CN107480334A - A kind of three joint machine fish hydrodynamics method for numerical simulation - Google Patents
A kind of three joint machine fish hydrodynamics method for numerical simulation Download PDFInfo
- Publication number
- CN107480334A CN107480334A CN201710563908.7A CN201710563908A CN107480334A CN 107480334 A CN107480334 A CN 107480334A CN 201710563908 A CN201710563908 A CN 201710563908A CN 107480334 A CN107480334 A CN 107480334A
- Authority
- CN
- China
- Prior art keywords
- joint
- fish
- main driving
- machine fish
- maximum
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F30/00—Computer-aided design [CAD]
- G06F30/20—Design optimisation, verification or simulation
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H1/00—Propulsive elements directly acting on water
- B63H1/30—Propulsive elements directly acting on water of non-rotary type
- B63H1/36—Propulsive elements directly acting on water of non-rotary type swinging sideways, e.g. fishtail type
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F2119/00—Details relating to the type or aim of the analysis or the optimisation
- G06F2119/06—Power analysis or power optimisation
Abstract
The invention discloses a kind of three joint machine fish hydrodynamics method for numerical simulation, the selected zoning of the present invention is 10 times of three joint bionic machine fish, mesh generation takes structure tetrahedron, and boundary condition uses Multiple reference model method, carries out digital to analog simulation analysis.Draw in the cycle, pressure maximum concentrates on head and both sides, and as t=1/4T and t=3/4T, i.e., when afterbody carries out whipping amplitude peak, the pressure being subject to is maximum, and afterbody current are also maximum, and propulsive force is maximum；According to Simulation result data, real head Breakage Reasons are have found, and damaged particular location appears in mouth front portion, about at its front portion 1/3, bear force intensity to increase it, preceding 1/3 on the inside of its fish head mouth at design three support frames, to improve head disrepair phenomenon.
Description
Technical field
The present invention relates to a kind of bionic machine fish technical field, particularly a kind of three joint machine fish hydrodynamics Numerical-Modes
Plan method.
Background technology
Computation fluid dynamics are exactly to carry out numerical simulation to realistic model using existing electronic computer, for analyzing
The physical phenomenon such as flow of fluid and heat transfer, draws result of calculation, then realistic model is instructed.CFD technologies from last century to
The present has been obtained for fast development, by that can handle the server of huge data volume, carries out the flow behavior in analysis fluid,
CFD technologies make people predict the flow field movement present situation in real model by analyzing on computers, draw data, and logarithm
According to being handled.Analyzed using Hydrodynamics Theory knowledge and related CFD simulation softwares Fluent, can be to machine fish
Travelling research provides deeper theoretical research and more efficiently instrument, can drive the theoretical research of machine fish.
The content of the invention
It is an object of the invention to provide a kind of three joint machine fish hydrodynamics method for numerical simulation.
In order to solve the above technical problems, the technical solution adopted by the present invention is：
A kind of three joint machine fish hydrodynamics method for numerical simulation, comprise the following steps：
The first step, establish physical model；Three joint machine fish includes fish head, fish body and fish tail, and fish body includes fixing
Portion and swing part, the controlling organization for control machine fish movement posture, wireless charging is provided with fixed part, and swing part includes
Three main driving joints, respectively set gradually along fish body length direction first it is main driving joint, second it is main driving joint with
3rd main driving joint, fixed part one end are fixedly connected with fish head, and the other end is connected with the first main driving arthrodesis, the first master
It is 1 to drive joint, the second main driving joint and the 3rd main diarthrodial length ratio of drive:1:1.2；
Each main driving joint includes the output shaft company of a steering wheel and drive rod, drive rod one end and steering wheel
Connect, the other end drives diarthrodial steering wheel with adjacent main and is fixedly connected；First it is main driving joint and second it is main driving joint between, with
And second it is main driving joint and the 3rd driving joint between along fish body length direction be provided with several from driving joint, Mei Gecong
Driving joint includes support ring, vertebrae hinge and vertebrae articulated mast, has in support ring and is used to fix vertebrae hinge
The neck of chain, vertebrae hinge have first connecting portion and second connecting portion, and second connecting portion is U-shaped, and second connecting portion card is set
In the neck of support ring, first connecting portion is by vertebrae articulated mast with previous from the diarthrodial second connecting portion of drive
Rotation connection, second connecting portion rotate company by vertebrae articulated mast and the latter from diarthrodial first connecting portion is driven
Connect, it is multiple to join end to end to form the vertebra of machine fish from the diarthrodial vertebrae hinge of drive.
