Multi-objective optimization of the kinematic parameters of fish-like swimming using a genetic algorithm method
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This paper investigates the kinematic optimization of fish-like swimming. First, an experiment was performed to detect the motion of the fish tail foil of a fish robot. Next, the kinematic swimming model was verified experimentally using an image processing method. The model includes two rotational motions: caudal foil motion and foil-pitching motion. The kinematic model allows us to evaluate the influence of motion trajectory in the optimization process. To optimize the propulsive efficiency and thrust, a multi-objective genetic algorithm was employed to handle with kinematic, hydrodynamic, and propulsion models. The results show that the caudal length has a significant effect on the performance of the flapping foil in fish-like swimming, and its influence on the motion trajectory may increase the propulsive efficiency to as high as 98% in ideal conditions. The maximum thrust coefficient can also reach approximately 3 in ideal conditions.
Key wordsFish-like swimming fish robot hydrodynamics optimization genetic algorithm
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This study was supported by the Energy Efficiency & Resources Core Technology Program of the Korea Institute of Energy Technology Evaluation and Planning (KETEP) granted financial resource from the Ministry of Trade, Industry & Energy, Republic of Korea (No. 20132020000390). This work was also supported by the National Research Foundation of Korea (NRF) grant funded by the Korean government (MSIP) through GCRC-SOP (No. 2011-0030013).
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