subject","label":"Dc Subject","values":["robotics","biomimetics","fish","Actuation Biomimic fish robot (AHAB)"]}]},{"id":"language_rights","label":"Language and Rights","entries":[{"key":"dc:language","label":"Dc Language","values":["en"]},{"key":"dc:rights","label":"Dc Rights","values":["Copyright 2012 Steve Kamadulski"]}]},{"id":"identifiers","label":"Identifiers","entries":[{"key":"dc:identifier","label":"Identifier","values":["http://hdl.handle.net/2142/31080"]}]},{"id":"additional","label":"Additional Metadata","entries":[{"key":"dc:description","label":"Description","values":["The study of biomimetics is largely driven by the desire to integrate design advantages found in the natural world to experimental devices and, ultimately, practical machines. The work contained herein consisted of the construction of a biomimetic carangiform robotic fish as a functional experimental apparatus, the prediction of propulsive forces based on mechanical fish tail linkage kinematics using a lift based theory, an experimental process to obtain fish swimming velocity data for a number of different swim profiles, and the comparison of theoretical to experimental results. The robot constructed possesses a propulsive section with five short links capable of fitting the sinusoids produced by Lighthill’s model of fish tail motion accurately. A lift based model was developed and estimated the net propulsive force generated per square foot of foil to be 6.53 lbf/ft2 of foil, 7.78 lbf/ft2, and 7.95 lbf/ft2 for the three cases evaluated theoretically. The trends in the experimental fish swimming velocity data point to convergence at 0.375 ft/s, 0.40 ft/s, and 0.42 ft/s in the three varied C-term wave envelope coefficients tests corresponding to the force estimates above. The experimental data points to validation of the theoretical model, and it has the potential to be a useful tool in planning fish tail kinematics in future work.","Item withdrawn by Alexis Thompson (athmpsn1@illinois.edu) on 2012-04-26T13:45:10Z Item was in collections: University of Illinois Theses & Dissertations (ID: 1) No. of bitstreams: 1 Kamadulski_Steve.pdf: 1803796 bytes, checksum: 7831db6b3299db3a0cc77d89a6ee2ead (MD5)","Made available in DSpace on 2012-05-22T00:26:40Z (GMT). No. of bitstreams: 2 Kamadulski_Steve.pdf: 1787975 bytes, checksum: 8af650fa0a03b277058a3202e64ea9b9 (MD5) license.txt: 4066 bytes, checksum: 74aeabb9eed70906346e3260943e779a (MD5)"]},{"key":"dc:title","label":"Title","values":["Optimization of biomimetic propulsion in a fish like robot"]}]}],"canonical_facts":{"dc:contributor":["Bentsman, Joseph"],"dc:creator":["Kamadulski, Steve"],"dc:date":["2012-05-22T00:26:40Z","2012-05"],"dc:description":["The study of biomimetics is largely driven by the desire to integrate design advantages found in the natural world to experimental devices and, ultimately, practical machines. The work contained herein consisted of the construction of a biomimetic carangiform robotic fish as a functional experimental apparatus, the prediction of propulsive forces based on mechanical fish tail linkage kinematics using a lift based theory, an experimental process to obtain fish swimming velocity data for a number of different swim profiles, and the comparison of theoretical to experimental results. The robot constructed possesses a propulsive section with five short links capable of fitting the sinusoids produced by Lighthill’s model of fish tail motion accurately. A lift based model was developed and estimated the net propulsive force generated per square foot of foil to be 6.53 lbf/ft2 of foil, 7.78 lbf/ft2, and 7.95 lbf/ft2 for the three cases evaluated theoretically. The trends in the experimental fish swimming velocity data point to convergence at 0.375 ft/s, 0.40 ft/s, and 0.42 ft/s in the three varied C-term wave envelope coefficients tests corresponding to the force estimates above. The experimental data points to validation of the theoretical model, and it has the potential to be a useful tool in planning fish tail kinematics in future work.","Item withdrawn by Alexis Thompson (athmpsn1@illinois.edu) on 2012-04-26T13:45:10Z Item was in collections: University of Illinois Theses & Dissertations (ID: 1) No. of bitstreams: 1 Kamadulski_Steve.pdf: 1803796 bytes, checksum: 7831db6b3299db3a0cc77d89a6ee2ead (MD5)","Made available in DSpace on 2012-05-22T00:26:40Z (GMT). No. of bitstreams: 2 Kamadulski_Steve.pdf: 1787975 bytes, checksum: 8af650fa0a03b277058a3202e64ea9b9 (MD5) license.txt: 4066 bytes, checksum: 74aeabb9eed70906346e3260943e779a (MD5)"],"dc:identifier":["http://hdl.handle.net/2142/31080"],"dc:language":["en"],"dc:rights":["Copyright 2012 Steve Kamadulski"],"dc:subject":["robotics","biomimetics","fish","Actuation Biomimic fish robot (AHAB)"],"dc:title":["Optimization of biomimetic propulsion in a fish like robot"],"dc:type":["text"],"thesis:degree_discipline":["Mechanical Engineering"],"thesis:degree_level":["Thesis"],"thesis:degree_name":["M.S."],"thesis:institution_name":["University of Illinois at Urbana-Champaign"]},"updated_at":"2026-07-22T22:25:30Z"}