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Full-Text Articles in Computer Engineering
Design And Analysis Of Marangoni-Driven Robotic Surfers, Mitchel L. Timm
Design And Analysis Of Marangoni-Driven Robotic Surfers, Mitchel L. Timm
Dissertations, Master's Theses and Master's Reports
We designed and experimentally studied the dynamics of two robotic systems that surf along the water-air interface. The robots were self-propelled by means of creating and maintaining a surface tension gradient resulting from an asymmetric release of isopropyl alcohol (IPA). The imbalance in the distribution of surface tension surrounding the robots generates a propulsive force commonly referred to as Marangoni propulsion. First, we considered a single surfer, which was custom-made with novel control mechanisms that allow for both forward motion and steering to be remotely adjusted solely through the manipulation of local surface stresses. We analyzed the performance of this …
Collective Hydrodynamics Of Robotic Fish, Rohit S. Pandhare
Collective Hydrodynamics Of Robotic Fish, Rohit S. Pandhare
Dissertations, Master's Theses and Master's Reports
Many animals in nature travel in groups either for protection, survival, or endurance. Among these, fish do so under the burden of hydrodynamic loads, which incites questions as to the significance of the multi-body fluid-mediated interactions that facilitate collective swimming. We study such interactions in the idealized setting of a rotational array of robotic fish whose tails undergo a prescribed flapping motion, but whose swimming speed is determined as a natural result of the hydrodynamic effects. Specifically, we examine how the measured collective speed of the swimmers varies with the imposed frequency and amplitude of their tail flapping, and with …