Second step, the physical model obtained according to the first step, influence of the model to surrounding environment is determined, it is determined that calculating area
Domain, carry out mesh generation；The physical model that the first step is obtained is put in progress fluid emulation analysis in the tank of certain flow rate, leads to
Cross Fluent software emulations and go out flow field of the three joint machine fishs with certain rule shuttling movement in the cycle in the water of flowing
Figure and tonogram, setup algorithm region is 10 times of three joint machine fish sizes, from tetrahedral grid；
3rd step, boundary condition is set；Assuming that the current of experimental situation residing for three joint machine fishs are steady flow, calculating is adopted
With MRF methods, a zoning is regarded as in whole zoning, calculates the fluid behaviour around three joint machine fishs；
4th step, the grid chart of division is imported in Fluid Mechanics Computation analysis software Fluent, carries out a series of set
Put solution；Set primary condition：Cycle T=2s, water speed v=0.5m/s, crucial moment in the cycle is done with simulation analysis, chosen
The pressure field figure and speed flowing field at five moment of t=0, t=1/8T, t=1/4T, t=5/8T, t=3/4T are analyzed；
5th step, selection analysis processing is carried out to data, draws digital simulation analysis result.
Further, Pressure maximum value change and afterbody current maximum in three joint machine fish cycles are drawn in the 5th step
Variation diagram, obtain cycle inner machine fish maximum pressure point be 1/3 before fish head mouth at, practice also demonstrate that herein easily hair
It is raw damaged.
Further, in order to increase the compression strength on head, so as to reduce the breakage on head, in three joint machine
Three a diameter of 4mm stress support bar is provided with the inside of the fish head mouth of device fish, at before mouth 1/3.
After the present invention uses such scheme, have the following technical effect that：
The selected zoning of the present invention is 10 times of three joint bionic machine fish, and mesh generation takes structure tetrahedron,
Boundary condition uses Multiple reference model method, carries out digital to analog simulation analysis.Draw in the cycle, pressure maximum concentrates on head
Portion and both sides, and as t=1/4T and t=3/4T, i.e., when afterbody carries out whipping amplitude peak, the pressure being subject to is maximum, afterbody
Current are also maximum, and propulsive force is maximum；According to Simulation result data, real head Breakage Reasons, and damaged particular location have found
Appear in mouth front portion, about at its front portion 1/3, force intensity born to increase it, preceding 1/3 on the inside of its fish head mouth at set
Three support frames are counted, to improve head disrepair phenomenon.
Brief description of the drawings
Fig. 1 is the schematic flow sheet of analogy method.
Fig. 2 a, 2b are t=0 moment pressure field figures and speed flowing field figure respectively.
Fig. 3 a, 3b are t=1/8T moment pressure field figures and speed flowing field figure respectively.
Fig. 4 a, 4b are t=1/4T moment pressure field figures and speed flowing field figure respectively.
Fig. 5 a, 5b are t=5/8T moment pressure field figures and speed flowing field figure respectively.
Fig. 6 a, 6b are t=3/4T moment pressure field figures and speed flowing field figure respectively.
Fig. 7 is Pressure maximum value variation diagram in the cycle.
Fig. 8 is flow velocity maximum variation diagram in the cycle.
With a distance from Fig. 9 shows in the cycle that pressure maximum point is from apical head.
Figure 10 shows the structure of three joint machine fishs.
Figure 11 shows the structure that support bar is set on the inside of fish head mouth.
Embodiment
As shown in figure 1, a kind of three joint machine fish hydrodynamics method for numerical simulation, including：
The first step, according to current conditions, establish physical model；
As shown in Figure 10, three joint machine fish includes fish head, fish body and fish tail, and fish body includes fixed part 1 and swung
Portion 2, the controlling organization for control machine fish movement posture, wireless charging is provided with fixed part, and swing part includes three masters
Joint is driven, the first main driving joint, the second main driving joint and the 3rd main driving joint are set gradually along fish body length direction,
Fixed part one end is fixedly connected with fish head, and the other end is connected with the first main driving arthrodesis, the first main driving joint, the second master
It is 1 to drive joint and the 3rd main diarthrodial length ratio of drive:1:1.2.
