Patent Abstract:
A robotic mechanical fin, having a motor housing containing a plurality of rib rotation motors, rib spars, and a plurality of ribs, mechanically movable and communicatively coupled to the plurality of rib rotation motors and shafts, where the plurality of ribs are rotationally coupled to and actuated by the plurality of rib rotation motors and shafts. The mechanical fin further includes a flexible fin casing, within which the ribs reside, forming the complete actively controlled curvature robotic propulsion and steering apparatus. The mechanical fin is connected to a plurality of control electronics circuits and a computer processor programmed with actuation code that when executed by the computer processor causes automated actuation of simultaneous propulsion and steering maneuverability of the actively controlled curvature, robotic, mechanical fin.

Full Description:
CROSS-REFERENCE TO RELATED APPLICATIONS 
       [0001]    This application is a Division of application Ser. No. 13/987,921 filed on Sep. 17, 2013, the entire disclosure of which is incorporated by reference. 
     
    
     BACKGROUND 
       [0002]    1. Technical Field 
         [0003]    The present application relates to a fin used to generate propulsion and control forces for a vehicle in an underwater or water surface environment. More particularly, the instant application discloses a propulsion fin which can actively change its curvature during flapping stroke cycles and thus provides a single mechanism through which directional control over propulsive forces can be achieved. 
         [0004]    2. Related Technology 
         [0005]    The subject matter of this patent application disclosure has wide application to maritime propulsion, steering and direction control systems for underwater vehicles and vehicles which traverse surface waters. 
         [0006]    Known methods of force production for propulsion and control of underwater and surface vehicles use rotating propellers, and/or rigid or passively deforming fins. 
         [0007]    There are many undersea areas in which traditional propulsion and sensing techniques have proven effective for unmanned systems, but such undersea areas have mostly been in open waters. 
         [0008]    Rotating propellers have limitations in force production at slow speeds and in highly dynamic environments where water flows are constantly changing. Additionally, a propeller on its own can only be used to propel a vehicle. It would require multiple non-coaxial propellers or a system of control surfaces for steering and directional control. Propellers also have disadvantages in certain environments as they are noisy, and can be adversely affected by interference of debris, such as near-shore vegetation. 
         [0009]    Researchers seeking to improve on vehicle performance in cluttered undersea areas with fast changing currents and near-surface wave effects draw inspiration from fish and other aquatic organisms which inhabit these types of environments, where unmanned platforms could prove to be very useful. Combinations of finned propulsion and control surface actuation, and unique sensory systems provide these organisms the abilities they need to survive and thrive. 
         [0010]    According to J. E. Colgate et al. “Mechanics and control of swimming: a review,” IEEE Journal of Oceanic Engineering, vol. 29, pp. 660-673, July 2004 and J. C. Liao, “A review of fish swimming mechanics and behavior in altered flows,” Philosophical Transactions of the Royal Society B. vol. 362(1487), pp. 1973-1993, November 2007, a number of researchers have studied the fin force production mechanisms of fish. Several investigators have developed and adapted rigid and passively deforming robotic pectoral fins onto unmanned underwater vehicles (UUV&#39;s) including B. Hobson, et al. “PilotFish: Maximizing agility in an unmanned underwater vehicle,” Proceedings of the International Symposium on Unmanned Untethered Submersible Technology, Durham, N.H., 1999; S. Licht, et al. “Design and projected performance of a flapping foil AUV,” IEEE Journal of Oceanic Engineering, vol. 29, no. 3, 2004; P. Sitorus, et al. “Design and implementation of paired pectoral fins locomotion of labriform fish applied to a fish robot,” Journal of Bionic Engineering, vol. 6, pp. 37-45, 2009; and N. Kato, et al., “Elastic pectoral fin actuators for biomimetic underwater vehicles,” in Bio-mechanisms of Swimming and Flying, chap. 9, Springer Japan, 2008, pp. 271-282. 
