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Conception of Research on Bionic Underwater Vehicle with Undulating Propulsion

机译：仿生水下推进器仿生水下航行器研究构想

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摘要

Fish-like swimming has been attracting scientists and engineers' attention for many years resulting in attempts of mathematical description offish movement and its implementation in many interesting prototypes of underwater vehicles. In this paper, conception of research on simulation, implementation and control of bionic underwater vehicle BUV with undulating propulsion is presented. In the next sections, introduction and mathematical model of bionic underwater vehicle motion are included. Then, the last implementation of the robotic fish called CyberFish, which movement is based on the presented mathematic description is presented and shortly described. In the last sections, conception of research on control system of BUV and conclusions are presented.
机译：像鱼一样的游泳多年来一直吸引着科学家和工程师的注意力，导致尝试对鱼运动及其在许多有趣的水下航行器原型中的实现进行数学描述。提出了仿生水下起伏仿生水下航行器的仿真，实现和控制的研究思路。在下一部分中，将介绍仿生水下航行器运动的介绍和数学模型。然后，介绍并简要描述了机器人鱼的最后一种实现方式，即Cyber​​Fish，其运动基于所提供的数学描述。在最后的部分中，提出了BUV控制系统的研究概念和结论。

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