Each main driving joint includes the output axis connection of a steering wheel and drive rod, drive rod one end and steering wheel, separately
One end is driven diarthrodial steering wheel with adjacent main and is fixedly connected, and the main driving joint tailing portion of three joint machine fishs is first and last one
Move back and forth, each of which movable joint is also the reciprocating motion carried out on the basis of a upper movable joint, the fortune of machine fish
Diarthrodial mass motion track is along varies with sinusoidal function, and the second main driving joint is done under the first main diarthrodial basis of drive
Move back and forth, still in accordance with varies with sinusoidal function, there is phase in motion for the first main driving joint and the second main driving joint
Potential difference, the 3rd main driving joint move reciprocatingly as the second main driving joint under the second main diarthrodial basis of drive, according to
Varies with sinusoidal function is so observed, there is bigger phase difference in motion for the second main driving joint and the 3rd main driving joint.
First it is main driving joint and second it is main driving joint between, second it is main driving joint and the 3rd driving joint between,
Several are provided with from driving joint along fish body length direction between 3rd driving joint and fish tail, are each included from driving joint
Support ring 3, vertebrae hinge 4 and vertebrae articulated mast, there is the neck for being used for fixing vertebrae hinge, ridge in support ring
Vertebra hinge has first connecting portion and second connecting portion, and second connecting portion is U-shaped, and second connecting portion is arranged in the card of support ring
In groove, first connecting portion is rotatablely connected by vertebrae articulated mast with previous from the diarthrodial second connecting portion of drive, the
Two connecting portions are rotatablely connected by vertebrae articulated mast and the latter from diarthrodial first connecting portion is driven, multiple from driving
The vertebrae hinge in joint joins end to end to form the vertebra of machine fish；It is according to main driving joint from diarthrodial movement relation is driven
Movable joint and change, three a diameter of 4mm stress support bar is provided with the inside of fish head mouth, at before mouth 1/3.
Second step, the physical model obtained according to the first step, influence of the model to surrounding environment is determined, it is determined that calculating area
Domain, carry out mesh generation；
The physical model that the first step is obtained is put in progress fluid emulation analysis in the tank of certain flow rate, passes through Fluent
Software emulation goes out flow field figure and pressure of the three joint machine fishs with certain rule shuttling movement in the cycle in the water of flowing
Figure, only takes crucial moment to be analyzed, because zoning scope is bigger, calculating will be more accurate, and zoning scope is too small will
Influence to calculate data, consider, setup algorithm region is 10 times of three joint machine fish sizes.
Tetrahedral grid has very strong adaptability to complex region border and case of constraint, and fast, flexibly, engineering
Person works' amount is small, therefore selects tetrahedral grid.Three joint machine fish adjacent edges Flow Field Calculations are considered in mesh generation
It is larger, therefore border Partial Mesh is encrypted, in favor of calculating below, when carrying out discrete to zoning, to difference
The zoning dividing mode at moment selects same mesh generation mode, and table 1 provides the number of mesh generation at different moments.
The number of the mesh generation at different moments of table 1
3rd step, boundary condition is set；Assuming that the current of experimental situation residing for three joint machine fishs are steady flow, calculating is adopted
With Multiple reference model method, i.e. MRF methods (moving reference frame), MRF is a kind of steady-state algorithm, amount of calculation compared with
Small, MRF advantages are not need experimental data just can realize the overall numerical simulation to testing pond, suitable for three joint machines
Fish less system in water.During simulation, a zoning is regarded as in whole zoning, calculated around three joint machine fishs
Fluid behaviour.
4th step, the grid chart of division is imported in Fluid Mechanics Computation analysis software Fluent, carries out a series of set
Put solution；
Set primary condition：Cycle T=2s, water speed v=0.5m/s.Crucial moment in cycle is done with simulation analysis, choosing
The pressure field figure and speed flowing field at five crucial moments of t=0, t=1/8T, t=1/4T, t=5/8T, t=3/4T are taken, such as
Fig. 2-6 shows the pressure field figure and speed flowing field figure at crucial moment in unit period.
