This paper presents a switching PD-based sliding mode control (PD-SMC) method for the 6-degree-of-freedom (DOF) hovering motion of the underwater robot with tilting thrusters. Four thrusters of robot can be tilted simultaneously in the horizontal and...
Unsteady flows contain information about the objects creating them. Aquatic organisms offer intriguing paradigms for extracting flow information using local sensory measurements. In contrast, classical methods for flow analysis require global knowled...
A pilot-scale bioprocess was developed for the production of karlotoxin-enriched extracts of the marine algal dinoflagellate Karlodinium veneficum. A bubble column and a flat-panel photobioreactors (80-281 L) were used for comparative assessment of g...
Axi-symmetric numerical simulations are carried out to study the dynamics of a plug introduced through a mixed-stream injection in supercritical fluid chromatographic columns. The computational fluid dynamics model developed in this work takes into a...
Soft robotic systems generally require both soft actuators and soft sensors to perform complex functions. Separate actuators and sensors are often combined into one composite device when proprioception (self-sensing) is required. In this article, we ...
Proceedings of the National Academy of Sciences of the United States of America
Nov 27, 2017
Artificial muscles hold promise for safe and powerful actuation for myriad common machines and robots. However, the design, fabrication, and implementation of artificial muscles are often limited by their material costs, operating principle, scalabil...
The lateral line system (LLS) is a mechanoreceptive organ system with which fish and aquatic amphibians can effectively sense the surrounding flow field. The reverse Kármán vortex street (KVS), known to be a typical thrust-producing wake, is commonly...
Liquid droplets are very simple objects present in our everyday life. They are extremely important for many natural phenomena as well as for a broad variety of industrial processes. The conventional research areas in which the droplets are studied in...
Many aquatic animals propelled by elongated undulatory fins can perform complex maneuvers and swim with high efficiency at low speeds. In this propulsion, one or multiple waves travel along an elastic fin composed of flexible rays. In this study, we ...
Undulatory motion of the body is the dominant mode of locomotion in fishes, and numerous studies of body kinematics and muscle activity patterns have provided insights into the mechanics of swimming. However, it has not been possible to investigate h...
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