Abstract
This paper presents an efficient and versatile OpenFOAM (Open-source Field Operation And Manipulation)-based numerical solver for fully resolved simulations that can handle any rigid and deforming bodies moving in the fluid. The algorithm used for solving Fluid–Structure Interactions (FSI) involving the immersed structure with changeable shapes is based on the momentum redistribution method. The present approach excludes the need to solve elastic equations, obtain high-accuracy predictions of the flow field and provide a rigorous basis for implementing the Immersed Boundary Method (IBM). The OpenFOAM implementation of the algorithm is discussed along with the design methodology for developing bio-inspired underwater vehicles using the present solver. The computational results are validated with the experimental observations of the two-dimensional and three-dimensional anguilliform swimmer case studies. The study further extended to the three-dimensional hydrodynamics of a bioinspired, self-propelling manta bot. The motion of the body is specified a priori according to the reported experimental observations. The results quantify the vortex formation and shedding processes and enable the identification of the portions of the body responsible for the majority of thrust. The body accelerates from rest to an asymptotic mean forward velocity of 0.2 ms−1 in almost 5 s, consistent with experimental observations. It is observed that the developed computational model is capable of performing any motion simulation and manoeuvrability analysis, which are critical for the designers to develop novel unmanned underwater vehicles.
Similar content being viewed by others
References
Ziaeefard, S., Page, B. R., Pinar, A. J., & Mahmoudian, N. (2018). Effective turning motion control of internally actuated autonomous underwater vehicles. Journal of Intelligent & Robotic Systems, 89(1), 175–189.
Lu, H., Yeo, K. S., & Chew, C.-M. (2018). Effect of pectoral fin kinematics on manta ray propulsion. Modern Physics Letters B, 32(12n13), 1840025.
Bandyopadhyay, P. R. (2005). Trends in biorobotic autonomous undersea vehicles. IEEE Journal of Oceanic Engineering, 30(1), 109–139.
Fish, F. E. (2006). Limits of nature and advances of technology: What does biomimetics have to offer to aquatic robots? Applied Bionics and Biomechanics, 3(1), 49–60.
Moored, K. W., Fish, F. E., Kemp, T. H., & Bart-Smith, H. (2011). Batoid fishes: Inspiration for the next generation of underwater robots. Marine Technology Society Journal, 45(4), 99–109.
Moslemi, A. A., & Krueger, P. S. (2010). Propulsive efficiency of a biomorphic pulsed-jet underwater vehicle. Bioinspiration & Biomimetics, 5(3), 036003.
Murphy, A. J., & Haroutunian, M. (2011). Using bio-inspiration to improve capabilities of underwater vehicles. In: 17th International Symposium on Unmanned Untethered Submersible Technology (UUST), Portsmouth, USA, 2011, p. 012.
Lock, R. J., Burgess, S. C., & Vaidyanathan, R. (2013). Multi-modal locomotion: from animal to application. Bioinspiration & Biomimetics, 9(1), 011001.
Lauder, G. V., & Tangorra, J. L. (2015). Fish locomotion: Biology and robotics of body and fin-based movements. Robot fish (pp. 25–49). Springer.
Costa, D., Palmieri, G., Palpacelli, M. C., Panebianco, L., & Scaradozzi, D. (2018). Design of a bio-inspired autonomous underwater robot. Journal of Intelligent & Robotic Systems, 91(2), 181–192.
Cui, R., Chen, L., Yang, C., & Chen, M. (2017). Extended state observer-based integral sliding mode control for an underwater robot with unknown disturbances and uncertain nonlinearities. IEEE Transactions on Industrial Electronics, 64(8), 6785–6795.
Lauder, G. V., Madden, P. G., Mittal, R., Dong, H., & Bozkurttas, M. (2006). Locomotion with flexible propulsors: I. Experimental analysis of pectoral fin swimming in sunfish. Bioinspiration & Biomimetics, 1(4), S25.
Struebig, K., Bayat, B., Eckert, P., Looijestijn, A., Lueth, T. C., & Ijspeert, A. J. (2020). Design and development of the efficient anguilliform swimming robot—MAR. Bioinspiration & Biomimetics, 15(3), 035001.
Mittal, R. (2004). Computational modeling in biohydrodynamics: Trends, challenges, and recent advances. IEEE Journal of Oceanic Engineering, 29(3), 595–604.
Zhou, H., Tianjiang, Hu., Xie, H., Zhang, D., & Shen, L. (2010). Computational hydrodynamics and statistical modeling on biologically inspired undulating robotic fins: A two-dimensional study. Journal of Bionic Engineering, 7(1), 66–76.
Xu, Y., & Wan, D. (2012). Numerical simulation of fish swimming with rigid pectoral fins. Journal of Hydrodynamics Series B, 24(2), 263–272.
Li, R., Xiao, Q., Liu, Y., Hu, J., Li, L., Li, G., Liu, H., Hu, K., & Wen, L. (2018). A multi-body dynamics based numerical modelling tool for solving aquatic biomimetic problems. Bioinspiration & Biomimetics, 13(5), 6001.
Zhu, Q., & Shoele, K. (2008). Propulsion performance of a skeleton-strengthened fin. Journal of Experimental Biology, 211(13), 2087–2100.
Luo, Y., Xiao, Q., Shi, G., Wen, L., Chen, D., & Pan, G. (2020). A fluid–structure interaction solver for the study on a passively deformed fish fin with non-uniformly distributed stiffness. Journal of Fluids and Structures, 92, 102778.
Tian, R., Li, L., Wang, W., Chang, X., Ravi, S., & Xie, G. (2020). CFD based parameter tuning for motion control of robotic fish. Bioinspiration & Biomimetics, 15(2), 026008.
Shirgaonkar, A. A., MacIver, M. A., & Patankar, N. A. (2009). A new mathematical formulation and fast algorithm for fully resolved simulation of self-propulsion. Journal of Computational Physics, 228(7), 2366–2390.
Kern, S., & Koumoutsakos, P. (2006). Simulations of optimized anguilliform swimming. Journal of Experimental Biology, 209(24), 4841–4857.
Feng, H., Wang, Z., Todd, P. A., & Lee, H. P. (2019). Simulations of self-propelled anguilliform swimming using the immersed boundary method in OpenFOAM. Engineering Applications of Computational Fluid Mechanics, 13(1), 438–452.
Tytell, E. D., & Lauder, G. V. (2004). The hydrodynamics of eel swimming: I. Wake structure. Journal of Experimental Biology, 207(11), 1825–1841.
MüllerSmitStamhuisVideler, U. K. J. E. J. J. J. (2001). How the body contributes to the wake in undulatory fish swimming: Flow fields of a swimming eel (Anguilla anguilla). Journal of Experimental Biology, 204(16), 2751–2762.
Fish, F. E., Schreiber, C. M., Moored, K. W., Liu, G., Dong, H., & Bart-Smith, H. (2016). Hydrodynamic performance of aquatic flapping: Efficiency of underwater flight in the manta. Aerospace, 3(3), 20.
Acknowledgements
The authors would like to acknowledge the funding received from Naval Research Board, Marine System Panel to carry out this research work at Shiv Nadar University. Award Number: NRB/4003/PG/400, Recipient: Dr. Santanu Mitra, Ph.D., Assoc. Professor, Mechanical Engineering Department, Shiv Nadar University. The authors would like to thank Dr Ajit Kumar from the department of mathematics at Shiv Nadar University, India, and Maguram Prasaad, PhD scholar from Indian Institute of Science, Bangalore, India for their useful discussions and valuable inputs.
Funding
The authors have no relevant financial or non-financial interests to disclose.
Author information
Authors and Affiliations
Corresponding author
Ethics declarations
Conflict of interest statement
The authors R. Rayapureddi. and S Mitra declare that there is no conflict of interest pertaining to this publication.
Additional information
Publisher's Note
Springer Nature remains neutral with regard to jurisdictional claims in published maps and institutional affiliations.
Rights and permissions
About this article
Cite this article
Rayapureddi, R., Mitra, S. Novel Hydrodynamic Analysis Towards Capabilities Improvement of Bio-inspired Underwater Vehicles Using Momentum Redistribution Method. J Bionic Eng 19, 314–330 (2022). https://doi.org/10.1007/s42235-021-00140-6
Received:
Revised:
Accepted:
Published:
Issue Date:
DOI: https://doi.org/10.1007/s42235-021-00140-6