Three joint machine fishs are when carrying out periodic wobble, as water speed v=0.5m/s, when can be seen that t=0 by Fig. 2 a,
Maximum pressure point occurs immediately ahead of head, is P1=1.45 × 10-1Pa, when can be seen that t=0 by Fig. 2 b, maximum flow of water appears in
Head on both sides, it is v1=6.65 × 10-1m/s；
When can be seen that t=1/8T by Fig. 3 a, there is right side of head in maximum pressure point, is P2=1.49 × 10-1Pa, by Fig. 3 b
When can be seen that t=1/8T, maximum flow of water is appeared on the right side of afterbody, is v2=7.46 × 10-1m/s；
When can be seen that t=1/8T by Fig. 4 a, there is right side of head in maximum pressure point, is P3=1.56 × 10-1Pa, but now
Bionic machine fish right side of body is overall all under great stress, and when can be seen that t=1/8T by Fig. 4 b, maximum flow of water appears in afterbody
Left back, it is v1=8.59 × 10-1m/s；
When can be seen that t=5/8T by Fig. 5 a, there is left side of head in maximum pressure point, is P4=1.49 × 10-1Pa, by Fig. 5 b
When can be seen that t=5/8T, maximum flow of water is appeared on the left of afterbody, is v4=8.35 × 10-1m/s；
When can be seen that t=3/4T by Fig. 6 a, there is left side of head in maximum pressure point, is P5=1.58 × 10-1Pa, by Fig. 6 b
When can be seen that t=3/4T, maximum flow of water is appeared on the right side of afterbody, is v5=8.42 × 10-1m/s.Because three joint machine fish fortune
Dynamic is continuous, although simply handling above crucial moment, its data can be entered into Line Continuity by key point in the cycle
The data of simulation analysis are done specific processing by processing below.
5th step, selection analysis processing is carried out to data, draws digital simulation analysis result；
Pressure maximum value change and afterbody current maximum value changes are respectively such as Fig. 7 and Fig. 8 institutes in three joint machine fish cycles
Show：
When the travelling cycle is 2s, Pressure maximum value is concentrated mainly on three joint machine fishs in the cycle as seen from Figure 7
P=0.140~0.160pa, wherein maximum crest appear in t=1/4T the and t=3/4T moment, and maximum trough appears in t
=1/2T the moment；As seen from Figure 8 around bionic machine fish flow field maximum be concentrated mainly on v=0.66~0.85m/s it
Between, wherein maximum crest similarly appears in t=1/4T the and t=3/4T moment, when minimum value trough appears in t=1/2T
Carve.
As t=1/4T and t=3/4T, its three main driving joint swing angles reach capacity, now bionic machine fish
The limit is bent to carrying out body, is carrying out the whipping action of amplitude peak, the pressure that is subject to is maximum, and afterbody current are also most
Greatly, propulsive force is maximum；Work as t=1/2T, its three main driving joints swing it is minimum, close to zero, now bionic machine fish body
Bending is minimum, and the pressure being subject to is minimum, and afterbody current are also minimum.
Mainly there is head in maximum in three joint machine fish cycles, and using fish head top as at 0, fish head points to fish tail as just
Direction, change apart from fish head top in surrounding as shown in figure 9, maximum in the cycle as seen from the figure at its pressure maximum point
Pressure spot is concentrated mainly at L=0~16.5mm apart from head, and the maximum moment, minimal instant appeared at t=3/4T
At t=1/2.In three joint bionic machine fish designs according to golden dragonfish size, its head length are designed as L in practice1=
125mm, mouth Design of length are L2=50mm, it can be seen that L=0~16.5mm is concentrated mainly on mouth front portion, before mouth
Among 1/3, breakage easily occurs herein, can internally design three a diameter of 4mm stress support bar 5, as shown in figure 11,
Supporting bar structure is to increase the compression strength on head, so as to reduce the breakage on head.
It is complete by above-mentioned description, relevant staff using the above-mentioned desirable embodiment according to the present invention as enlightenment
Various changes and amendments can be carried out without departing from the scope of the technological thought of the present invention' entirely.The technology of this invention
Property scope is not limited to the content on specification, it is necessary to determines its technical scope according to right.