         [0011]    Other investigators have sought to develop actively controlled curvature pectoral fins including N. Kato, et al., “Elastic pectoral fin actuators for biomimetic underwater vehicles,” in Bio-mechanisms of Swimming and Flying, chap. 9, Springer Japan, 2008, pp. 271-282; J. Palmisano, et al., “Design of a biomimetic controlled-curvature robotic pectoral fin,” IEEE International Conference on Robotics and Automation, Rome, Itlay, 2007; K. W. Moored et al., “Investigating the thrust production of a myliobatoid-inspired oscillating wing,” 3 rd  International CIMTEC Conference, Acireal, Italy, Jun. 8-13, 2008; and J. Tangorra et al., “The effect of fin ray flexural ridgidity on the propulsive forces generated by a biorobetic fish pectoral fin,” The Journal of Experimental Biology, vol. 213, pp. 4043-4054, 2010. 
         [0012]    Thus, rigid and passively deforming fins have a limitation in force production control, as there are fewer degrees of freedom which can be actuated, and thus less control over the direction of force production. Further, passively deforming fins generally require a trial-and-error method of determining shape deformation under loads. 
         [0013]    A fin that can actively change its curvature during flapping stroke cycles provides a single mechanism through which directional control and through which propulsive forces can be achieved simultaneously. The instant invention provides a fin having an effector of propulsion and control that will not be damaged when operating in vegetation or other debris, such as in near shore environments where precise low-speed maneuvering is needed. It also enables greater control in flow-changing environments than traditional propellers and rigid/passive fins as the fin surface shape can be changed to take advantage of data involving a multitude of flow conditions. Therefore, the need exists for a fin that can actively change its curvature during flapping stroke cycles. Further, the need exists for a fin which provides a single mechanism through which directional control over propulsive forces can be achieved. In addition, the need exists for a fin which also provides an effector of propulsion and control that will not be damaged when operating in vegetation or other debris. Finally, the need exists for a fin which enables greater control in flow-changing environments contrasted with traditional propellers and rigid/passive fins as the fin surface shape can be changed to take advantage of a multitude of flow conditions. 
       SUMMARY OF THE INVENTION 
       [0014]    An actively controlled curvature, robotic propulsion, and steering apparatus, having elements including: a motor housing containing a plurality of rib rotation motors, having connecting and motion transferring shafts, rib spars, and a plurality of ribs, mechanically movable and communicatively coupled to the plurality of rib rotation motors and connecting motor shafts, where the plurality of ribs includes a plurality of rib spars connected between the plurality of ribs and the plurality of rib rotation motors, rotationally coupled to and/or actuated by the plurality of rib rotation motors and connecting shafts. The actively controlled curvature, robotic propulsion, and steering apparatus further includes a flexible fin casing, within which the ribs reside, forming the complete actively controlled curvature robotic propulsion and steering apparatus. In addition, the actively controlled curvature robotic propulsion and steering apparatus can be characterized as a mechanical fin. The mechanical fin, further contains a plurality of control electronics circuits and a computer processor or a plurality of computer processors containing and/or programmed with actuation code when executed by the computer processor causing automated actuation propulsion and steering maneuverability of the actively controlled curvature robotic mechanical fin. 
         [0015]    The computer processor and the plurality of control electronics circuits can be communicatively connected by a communication protocol over a communication network, to the mechanical fin. The computer processor and the plurality of control electronics circuits can be either residing in the mechanical fin or residing remotely and/or external to the mechanical fin, over either a direct data communications network connection or a remote wireless data communications network connection. The plurality of control electronics circuits can include at least an input device an output device, sensors, transducers, and/or keyboards. 
         [0016]    The mechanical fin, when actuated, generates a plurality of gait propulsion forces and a plurality of directional steering forces, in various media including fluid, liquid and gaseous media, corresponding to a plurality of fin stroke amplitudes, a plurality of fin stroke frequencies and a plurality of fin rib deflections creating a plurality of velocity vectors including drag and thrust directional steering maneuverability vectors within the various media elements. Where the media can include liquids, such as water, oil, or a colloidal mixture of elements (including icy water), and air or other gases. 
