Robot fish: bio-inspired fishlike underwater robots 阅读笔记 1

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   这本书汇集了水下仿生机器人领域内各大牛团队的研究成果，较为全面地讲述了仿生机器鱼的研究体系，具有较高的参考价值。
  为了更好地交流学习心得，笔者将原书的十二章节分为引言、运动、经典驱动方式、高速平台、智能材料驱动、应用等六个部分记录阅读笔记，除此之外，更多业内优秀的研究成果也会尽量补充进来。希望大家多关注，多提建议，多讨论。
  原书的链接已附上，整数电子版有版权维护，需要付费下载，对某些章节有兴趣的读者可以私戳分享。
  原书链接：《 Robot fish: bio-inspired fishlike underwater robots》​

整书概览

下表梳理了整本书的内容，与目录内容一致。如果说仿生机器人的研究分为两种，一种是从仿生机器研究生物学，一种是从生物启发设计仿生机器，那么这本书的内容更侧重于第二种。从内容上看，全书可以分为六个部分。一，引言部分通过有趣的生物鱼特性引出了机器鱼的设计思路；二，运动部分分析了鱼类通过鱼鳍拍动运动的原理；三，从线驱动、多关节机器鱼、胸鳍拍动和软体驱动等四个方面介绍了常见的仿生机器鱼驱动方式；四，介绍了一种具有高游速的仿生金枪鱼实例iSplash；五，介绍了两种智能材料驱动的仿生设计，这部分也属于驱动方式的一种，但通常应用在软体机器人中，因此可以暂且归纳到软体驱动一类方式中；六，最后三个章节归为应用类，分别介绍了微型机器鱼、机器鱼集群，以及鱼机交互。

节	题目	纲要
1	Introduction	引言
2	Fish Locomotion: Biology and Robotics of Body and Fin-Based Movements	运动
3	Wire-Driven Robot Fish	驱动方式
4	Design and Control of a Multi-joint Robotic Fish
5	Research on Robotic Fish Propelled by Oscillating Pectoral Fins
6	Soft-Body Robot Fish
7	iSplash: Realizing Fast Carangiform Swimming to Outperform a Real Fish	实例：高速平台
8	IPMC-Actuated Robotic Fish	智能材料驱动
9	Macro-Fiber Composite Actuated Piezoelectric Robotic Fish
10	A Multifunctional Underwater Biomimetic Microrobot	应用
11	Multiple Autonomous Robotic Fish Collaboration
12	Fish–Robot Interactions: Robot Fish in Animal Behavioral Studies

第一部分 引言——RuXu Du

在对全书框架有一定认识的基础上，接下来我们正式开始阅读第一部分，引言。

引言部分的第一作者是RuXu Du（杜如虚），也是本书的作者，现任香港中文大学教授，他的团队在仿生机器人领域的成果卓著。

引言部分的阅读主要从四个方面展开：
   1. 水中推进方法 (Propulsion in Water from Ancient to Modern)
    2. 鱼类游动方式 (How Do Fish Swim)
    3. 机器鱼研究现状 (A Brief Review of Robot Fish)
    4. 设计机器鱼的方法论 (A Methodology for Robot Fish Design)

1. Propulsion in Water from Ancient to Modern

How to propel ships?
    (1) The first method is rowing, which is imitating the moving of the pectoral fin of the fish.

    (2) The second method is sculling. It was perhaps inspired by the moving of body and caudal fin of fish.

    (3) Thirdly, wind sail and then the screw propeller are used to propel. 风帆&螺旋桨

2. How Do Fish Swim

The propulsion efficiency of fish exceeds 90%[2]; the speed of a sailfish can reach 110 km/h, while the maximum acceleration of a pike is as high as 249 m/s${}^2$, which is over 25 g.

2.1 Researches on fish swimming

  (1) $JacquesYvesCousteau$ [3] pointed out that the shape of the fish determines how does the fish swim. Fish shapes can be roughly divided into the following categories:
  ① the laterally fattened (e.g., angelfish);
  ② the fusiform and laterally fattened (e.g., soldier fish);
  ③ the fusiform (e.g., cod);
  ④ the attenuated and cylindrical (e.g., trumpet fish);
  ⑤ the attenuated (e.g., the moray);
  ⑥ the dorsoventrally compressed (e.g., stingray);
  ⑦ and the combining shapes (e.g., the jack).

 To achieve highly effective swim, fish with different shapes evolve different fins (or fish with different fins evolve to different shapes) and hence, different propulsion methods.
 Fins are also used to start, lift, stabilize, hover, turn, and stop.

  (2) $MichaelJamesLighthill$ studied fish swimming using fluid mechanics. For fish and other aquatic animals, there are generally two types of swimming methods:
   ① Body and/or Caudal Fin (BCF);
   ② Medium and/or Paired Fin (MPF);
   ③ Jet propulsion (e.g., jellyfish and scallop);
   ④ Walkers and crawlers (e.g., shrimp and crab). (not mainstream).

  BCF (i.e., tail flapping) is used by approximately 85 % of the fish species, including many fast swimmers such as sailfish, tuna, and pike.
  Within BCF, there are roughly two kinds of motion modes: the oscillatory motion (the “C” mode), (e.g., carp) and the undulatory motion (the “S” mode) (e.g., eel). That can be described by the traveling wave model below:
$$y(x,t)=[c_{1}x+c_2{x}^2][sin(kx+\omega t)]$$ where y and x are sideward and forward displacements respectively, k is the body wave number and ω is the wave frequency.
 Note that the increase of k changes the swim from oscillatory swimming to undulatory swimming.

2.2 按照游动方式的具体分类

 (1) BCF式的游动分类
   A more detailed classification of fish swimming includes anguilliform, subcarangiform, carangiform, and thunniform.
    该分类通过如下的特征方程实现：$$\Phi (\lambda ,x)=sin(\frac{2\pi }{\lambda }x),0\le x\le 1,\lambda \ge 0$$ 其中，$x$和$\lambda$的单位的BL(Body Length). 四种分类从震动到完全波动的游动方式逐渐变化，将四种分类的性质标准和特征汇总在下表中。

Swimming mode	Characteristic function	拍动方式	代表鱼	行波图
Thunniform swimming	2π/λ ≤ π/2 或 λ ≥ 4 BL	C mode	金枪鱼
Carangiform swimming	π/2 < 2π/λ ≤ 3π/2 或 4 BL > λ ≥ 4/3 BL	C mode	xxx
Subcarangiform swimming	3π/2 < 2π/λ ≤ 5π/2 或 4/3 BL > λ ≥ 4/5 BL	C mode	xxx
Anguilliform swimming	2π/λ >5π/2 或 λ < 4/5 BL	S mode	鳗鱼

 (2) MPF式的游动分类
   MPF swim can be further divided into two categories: undulatory fin motion and oscillatory fin motion:
   ① Undulatory fin motion includes pectoral fin motion, dorsal fin motion, anal fin motion and a combination of them.
   ② Oscillatory fin motion includes labriform motion, ostraciiform motion, and tetraodontiform motion.
   The MPF swim is equally effective in nature, but is less studied due in part to its complexity.

 (3) 分类图汇总
  总体而言，常见的BCF和MPF两种常见的游动方式的总分类图如下图所示。这张图出自经典的综述文献"Review of fish swimming modes for aquatic locomotion"，文献中更全面地分析了不同的运动类型。

2.3 仿鱼游动建模

  为了更好地理解鱼类的游动，作者这里介绍了集中经典的建模方式。ps：这些建模大多对运动和浮力进行了简化，这里仅为了加强读者对仿鱼游动方式的理解。
  (1) 细长体理论 (Elongated Body Theory, EBT)

  细长体理论从微元的角度分析并计算鱼类在水下的持续推力。其在长度$x$处的单位微元的推力为：$L(x,t)$ ——(见书中公式4);
  从而，在体长范围$x\in [0,L]$内积分微元$[L(x,t)V(x,t)]$得到功率微元$P$——（见书中公式5的$W$）;
  从而，计算一个周期时间内的平均功$\bar{W}$——（见书中公式6）;
  进而，平均功减去侧向脱落的动能功率计算得到平均推力$\bar{T}$——（见书中公式7）;
  通常，鱼体阻力的公式可以由$F_D=\frac{1}{2}{C}_D\rho U^{2}S$计算得到。$C_D$为阻力系数（对于长圆柱外形取0.85, 对于锥形取0.5），$\rho$为水密度，$U$为流体速度，$S$为鱼体的迎水横截面积;
  鱼在巡游状态（平均加速度为0）时，推力$\bar{T}\approx$阻力$F_D$，由此联合上述公式可以得到巡游速度$U$——（见书中公式9）;
  推力$\bar{T}$和巡游速度$U$的乘积可以表示有效的推进功率$U\bar{T}$，结合一定时间下的平均功$\bar{W}$，可以计算得到鱼游动的推进效率$\eta$——（见书中公式11）。
  (2) Computational Fluid Dynamics (CFD)
  CFD工具也频繁地用于鱼类游动建模，常见的是软件FLUENT。
  其建模过程主要由四个步骤：①Model the fish and mesh the surrounding fluid；② Setup the motion of the fish（use travel wave model）；③ Setup the moving boundary for each steps and choose a solving algorithm；④ Visualize the simulation （graph or animation）。

  值得一提的是，作者仿真了4种BCF游动模式下的游动速度和推进效率（2Hz），如下表所示，可以供设计参考。

表2 鱼类游动的CFD仿真实例

  (3) MPF游动模式建模
  MPF的胸鳍也是行波运动，但胸鳍的下冲程和下冲程是不同的。
  如果要获得速度、推力和能效，除了实验数据外，CFD模型或许是唯一有效的方式。
  作者也简单展示了一个鳐鱼(ray fish)的建模和一组牛鼻瑶(cow-nosed ray)的拍动运动数据。

