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Biomimetics, Volume 9, Issue 10 (October 2024) – 6 articles

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16 pages, 4382 KiB

Open AccessArticle

Active Vibration Control and Parameter Optimization of Genetic Algorithm for Partially Damped Composites Beams

by Zhicheng Huang, Yang Cheng, Xingguo Wang and Nanxing Wu

Biomimetics 2024, 9(10), 584; https://doi.org/10.3390/biomimetics9100584 - 25 Sep 2024

Viewed by 253

Abstract

The paper partially covered Active Constrained Layer Damping (ACLD) cantilever beams’ dynamic modeling, active vibration control, and parameter optimization techniques as the main topic of this research. The dynamic model of the viscoelastic sandwich beam is created by merging the finite element approach with the Golla Hughes McTavish (GHM) model. The governing equation is constructed based on Hamilton’s principle. After the joint reduction of physical space and state space, the model is modified to comply with the demands of active control. The control parameters are optimized based on the Kalman filter and genetic algorithm. The effect of various ACLD coverage architectures and excitation signals on the system’s vibration is investigated. According to the research, the genetic algorithm’s optimization iteration can quickly find the best solution while achieving accurate model tracking, increasing the effectiveness and precision of active control. The Kalman filter can effectively suppress the impact of vibration and noise exposure to random excitation on the system. Full article

(This article belongs to the Special Issue Nature-Inspired Metaheuristic Optimization Algorithms 2024)

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25 pages, 2232 KiB

Open AccessArticle

Hybrid Multi-Objective Chameleon Optimization Algorithm Based on Multi-Strategy Fusion and Its Applications

by Yaodan Chen, Li Cao and Yinggao Yue

Biomimetics 2024, 9(10), 583; https://doi.org/10.3390/biomimetics9100583 - 25 Sep 2024

Viewed by 194

Abstract

Aiming at the problems of chameleon swarm algorithm (CSA), such as slow convergence speed, poor robustness, and ease of falling into the local optimum, a multi-strategy improved chameleon optimization algorithm (ICSA) is herein proposed. Firstly, logistic mapping was introduced to initialize the chameleon population to improve the diversity of the initial population. Secondly, in the prey-search stage, the sub-population spiral search strategy was introduced to improve the global search ability and optimization accuracy of the algorithm. Then, considering the blindness of chameleon’s eye turning to find prey, the Lévy flight strategy with cosine adaptive weight was combined with greed strategy to enhance the guidance of random exploration in the eyes’ rotation stage. Finally, a nonlinear varying weight was introduced to update the chameleon position in the prey-capture stage, and the refraction reverse-learning strategy was used to improve the population activity in the later stage so as to improve the ability of the algorithm to jump out of the local optimum. Eighteen functions in the CEC2005 benchmark test set were selected as an experimental test set, and the performance of ICSA was tested and compared with five other swarm intelligent optimization algorithms. The analysis of the experimental results of 30 independent runs showed that ICSA has stronger convergence performance and optimization ability. Finally, ICSA was applied to the UAV path-planning problem. The simulation results showed that compared with other algorithms, the paths generated by ICSA in different terrain scenarios are shorter and more stable. Full article

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21 pages, 24712 KiB

Open AccessArticle

Development of a Vertical Submerging and Emerging Bat-Ray-Inspired Underwater Vehicle

by Enrique Mar-Castro, Sergio Alejandro May-Rodríguez, Rafael Stanley Núñez-Cruz, Elba Dolores Antonio-Yañez, Luis Mario Aparicio-Lastiri and Juan Herrera-Vidal

Biomimetics 2024, 9(10), 582; https://doi.org/10.3390/biomimetics9100582 - 25 Sep 2024

Viewed by 193

Abstract

In this article, the development of a bat-ray-inspired underwater vehicle is presented; although the propulsion of the vehicle is based on traditional thrusters, the shape of the ray’s fins was used as a model to design the body of the vehicle; this architecture allows the independent control of the forward velocity and the full attitude of the vehicle using only two thrusters and two articulated fins. The compact design of the robot, along with the high dexterity of the architecture, allows the vehicle to submerge and emerge vertically as well as navigate horizontally. The mathematical model of the proposed vehicle, including dynamics and propulsion system, is presented and validated using numerical simulations. Finally, experimental tests are presented to demonstrate the capabilities of the proposed design. Full article

(This article belongs to the Special Issue Research in Biomimetic Underwater Devices)

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17 pages, 7504 KiB

Open AccessArticle

A Novel Aerial-Aquatic Unmanned Vehicle Using Flapping Wings for Underwater Propulsion

by Jiacheng He, Yingjie Zhang, Junjun Feng, Shisheng Li, Yiheng Yuan, Pinghui Wang and Song Han

Biomimetics 2024, 9(10), 581; https://doi.org/10.3390/biomimetics9100581 - 25 Sep 2024

Viewed by 258

Abstract

Aerial-aquatic unmanned vehicles are a combination of unmanned aerial vehicles and unmanned submersibles, capable of conducting patrols in both the air and underwater domains. This article introduces a novel aerial-aquatic unmanned vehicle that integrates fixed-wing configuration and flapping-wing configuration. In order to improve the low efficiency of the classic diagonal motion trajectory, this paper proposed an improved diagonal motion trajectory based on joint optimization of the stroke angle and angle of attack curve. The proposed method has been verified through simulations and experiments. A prototype was developed and experiments were completed, both indoors and outdoors, wherein the system’s transmedium transition capability and flapping propulsion performance were comprehensively validated. Additionally, utilizing flapping propulsion, an average underwater propulsion speed of 0.92 m/s was achieved. Full article

(This article belongs to the Special Issue Bio-Inspired Design and Control of Unmanned Aerial Vehicles (UAVs): 2nd Edition)

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23 pages, 17564 KiB

Open AccessArticle

Hydrodynamic Simulation and Experiment of a Self-Adaptive Amphibious Robot Driven by Tracks and Bionic Fins

by Minghai Xia, Qunwei Zhu, Qian Yin, Zhongyue Lu, Yiming Zhu and Zirong Luo

Biomimetics 2024, 9(10), 580; https://doi.org/10.3390/biomimetics9100580 - 24 Sep 2024

Viewed by 312

Abstract

Amphibious robots have broad prospects in the fields of industry, defense, and transportation. To improve the propulsion performance and reduce operation complexity, a novel bionic amphibious robot, namely AmphiFinbot-II, is presented in this paper. The swimming and walking components adopt a compound drive mechanism, enabling simultaneous control for the rotation of the track and the wave-like motion of the undulating fin. The robot employs different propulsion methods but utilizes the same operation strategy, eliminating the need for mode switching. The structure and the locomotion principle are introduced. The performance of the robot in different motion patterns was analyzed via computational fluid dynamics simulation. The simulation results verified the feasibility of the wave-like swimming mechanism. Physical experiments were conducted for both land and underwater motion, and the results were consistent with the simulation regulation. Both the underwater linear and angular velocity were proportional to the undulating frequency. The robot’s maximum linear speed and steering speed on land were 2.26 m/s (2.79 BL/s) and 442°/s, respectively, while the maximum speeds underwater were 0.54 m/s (0.67 BL/s) and 84°/s, respectively. The research findings indicate that the robot possesses outstanding amphibious motion capabilities and a simplistic yet unified control approach, thereby validating the feasibility of the robot’s design scheme, and offering a novel concept for the development of high-performance and self-contained amphibious robots. Full article

(This article belongs to the Special Issue Bio-Inspired Approaches—a Leverage for Robotics)

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11 pages, 5054 KiB

Open AccessArticle

The Design of the Dummy Arm: A Verification Tool for Arm Exoskeleton Development

by Suzanne J. Filius, Bas J. van der Burgh and Jaap Harlaar

Biomimetics 2024, 9(10), 579; https://doi.org/10.3390/biomimetics9100579 - 24 Sep 2024

Viewed by 346

Abstract

Motorised arm supports for individuals with severe arm muscle weakness require precise compensation for arm weight and elevated passive joint impedance (e.g., joint stiffness as a result of muscle atrophy and fibrosis). Estimating these parameters in vivo, along with the arm’s centre of mass, is challenging, and human evaluations of assistance can be subjective. To address this, a dummy arm was designed to replicate the human arm’s anthropometrics, degrees of freedom, adjustable segment masses, and passive elbow joint impedance (eJimp). This study presents the design, anthropometrics, and verification of the dummy arm. It successfully mimics the human arm’s range of motion, mass, and centre of mass. The dummy arm also demonstrates the ability to replicate various eJimp torque-angle profiles. Additionally, it allows for the tuning of the segment masses, centres of mass, and eJimp to match a representative desired target population. This simple, cost-effective tool has proven valuable for the development and verification of the Duchenne ARm ORthosis (DAROR), a motorised arm support, or ‘exoskeleton’. This study includes recommendations for practical applications and provides insights into optimising design specifications based on the final design. It supplements the CAD design, enhancing the dummy arm’s application for future arm-assistive devices. Full article

(This article belongs to the Special Issue Bionic Technology—Robotic Exoskeletons and Prostheses: 2nd Edition)

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