Claims (5)
- A kind of 1. three joint machine fish hydrodynamics method for numerical simulation, it is characterised in that：Comprise the following steps：The first step, establish physical model；Three joint machine fish includes fish head, fish body and fish tail, fish body include fixed part and Swing part, the controlling organization for control machine fish movement posture, wireless charging is provided with fixed part, and swing part includes three Main driving joint, the first main driving joint, the second main driving joint and the 3rd respectively set gradually along fish body length direction Main driving joint, fixed part one end are fixedly connected with fish head, and the other end is connected with the first main driving arthrodesis, the first main driving Joint, the second main driving joint and the 3rd main diarthrodial length ratio of drive are 1:1:1.2；Second step, the physical model obtained according to the first step, influence of the model to surrounding environment is determined, determines zoning, Carry out mesh generation；The physical model that the first step is obtained is put in progress fluid emulation analysis in the tank of certain flow rate, passes through Fluent software emulations go out flow field figure of the three joint machine fishs with certain rule shuttling movement in the cycle in the water of flowing And tonogram, setup algorithm region is 10 times of three joint machine fish sizes, from tetrahedral grid；3rd step, boundary condition is set；Assuming that the current of experimental situation residing for three joint machine fishs are steady flow, calculate and use MRF methods, a zoning is regarded as in whole zoning, calculates the fluid behaviour around three joint machine fishs；4th step, the grid chart of division is imported in Fluid Mechanics Computation analysis software Fluent, carry out a series of setting and ask Solution；Set primary condition：Cycle T=2s, water speed v=0.5m/s, crucial moment in the cycle is done with simulation analysis, choose t= 0th, the pressure field figure at five moment of t=1/8T, t=1/4T, t=5/8T, t=3/4T and speed flowing field are analyzed；5th step, selection analysis processing is carried out to data, draws digital simulation analysis result.
- 2. machine fish hydrodynamics method for numerical simulation in three joints according to claim 1, it is characterised in that：In 5th step Pressure maximum value change and afterbody current maximum variation diagram in three joint machine fish cycles are drawn, obtains cycle inner machine fish Maximum pressure point be 1/3 before fish head mouth at.
- 3. machine fish hydrodynamics method for numerical simulation in three joints according to claim 1, it is characterised in that：It is described each Main driving joint includes the output axis connection of a steering wheel and drive rod, drive rod one end and steering wheel, the other end and adjacent main Diarthrodial steering wheel is driven to be fixedly connected.
- 4. machine fish hydrodynamics method for numerical simulation in three joints according to claim 3, it is characterised in that：First main drive Along fish body length direction between movable joint and the second main driving joint and between the second main driving joint and the 3rd driving joint Several are provided with from joint is driven, each includes support ring, vertebrae hinge and vertebrae articulated mast from driving joint, There is the neck for being used for fixing vertebrae hinge in support ring, vertebrae hinge has first connecting portion and second connecting portion, the Two connecting portions are U-shaped, and second connecting portion is arranged in the neck of support ring, first connecting portion by vertebrae articulated mast with It is previous from driving the rotation connection of diarthrodial second connecting portion, second connecting portion by vertebrae articulated mast and the latter from Diarthrodial first connecting portion rotation connection is driven, it is multiple to join end to end to form the ridge of machine fish from the diarthrodial vertebrae hinge of drive Vertebra.