         [0017]    The plurality of fin rib deflections and the plurality of gait propulsion forces and the plurality of directional steering forces and the plurality of fin stroke amplitudes and the plurality of fin stroke frequencies cause the mechanical fin to actively change curvature and perform a continuous flapping motion simultaneously to operate in changing flow conditions of the various media. 
         [0018]    Any number of the mechanical fin and/or fins forming a plurality of mechanical fins can be attached to a platform, forming a vehicle and actuation of the mechanical fin and/or the plurality of fins, when actuated by the executed code in the associated computer processor(s) cause the vehicle to maneuver and/or hover in the various media. 
     
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
         [0019]      FIG. 1  illustrates an assembled, actively controlled curvature, robotic fin. 
           [0020]      FIG. 2  illustrates an exploded view of the actively controlled curvature robotic fin, illustrated in  FIG. 1 . 
           [0021]      FIG. 3  illustrates an individual rib (RIB  2 ) of the actively controlled curvature robotic fin. 
           [0022]      FIG. 4A  illustrates a fin casing. 
           [0023]      FIG. 4B  illustrates an assemblage of a plurality of ribs within a motor housing. This configuration of the plurality of ribs is in conformance with the fin casing illustrated in  FIG. 4A . 
           [0024]      FIG. 5  illustrates a fin force test stand including a fin mount, and a fin mounted on the fin mount and a force/torque transducer. 
           [0025]      FIG. 6  illustrates operations defining the kinematics for each fin of a plurality of fins. 
           [0026]      FIG. 7  illustrates a schematic of automated microcontrollers, computers and computer processors, in conjunction with proprietary control software and proprietary software drivers associated with control electronics circuits in the actively controlled curvature robotic fin  100 , which cause the control electronics to actuate rib (i.e., Rib  1 , Rib  2 , Rib  3 , Rib  4 , and Rib  5 ) motions. 
           [0027]      FIG. 8  illustrates coordinate inertial reference frames of a robotic fish vehicle. 
           [0028]      FIG. 9  illustrates an exemplary computer readable and computer executable medium containing a computer program product including method operations included in program code executed on a system, implementing robotic fin actuation in platform vehicle. 
       
    
    
     DETAILED DESCRIPTION 
       [0029]    Preferred exemplary embodiments of the present invention are now described with reference to the figures, in which like reference numerals are generally used to indicate identical or functionally similar elements. While specific details of the preferred exemplary embodiments are discussed, it should be understood that this is done for illustrative purposes only. A person skilled in the relevant art will recognize that other configurations and arrangements can be used without departing from the spirit and scope of the preferred exemplary embodiments. It will also be apparent to a person skilled in the relevant art that the exemplary embodiments can also be employed in other applications. Further, the terms “a”, “an”, “first”, “second” and “third” etc. used herein do not denote limitations of quantity, but rather denote the presence of one or more of the referenced items(s). 
         [0030]    The assembled actively controlled curvature robotic fin  100  is shown in  FIG. 1 . The exploded view of the actively controlled curvature robotic fin  100  is shown in  FIG. 2 . The actively controlled curvature robotic fin  100  consists of fin rotation motor(s)  104 , rib rotation motor(s)  102 , motor housing  106 , rib spar(s)  108 , ribs (including Rib  1 , Rib  2 , Rib  3 , Rib  4 , Rib  5 ) and fin casing  110 . 
         [0031]    One of the rib spars  108  is shown in  FIG. 3 . The rib(s), such as Rib  2 , have a tapered shape from rib base  306  to rib tip  308 , and have a pivot point  304  near the rib base  306 , and have rib hook(s)  302  built into the top and bottom of the rib (such as Rib  2 ), designed to attach the ribs (i.e., Rib  1 , Rib  2 , Rib  3 , Rib  4 , and Rib  5 ) to the fin casing  110 , where the surface of the fin casing  110  is composed of flexible material, which can change shape to conform to the various deflections of the ribs, such as Rib  1 , Rib  2 , Rib  3 , Rib  4 , and/or Rib  5 . 
