Flexible sliding actuator using a flat tube and its application to the rescue operation
This paper proposes a novel flexible sliding actuator driven by fluid power. The actuator called Λ -drive is basically composed of a flat tube and a slider. In the slider the tube is bent, then the buckling point occurs, which helps to cut off the fluid passage in order to provide the driving force to the slider when pressurizing one side of the tube. The proposed actuator is applicable to not only the straight path but the spiral and the curved one as well. Moreover, the design method to drive stably and the analysis of the output force are discussed in this paper. Finally, “Fluid Ropeway” is also proposed as the application of Λ-drive aiming to search and rescue survivors in the half collapsed houses, and its feasibility is verified through the experiment.
Elastic Pectoral Fin Actuators for Biomimetic Underwater Vehicles
This paper describes the development of two new types of pectoral fins made of elastic materials. The fins were designed to have flexibility and multifunctionality for use not only as propulsive devices in biomimetic underwater vehicles but in other applications such as grippers, thus avoiding the environmental damage often caused by rigid fins. We developed an actively controlled pneumatic fin and a passively controlled flexible fin.
Biology-Inspired Precision Maneuvering of Underwater Vehicles (Part 4)
This paper describes the results obtained in the fourth year of a multi-year program to demonstrate the utility of replacing cumbersome thrusters with a suite of oscillating fins designed to optimize the hovering and low-speed maneuverability of an underwater vehicle. This paper discusses the guidance and control of an underwater vehicle equipped with 2 pairs of oscillating fins in water currents. The rear pair of oscillating fins mounted in the horizontal plane of the original underwater vehicle were reconfigured in the vertical plane. The maneuverability performance in the horizontal plane from the point of turning in a hovering condition and the ability to guide and control around a cylinder in water currents are compared between the original vehicle and the remodeled one.