Abstract：In order to evaluate the practicability of the caudal fin thruster,SPC-Ⅲbiorobotic autonomous underwater vehicle(AUV) is taken as the research platform,the power and mobility of a caudal fin thruster and a screw propeller are compared under the condition of the same tonnage.The sea trial results about the power and mobility of the caudal fin thruster and the screw propeller show that the turning radius of the former is about 2/5 of that of the latter and the power consumption of the former is less about 7%than that of the latter at the speed of 2.2kn.Using caudal fin propulsion and carrying water quality multiprobes,SPC-Ⅲhas successfully performed a 49 km probe experiment and collected concentration distributing data of blue-green algae in the water of Taihu Lake.
[1] Fish F E,Rohr J J.Review of dolphin hydrodynamics and swimming performance[R].USA:United States Navy,1999.
[2] Wu Y T,Brokaw C J,Brennan C.Swimming and flying in nature[M].New York,USA:Plenum Press,1975:53-55.
[3] Anderson J M,Streitlien K,Barrett D S,et al.Oscillating foils of high propulsive efficiency[J].Journal of Fhiid Mechanics,1998,360:41-72.
[4] Barrett D S,Triantafyllou M S,Yue D K P,et al.Drag reduction in fish-like locomotion[J].Journal of Fluid Mechanics,1999,392:183-212.
[5] Triantafyllou M S,Triantafyllou G S,Yue D K P.Hydrodynamics of fishlike swimming[J].Annual Review of Fluid Mechanics,2000,32:33-53.
[6] Cheng J Y,Zhuang L X,Tong B G.Analysis of swimming three-dimensional waving plates[J].Journal of Fluid Mechanics,1991,232:341-355.
[7] Bandyopadhyay P R.Trends in biorobotic autonomous undersea vehicles[J].IEEE Journal of Oceanic Engineering,2005,30(1):109-139.
[8] Anderson J M,Chhabra N K.Maneuvering and stability performance of a robotic tuna[J].Integrative and Comparative Biology,2002,42(1):118-126.
[9] Anderson J M,Kerrebrock P A.The vorticity control unmanned undersea vehicle (VCUUV)-An autonomous vehicle employing fish swimming propulsion and maneuvering[C]//10th International Symposium on Unmanned Untethered Submersible Technology.1997:189-195.
[10] Nakashima M,Tokuo K,Kaminaga K,et al.Experimental study of a self-propelled two-joint dolphin robot[C]//9th International Offshore and Polar Engineering Conference.Cupertino,CA,USA:International Society of Offshore & Polar Engineers,1999:419-424.
[11] Wang T M,Liang J H,Shen G X,et al.Stabilization based design and experimental research of a fish robot[C]//IEEE/RSJ International Conference on Intelligent Robots and Systems.Piscataway,NJ,USA:IEEE,2005:954-959.
[12] 梁建宏,邹丹,王松,等.SPC-Ⅱ机器鱼平台及其自主航行实验[J].北京航空航天大学学报,2005,31(7):709-713.Liang Jianhong,Zhou Dan,Wang Song,et al.Trial voyage of SPC-Ⅱ fish robot[J].Journal of Beijing University of Aeronautics and Astronautics,2005,31(7):709-713.
[13] Liang J H,Wang T W,Wang S,et al.Experiment of robofish aided underwater archaeology[C]//IEEE International Conference on Robotics and Biomimetics.Piscataway,N J,USA:IEEE,2005:499-504.
[14] 梁建宏.水下航行体仿生推进机理研究[D].北京:北京航空航天大学,2006.Liang Jianhong.Propulsive mechanism of bionic undersea vehicle[D].Beijing:Beihang University,2006.
[15] Ying L,Zhu J.Screw design and implementary on comparison UUV[R].China:China Ship Scientific Research Center,2006.