         [0032]      FIG. 4A  illustrates the fin casing  110 . Independent rib deflections (i.e., Rib  1 , Rib  2 , Rib  3 , Rib  4 , and Rib  5 ) are shown in  FIG. 4B . Each of the rib spars  108  can be independently deflected to a different angle from the others, and these deflections define the shape of the fin casing  110  surface. Thus,  FIG. 4B  illustrates an assemblage of a plurality of rib spars  108  and ribs (i.e., Rib  1 , Rib  2 , Rib  3 , Rib  4 , and Rib  5 ) within the motor housing  106 . This configuration of the plurality of rib spars is associated with a plurality of ribs, such as at least Rib  1 , Rib  2 , Rib  3 , Rib  4 , and Rib  5  and the number of ribs (i.e., Rib  1 , Rib  2 , Rib  3 , Rib  4 , and Rib  5 ) can include at least one or more ribs, (such as Rib  1 , Rib  2 , Rib  3 , Rib  4 , and Rib  5 ), limited only by the number of rib spars  108  configured within the motor housing  106  and the physical size of the motor housing  106 . It is important to note the not all ribs have rib spars  108  attached; some ribs are connected directly to the rib rotation motor(s). Additionally, ribs (i.e., Rib  1 , Rib  2 , Rib  3 , Rib  4 , and Rib  5 ) can be any number of different sizes. A configuration of the plurality of rib spars  108  in  FIG. 4B  is in conformance with the fin casing  110  illustrated in  FIG. 4A . 
         [0033]    Referring to  FIG. 1 ,  FIG. 2 ,  FIG. 3  and  FIG. 4A , the motor housing  106  consists of two pieces which are pressed together and screwed down to clamp the rib rotation motors  104  in place. Additionally, a servo horn attached to the fin rotation shaft  112  of the fin rotation motor  102  is secured by the motor housing  106 , when it is screwed down. The rotation shaft (i.e., the rib motor rotation shaft  202 ) of each rib rotation motor  104  connects to a single rib spar  108  via a servo horn at the rib pivot point  304 . The rib spars  108  are aligned such that they all share the same rotation axis. All of the ribs (i.e., Rib  1 , Rib  2 , Rib  3 , Rib  4 , and Rib  5 ) are encased in the flexible fin casing  110 , which attaches to rib hook(s)  302  at the base of each of the rib spars  108  near the motor housing  106 . The exterior of the fin casing  110  (which is flexible) defines the surface of the fin casing  110  (see  FIG. 4A  and  FIG. 4B ), as the fin casing  110  conforms to the angle deflections of the plurality of ribs (i.e., Rib  1 , Rib  2 , Rib  3 , Rib  4 , and Rib  5 ) contained in the fin casing  110 . 
         [0034]    Actuation of the fin rotation motor  102  drives rotation of fins (such as the actively controlled curvature robotic fin  100 ) with control over fin stroke amplitude and fin stroke frequency. Actuation of each rib rotation motor  104  drives a rotation of a rib spar  108  about an axis parallel to a fin  100  rotation, of the actively controlled curvature robotic fin  100 . The independent actuation of multiple rib rotation motors  104  enables independent angular deflections of the rib spars  108 . The deflections of the ribs spars  108  deform the flexible fin casing  110  and serve to define the shape of the surface of the fin casing  110 . This controlled fin  100  surface shape is defined as the fin  100  curvature of the actively controlled curvature robotic fin  100 . 
         [0035]    A combination of fin  100  rotation and rib rotation actuation (and thus fin  100  stroke amplitude, stroke frequency, and curvature control) provides control over the fin  100  shape over the course of a fin  100  stroke. This controllable shape-time history enables control over the magnitude and direction of fin  100  generated forces in a fluid or gas medium, such as water. Mounting one or multiple fins  100  on a vehicle in an underwater or water surface environment enables precise vectoring of propulsion and control forces for platform vehicle  780  maneuvering. 