3. A Brief Review of Robot Fish

  The first robot fish reported from MIT in 1989 [17]，这本书将陆续介绍全球各地研发的经典机器鱼。
  机器鱼研究的两个方面：design and prototyping、control and navigation
  (1) Design and prototyping:
    根据文献调研，BCF类型的机器鱼研究更多，作者将其BCF模式的机构分为三类：the Single Joint design, the Multi-Joint design, and the smart material-based design。三种方法如下图所示。智能材料驱动方法主要有：Ionic Polymer Metal Composite (IPMC) (见书中Chap. 8)，Piezoelectric Material (PZT) (见书中Chap. 9)，和 Shape Memory Alloy (SMA) [19]。

    MPF类型机器鱼（见书中Chap. 5）的胸鳍通常具有2~3个驱动器以实现3D运动。
  (2) Control and navigation:
    控制和导航主要分为3个层面：controlling the flapping of robot fish，interacting with the environment，和 navigating through a specific path。
    The first level (controlling the flapping of robot fish) : is to achieve high efficiency and other desirable performances, such as speed, acceleration, turning radius, etc. The mode of control is usually semi-automatic.
    The second level (interacting with the environment) is the control for autonomous swim, involving sensing, information processing, and control to constantly adapt to the changing environment. This level is discussed in Chaps. 10, 11 and 12.
    The third level (navigating through a specific path) involves technological issues such as energy supply, positioning, and water resistance, as well as environment issues such as tide, turbulence, and shallow water.

  接下来这本书讲集中于机器鱼的design and prototyping。

4. A Methodology for Robot Fish Design

How to design a robot fish? An effective methodology is to follow the design of a fish.

4.1 鱼体解剖结构及驱动分析

  下面的图片展示了生物鱼的脊椎骨排列和驱动肌肉排列，肌肉收缩通过肌腱传递到脊椎弯曲，从而造成了生物鱼尾的拍动。

  肌腱分为两种：the Anterior Oblique Tendon (AOT) connected to the muscle 和 the Posterior Oblique Tendon (POT) attached to the vertebrae

  POT的长度和与骨骼的角度决定了单位肌肉收缩引起的脊椎总弯曲角度，暂称为肌肉收缩与脊椎弯曲比。金枪鱼(tuna)的肌肉收缩与脊椎弯曲比为3.4，而鲭鱼(mackerel)的比率为2.1。前者比率高更易于储能(energy storage)，后者比率低，更利于强力摆尾(powerful flapping)。

4.2 机器鱼机构设计方法及仿生形态评估分析

  机器鱼设计中，因为能量消耗等原因，难以利用许多的驱动器来模拟生物鱼中的肌肉。常见的一些机器鱼设计如下：

	 - 四个电机驱动对应的关节生成拍动——Chap. 4
	 - 一个大功率电机驱动四个关节，实现高频20Hz运动，产生3.6 m/s的速度——iSplash in Chap. 7
	 - 单个电机驱动柔性身体的设计产生期望的拍动——Chap.6
	 - 使用仿生线驱动机构(biomimetic wire-driven mechanism, BWDM)——Chap. 3

  线驱动机构可以分为：蛇形主干(serpentine backbone) 和 连续主干(continuum backbone) 两种。蛇形主干可以简化为一系列线性线段相连；而连续主干可以直接假设为一段弧线。在实现鳗鱼模式游动(Anguilliform)时，需要多端线驱动机构串联才可实现，同时对于Carangiform和Subcarangiform两种游动模式，需要的线驱动段数时2段和3段。
  作者提出了一种曲线拟合指标(a curve fitting index)ξ，用于评估多段线驱动机构对行波的拟合误差，具体公式和计算示例可参考书中公式(13)。
  作者通过仿真图得出结论：线驱动对行波的模仿精度远高于多关节机构的精度，如下图所示(其中黑色为行波，红色为多段线驱动机构，蓝色为多关节机构)。

4.3 机器鱼设计方法论

  总的来说，机器鱼的设计需要考虑以下步骤：
   ① 确定机器鱼的驱动类型和驱动机构：单关节(SJ)，多关节(MJ)，智能材料(smart material-based) 或仿生线驱动 (BWDM);
   ②确定尾部片段数量：根据选择的仿生游动类型，确定需要的尾部段数/关节数。
   ③确定每一段的几何尺寸：以达到最佳的仿生行波跟随效果。

5 总结

  引言部分gives a brief review of the theory of fish swim。接下来讲介绍诸多的平台设计方法和以性能提升为目标的系统建模与评估。
  下一篇博文讲记录第二部分 仿鱼运动(Fish motion)的阅读笔记，对应原书的第二章节，敬请期待。
 
 
 

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