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null (Ed.)Using computational modelling, we probe the hydrodynamics of a bio-inspired elastic propulsor with hybrid actuation that oscillates at resonance in a Newtonian fluid. The propulsor is actuated by a heaving motion at the base and by an internal bending moment distributed along the propulsor length. The simulations reveal that by tuning the phase difference between the external and internal actuation, the propulsor thrust and free-swimming velocity can be regulated in a wide range while maintaining high efficiency. Furthermore, the hybrid propulsor outperforms propulsors with either of the actuation methods. The enhanced performance is associated with the emerging bending pattern maintaining large tip displacement with reduced centre-of-mass displacement. The results are useful for developing highly efficient robotic swimmers utilizing smart materials as propulsors with simplified design and operation.more » « less
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null (Ed.)In this work we investigate the effects of two distinct actuation methods on the hydrodynamics of elastic rectangular plates oscillating at resonance. Plates are driven by plunging motion at the root or actuated by a distributed internal bending moment at Reynolds numbers between 500 and 4000. The latter actuation method represents internally actuated smart materials and emulates the natural ability of swimming animals to continuously change their shapes with muscles. We conduct experiments with plunging elastic plates and piezoelectric plate actuators that are simulated using a fully coupled three-dimensional computational model based on the lattice Boltzmann method. After experimental validation the computational model is employed to probe plate hydrodynamics for a wide range of parameters, including large oscillation amplitudes which prompts nonlinear effects. The comparison between the two actuation methods reveals that, for the same level of tip deflection, externally actuated plates significantly outperform internally actuated plates in terms of thrust production and hydrodynamic efficiency. The reduced performance of internally actuated plates is associated with their suboptimal bending shapes which leads to a trailing edge geometry with enhanced vorticity generation and viscous dissipation. Furthermore, the difference in actuation methods impacts the inertia coefficient characterizing the plate oscillations, especially for large amplitudes. It is found that the inertia coefficient strongly depends on the tip deflection amplitude and the Reynolds number, and actuation method, especially for larger amplitudes.more » « less
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null (Ed.)Fiber-based flexible piezoelectric composites with interdigitated electrodes, namely Macro-Fiber Composite (MFC) structures, strike a balance between the deformation and actuation force capabilities for effective underwater bio-inspired locomotion. These materials are also suitable for vibration-based energy harvesting toward enabling self-powered electronic components. In this work, we design, fabricate, and experimentally characterize an MFC-based bio-inspired swimmer-energy harvester platform. Following in vacuo and in air frequency response experiments, the proposed piezoelectric robotic fish platform is tested and characterized under water for its swimming performance both in free locomotion (in a large water tank) and also in a closed-loop water channel under imposed flow. In addition to swimming speed characterization under resonant actuation, hydrodynamic thrust resultant in both quiescent water and under imposed flow are quantified experimentally. We show that the proposed design easily produces thrust levels on the order of biological fish with similar dimensions. Overall it produces thrust levels higher than other smart material-based designs (such as soft material-based concepts), while offering geometric scalability and silent operation unlike large scale robotic fish platforms that use conventional and bulky actuators. The performance of this untethered swimmer platform in piezoelectric energy harvesting is also quantified by underwater base excitation experiments in a quiescent water and via vortex induced-vibration (VIV) experiments under imposed flow in a water channel. Following basic resistor sweep experiments in underwater base excitation experiments, VIV tests are conducted for cylindrical bluff body configurations of different diameters and distances from the leading edge of the energy harvesting tail portion. The resulting concept and design can find use for underwater swimmer and sensor applications such as ecological monitoring, among others.more » « less