- 5. machine fish hydrodynamics method for numerical simulation in three joints according to claim 1, it is characterised in that：Described three close Save the stress support bar that three a diameter of 4mm are provided with the inside of the fish head mouth of machine fish, at before mouth 1/3.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710563908.7A CN107480334B (en) | 2017-07-12 | 2017-07-12 | A kind of three joint machine fish hydrodynamics method for numerical simulation |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710563908.7A CN107480334B (en) | 2017-07-12 | 2017-07-12 | A kind of three joint machine fish hydrodynamics method for numerical simulation |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107480334A true CN107480334A (en) | 2017-12-15 |
| CN107480334B CN107480334B (en) | 2019-08-20 |
Family
ID=60595711
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710563908.7A Active CN107480334B (en) | 2017-07-12 | 2017-07-12 | A kind of three joint machine fish hydrodynamics method for numerical simulation |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107480334B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109334859A (en) * | 2018-09-10 | 2019-02-15 | 中国船舶工业集团公司第七0八研究所 | A kind of small waterplane area twin hull ship global vibration steel test model design method |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102158259A (en) * | 2010-12-06 | 2011-08-17 | 河海大学 | Bluetooth communication-based robofish mobile terminal control system and method |
| US20150120045A1 (en) * | 2013-10-24 | 2015-04-30 | Board Of Trustees Of Michigan State University | Gliding robotic fish navigation and propulsion |
| CN104881045A (en) * | 2015-06-17 | 2015-09-02 | 中国科学院自动化研究所 | Bionic robot fish three-dimensional tracking method based on embedded visual guidance |
| CN106741762A (en) * | 2016-12-13 | 2017-05-31 | 辽宁石化职业技术学院 | A kind of machine fish and its Method for Underwater Target Tracking |
-
2017
- 2017-07-12 CN CN201710563908.7A patent/CN107480334B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102158259A (en) * | 2010-12-06 | 2011-08-17 | 河海大学 | Bluetooth communication-based robofish mobile terminal control system and method |
| US20150120045A1 (en) * | 2013-10-24 | 2015-04-30 | Board Of Trustees Of Michigan State University | Gliding robotic fish navigation and propulsion |
| CN104881045A (en) * | 2015-06-17 | 2015-09-02 | 中国科学院自动化研究所 | Bionic robot fish three-dimensional tracking method based on embedded visual guidance |
| CN106741762A (en) * | 2016-12-13 | 2017-05-31 | 辽宁石化职业技术学院 | A kind of machine fish and its Method for Underwater Target Tracking |
Non-Patent Citations (2)
| Title |
|---|
| 王平 等: "仿生机器鱼运动学模型优化与实验", 《智能系统学报》 * |
| 马尧 等: "基于CFD的仿生机器鱼数值仿真分析", 《白城师范学院学报》 * |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109334859A (en) * | 2018-09-10 | 2019-02-15 | 中国船舶工业集团公司第七0八研究所 | A kind of small waterplane area twin hull ship global vibration steel test model design method |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107480334B (en) | 2019-08-20 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| Zhu et al. | A numerical study of fish adaption behaviors in complex environments with a deep reinforcement learning and immersed boundary–lattice Boltzmann method | |
| Xia et al. | The three-dimensional hydrodynamics of thunniform swimming under self-propulsion | |
| CN107050763B (en) | Novel ankle joint rehabilitation robot and control method thereof | |
| Wu et al. | Kinematic comparison of forward and backward swimming and maneuvering in a self-propelled sub-carangiform robotic fish | |
| Velichova | Interactive maths with GeoGebra | |
| Cohen et al. | The role of the hand during freestyle swimming | |
| Benkherouf et al. | Efficiency of an auto-propelled flapping airfoil | |
| Cohen et al. | Forces during front crawl swimming at different stroke rates | |
| CN107480334A (en) | A kind of three joint machine fish hydrodynamics method for numerical simulation | |
| CN107610208A (en) | The movement simulating method of cartoon role under a kind of granule medium environment | |
| CN106903680B (en) | Snake-shaped robot based on elastic envelope climbs safely control method | |
| Lehn et al. | Effect of input perturbation on the performance and wake dynamics of aquatic propulsion in heaving flexible foils | |
| CN107290978A (en) | A kind of helicopter flight simulation method and system | |
| Cui et al. | Sharp interface immersed boundary method for simulating three-dimensional swimming fish | |
| CN103279645A (en) | Carbon nano tube molecular dynamics simulation method based on GPU parallel computation | |
| Xu et al. | A geometry-adaptive immersed boundary–lattice Boltzmann method for modelling fluid–structure interaction problems | |
| CN110262218A (en) | Control method, device, equipment and the storage medium of machine fish | |
| CN108414346B (en) | A kind of intelligent true triaxial test system and test method that test parameters is adaptive | |
| Rasmussen et al. | Advanced musculoskeletal simulation as an ergonomic design method | |
| Li et al. | Fluid dynamics of biomimetic pectoral fin propulsion using immersed boundary method | |
| Elimelech et al. | Evolution of the leading-edge vortex over an accelerating rotating wing | |
| Liu et al. | Numerical modeling and application of the effects of fish movement on flow field in recirculating aquaculture system | |
| CN107457333B (en) | A kind of relaxation of twisted wire pulls speed and pulls rhythm detection method | |
| Li et al. | Hydrodynamics of the self-diving function of thunniform swimmer relying on switching the caudal fin shape | |
| CN203539978U (en) | Exercise and fitness machine |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |