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Biomimetics
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Research in Biomimetic Underwater Devices
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Research in Biomimetic Underwater Devices

A special issue of Biomimetics (ISSN 2313-7673). This special issue belongs to the section "Biomimetic Design, Constructions and Devices".

Deadline for manuscript submissions: closed (25 August 2024) | Viewed by 9797

Special Issue Editor

Prof. Dr. Shunichi Kobayashi

E-Mail Website
Guest Editor
Bioengineering Course, Department of Mechanical Engineering and Robotics, Faculty of Textile Science and Technology, Shinshu University, Nagano, Japan
Interests: bioinspired robot; biomechanics

Special Issue Information

Dear Colleagues,

The fascinating world of underwater life has long inspired technological innovation. In this Special Issue, titled "Research in Biomimetic Underwater Devices," we delve into the realm where biology and technology converge beneath the waves. Biomimicry in underwater environments involves understanding and emulating the adaptations of marine organisms to develop advanced technologies for various applications, ranging from underwater exploration and surveillance to environmental monitoring and marine resource management.

Aquatic creatures exhibit a wide array of unique abilities, such as efficient locomotion, pressure resistance, and energy conservation, which are of immense interest in engineering and robotics. By studying these organisms, scientists and engineers can design underwater devices that not only mimic their functionalities but also their resilience and efficiency.

In this Issue, we welcome original research, reviews, and insightful studies focusing on the development of underwater devices inspired by marine biology. Topics of interest include, but are not limited to, underwater robotics inspired by marine creatures, bio-inspired sensors and navigation systems, energy-efficient propulsion systems mimicking aquatic animals, and biomimetic materials for underwater use.

Through this interdisciplinary approach, we aim to foster advancements in underwater technology while deepening our understanding of marine biology. We encourage submissions from scientists and engineers in biology, robotics, mechanics, material science, and related fields who are working at the forefront of biomimetic underwater technology.

Prof. Dr. Shunichi Kobayashi
Guest Editor

Manuscript Submission Information

Manuscripts should be submitted online at www.mdpi.com by registering and logging in to this website. Once you are registered, click here to go to the submission form. Manuscripts can be submitted until the deadline. All submissions that pass pre-check are peer-reviewed. Accepted papers will be published continuously in the journal (as soon as accepted) and will be listed together on the special issue website. Research articles, review articles as well as short communications are invited. For planned papers, a title and short abstract (about 100 words) can be sent to the Editorial Office for announcement on this website.

Submitted manuscripts should not have been published previously, nor be under consideration for publication elsewhere (except conference proceedings papers). All manuscripts are thoroughly refereed through a single-blind peer-review process. A guide for authors and other relevant information for submission of manuscripts is available on the Instructions for Authors page. Biomimetics is an international peer-reviewed open access monthly journal published by MDPI.

Please visit the Instructions for Authors page before submitting a manuscript. The Article Processing Charge (APC) for publication in this open access journal is 2200 CHF (Swiss Francs). Submitted papers should be well formatted and use good English. Authors may use MDPI's English editing service prior to publication or during author revisions.

Keywords

  • biomimetics
  • underwater robotics
  • marine biology
  • bio-inspired sensors
  • aquatic locomotion
  • energy-efficient propulsion
  • biomimetic materials
  • underwater navigation systems
  • marine-inspired technology

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Further information on MDPI's Special Issue polices can be found here.

Published Papers (6 papers)

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Research

21 pages, 24712 KiB  
Article
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 1089
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 [...] Read more.
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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24 pages, 14347 KiB  
Article
Using Reinforcement Learning to Develop a Novel Gait for a Bio-Robotic California Sea Lion
by Anthony Drago, Shraman Kadapa, Nicholas Marcouiller, Harry G. Kwatny and James L. Tangorra
Biomimetics 2024, 9(9), 522; https://doi.org/10.3390/biomimetics9090522 - 30 Aug 2024
Viewed by 945
Abstract
While researchers have made notable progress in bio-inspired swimming robot development, a persistent challenge lies in creating propulsive gaits tailored to these robotic systems. The California sea lion achieves its robust swimming abilities through a careful coordination of foreflippers and body segments. In [...] Read more.
While researchers have made notable progress in bio-inspired swimming robot development, a persistent challenge lies in creating propulsive gaits tailored to these robotic systems. The California sea lion achieves its robust swimming abilities through a careful coordination of foreflippers and body segments. In this paper, reinforcement learning (RL) was used to develop a novel sea lion foreflipper gait for a bio-robotic swimmer using a numerically modelled computational representation of the robot. This model integration enabled reinforcement learning to develop desired swimming gaits in the challenging underwater domain. The novel RL gait outperformed the characteristic sea lion foreflipper gait in the simulated underwater domain. When applied to the real-world robot, the RL constructed novel gait performed as well as or better than the characteristic sea lion gait in many factors. This work shows the potential for using complimentary bio-robotic and numerical models with reinforcement learning to enable the development of effective gaits and maneuvers for underwater swimming vehicles. Full article
(This article belongs to the Special Issue Research in Biomimetic Underwater Devices)
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18 pages, 5229 KiB  
Article
A Soft Amphibious Voxel-Type Quadruped Robot Based on Origami Flexiball of Rhombic Dodecahedron
by Fuwen Hu and Yanqiang Li
Biomimetics 2024, 9(8), 482; https://doi.org/10.3390/biomimetics9080482 - 9 Aug 2024
Cited by 1 | Viewed by 1177
Abstract
The research work presents a novel voxel-type soft amphibious robot based on an assembly of origami flexiballs. The geometric and elastic constitutive models of the origami flexiball are theoretically established to elucidate its intricate deformation mechanism. Especially, the zero-energy storage phenomenon and the [...] Read more.
The research work presents a novel voxel-type soft amphibious robot based on an assembly of origami flexiballs. The geometric and elastic constitutive models of the origami flexiball are theoretically established to elucidate its intricate deformation mechanism. Especially, the zero-energy storage phenomenon and the quasi-zero-stiffness characteristic are revealed to prove that the origami flexiball is suitable for serving as soft robotic components. As a proof of concept, fourteen origami flexiballs are interconnected to form a quadruped robot capable of walking or crawling in both underwater and terrestrial environments, including flat surfaces and sandy terrain. Its adaptability across multiple environments is enhanced by the origami polyhedra-inspired hollow structure, which naturally adjusts to underwater conditions such as hydrostatic pressure and currents, improving stability and performance. Other advantages of the voxel-type soft amphibious quadruped robot include its ease of manufacture using 3D printing with accessible soft elastic materials, ensuring rapid and cost-effective fabrication. We anticipate its potentially versatile applications, including underwater pipeline inspections, offshore maintenance, seabed exploration, ecological monitoring, and marine sample collection. By leveraging metamaterial features embodied in the origami polyhedra, the presented voxel-type soft robot exemplifies an innovative approach to achieving complex functionalities in soft robotics. Full article
(This article belongs to the Special Issue Research in Biomimetic Underwater Devices)
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20 pages, 14280 KiB  
Article
Understanding Low-Speed Streaks and Their Function and Control through Movable Shark Scales Acting as a Passive Separation Control Mechanism
by Leonardo M. Santos, Amy Lang, Redha Wahidi, Andrew Bonacci and Sashank Gautam
Biomimetics 2024, 9(7), 378; https://doi.org/10.3390/biomimetics9070378 - 22 Jun 2024
Cited by 1 | Viewed by 1247
Abstract
The passive bristling mechanism of the scales on the shortfin mako shark (Isurus oxyrinchus) is hypothesized to play a crucial role in controlling flow separation. In the hypothesized mechanism, the scales are triggered in response to patches of reversed flow at [...] Read more.
The passive bristling mechanism of the scales on the shortfin mako shark (Isurus oxyrinchus) is hypothesized to play a crucial role in controlling flow separation. In the hypothesized mechanism, the scales are triggered in response to patches of reversed flow at the onset of separation occurring in the low-speed streaks that form in a turbulent boundary layer. The two goals of this investigation were as follows: (1) to measure the reversing flow occurring within the low-speed streaks in a separating turbulent boundary layer; (2) to understand the passive flow control mechanism of movable shark skin scales that inhibit reversing flow within the low-speed streaks. Experiments were conducted using digital particle image velocimetry (DPIV). DPIV was used to analyze the flow in a turbulent boundary layer subjected to an adverse pressure gradient formation over both a smooth flat plate and a flat plate on which shark skin specimens were affixed. The experimental analysis of the flow over the smooth flat plate corroborated the findings of previous direct numerical simulation studies, which indicated that the average spanwise spacing of the low-speed streaks increases in the presence of adverse pressure gradients upstream of the point of separation. However, the characteristics of the flow over the shark skin specimen more closely resemble that of a zero-pressure gradient turbulent boundary layer. A comparative analysis of the width and velocity of the reversed streaks between flat plate and shark skin cases reveals that the mean spanwise spacing decreases, and thus, the number of streaks increases over the shark skin. Additionally, the reversed streaks observed over shark scales are thinner and the highest negative velocity within the streaks falls within the range required to bristle the scales. Full article
(This article belongs to the Special Issue Research in Biomimetic Underwater Devices)
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21 pages, 9903 KiB  
Article
A Highly Sensitive Deep-Sea Hydrodynamic Pressure Sensor Inspired by Fish Lateral Line
by Xiaohe Hu, Zhiqiang Ma, Zheng Gong, Fuqun Zhao, Sheng Guo, Deyuan Zhang and Yonggang Jiang
Biomimetics 2024, 9(3), 190; https://doi.org/10.3390/biomimetics9030190 - 20 Mar 2024
Cited by 3 | Viewed by 2435
Abstract
Hydrodynamic pressure sensors offer an auxiliary approach for ocean exploration by unmanned underwater vehicles (UUVs). However, existing hydrodynamic pressure sensors often lack the ability to monitor subtle hydrodynamic stimuli in deep-sea environments. In this study, we present the development of a deep-sea hydrodynamic [...] Read more.
Hydrodynamic pressure sensors offer an auxiliary approach for ocean exploration by unmanned underwater vehicles (UUVs). However, existing hydrodynamic pressure sensors often lack the ability to monitor subtle hydrodynamic stimuli in deep-sea environments. In this study, we present the development of a deep-sea hydrodynamic pressure sensor (DSHPS) capable of operating over a wide range of water depths while maintaining exceptional hydrodynamic sensing performance. The DSHPS device was systematically optimized by considering factors such as piezoelectric polyvinylidene fluoride–trifluoroethylene/barium titanate [P(VDF-TrFE)/BTO] nanofibers, electrode configurations, sensing element dimensions, integrated circuits, and packaging strategies. The optimized DSHPS exhibited a remarkable pressure gradient response, achieving a minimum pressure difference detection capability of approximately 0.11 Pa. Additionally, the DSHPS demonstrated outstanding performance in the spatial positioning of dipole sources, which was elucidated through theoretical charge modeling and fluid–structure interaction (FSI) simulations. Furthermore, the integration of a high Young’s modulus packaging strategy inspired by fish skull morphology ensured reliable sensing capabilities of the DSHPS even at depths of 1000 m in the deep sea. The DSHPS also exhibited consistent and reproducible positioning performance for subtle hydrodynamic stimulus sources across this wide range of water depths. We envision that the development of the DSHPS not only enhances our understanding of the evolutionary aspects of deep-sea canal lateral lines but also paves the way for the advancement of artificial hydrodynamic pressure sensors. Full article
(This article belongs to the Special Issue Research in Biomimetic Underwater Devices)
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16 pages, 4135 KiB  
Article
A Fish-like Binocular Vision System for Underwater Perception of Robotic Fish
by Ru Tong, Zhengxing Wu, Jinge Wang, Yupei Huang, Di Chen and Junzhi Yu
Biomimetics 2024, 9(3), 171; https://doi.org/10.3390/biomimetics9030171 - 12 Mar 2024
Viewed by 2072
Abstract
Biological fish exhibit a remarkably broad-spectrum visual perception capability. Inspired by the eye arrangement of biological fish, we design a fish-like binocular vision system, thereby endowing underwater bionic robots with an exceptionally broad visual perception capacity. Firstly, based on the design principles of [...] Read more.
Biological fish exhibit a remarkably broad-spectrum visual perception capability. Inspired by the eye arrangement of biological fish, we design a fish-like binocular vision system, thereby endowing underwater bionic robots with an exceptionally broad visual perception capacity. Firstly, based on the design principles of binocular visual field overlap and tangency to streamlined shapes, a fish-like vision system is developed for underwater robots, enabling wide-field underwater perception without a waterproof cover. Secondly, addressing the significant distortion and parallax of the vision system, a visual field stitching algorithm is proposed to merge the binocular fields of view and obtain a complete perception image. Thirdly, an orientation alignment method is proposed that draws scales for yaw and pitch angles in the stitched images to provide a reference for the orientation of objects of interest within the field of view. Finally, underwater experiments evaluate the perception capabilities of the fish-like vision system, confirming the effectiveness of the visual field stitching algorithm and the orientation alignment method. The results show that the constructed vision system, when used underwater, achieves a horizontal field of view of 306.56°. The conducted work advances the visual perception capabilities of underwater robots and presents a novel approach to and insight for fish-inspired visual systems. Full article
(This article belongs to the Special Issue Research in Biomimetic Underwater Devices)
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