         [0036]    The actively controlled curvature robotic fin  100  has advantages over rotating propellers and passively deforming fins in force control, especially in dynamic, flow-changing environments (flow conditions data  711 ). Controlling the fin  100  surface curvature during a fin  100  stroke allows controlled vectoring of fin  100  forces which provides an advantage in generating control forces (maneuvering vector force data  712 ). Additionally, a controlled shape-changing fin  100  can take advantage of the changing flow fields to provide more reliable propulsion forces at slow speeds and in flow-changing environments (flow conditions data  711 ). The actively controlled curvature robotic fin  100  may have an additional advantage over rotating propellers in dealing with debris such as near-shore vegetation, in that the actively controlled curvature robotic fin  100  may likely not get stuck or tangled in debris objects, as easily as conventional propulsion devices. 
         [0037]    In a first exemplary embodiment, new features of the actively controlled curvature robotic fin  100  include the presence and use of actuated fin ribs within a fin  100 , individual rotational actuation of each fin rib (i.e., Rib  1 , Rib  2 , Rib  3 , Rib  4 , and Rib  5 ) enabling variable deflections between the ribs (i.e., Rib  1 , Rib  2 , Rib  3 , Rib  4 , and Rib  5 ), a flexible fin casing  110  provides the fin  100  surface to the fins whose curvature is actively controlled by the motion of the fin ribs, and also, provides a compact and easy to assemble housing for the of rib actuators. 
         [0038]    In a second exemplary embodiment, the ribs (i.e., Rib  1 , Rib  2 , Rib  3 , Rib  4 , and Rib  5 ) of the actively controlled curvature robotic fin  100  can be either rigid or compliant (flexible) structural members and can be actuated using direct angular rotation or through bending of the compliant structure. In addition to hooks, the method of attaching the fin casing  110  to the ribs (i.e., Rib  1 , Rib  2 , Rib  3 , Rib  4 , and Rib  5 ) can include but are not limited to: adhesives, hook-and-loop fasteners, and buttons. 
         [0039]    Tests for force production measurements and kinematics measurement, (i.e., kinematics algorithms (A 3 ) to include forward gait; reverse gait; upward gait; downward gait; and kinematics interpolate) are used to validate fin propulsion effectiveness. Algorithm unit  730  can contain control algorithms, and command algorithms, as well as kinematics algorithms such as in algorithms A 1 , A 2 , A 3  through An, where A 1  is a control algorithm, A 2  is a command algorithm and A 3  is a kinematics algorithm. 
         [0040]    Referring to  FIG. 7 , proprietary control software and proprietary software drivers operating in conjunction with automated microcontrollers, computers and computer processors (such as computer processor  706 ) associated with control electronics circuits in the actively controlled curvature robotic fin  100  cause the control electronics to actuate rib (i.e., Rib  1 , Rib  2 , Rib  3 , Rib  4 , and Rib  5 ) motions. The computers, computer processors (such as computer processor  706 ) and associated control electronics can be either and/or resident in and/or on the actively controlled curvature robotic fin  100  and/or resident in a location remote from the actively controlled curvature robotic fin  100  and where the computers, computer processors (such as computer processor  706 ), and associated control electronics can be either communicatively coupled to the actively controlled curvature robotic fin  100  over a communications network  772 , including hard wired or wireless communications networks including data communications facilities. The software includes algorithms (such as algorithms A 1  through An) and other program code (such as program code  600 ), and memory  708  associated with repository  710  contains data (represented by R 90  through R 94  and Rn) accessible to the program code  600  and/or algorithms. 
         [0041]    Referring to  FIG. 5 , fin  100  force measurements were made by mounting an assembled actively controlled curvature robotic fin  100  to a rigid plate  506  attached to a force and torque transducer  502 . Force/Torque measurements data  714  were divided by the effective moment arm, the distance from the force/torque transducer  502  to the center of pressure on the actively controlled curvature robotic fin  100 . The time histories data of force measurements validated the thrust, lift and drag production of the actively controlled curvature robotic fin  100 , where the thrust and/or drag can be produced by either one or more of a fin  100  gait, i.e., fin  100  stroke amplitude or rib deflections within the fin causing  110  a rippling movement of the fin  100 , corresponding to motion vectors and/or stability vectors compensating for external vector forces, corresponding to a float and/or relative stationary position (hover). 
         [0042]    Referring to  FIG. 1 ,  FIG. 6 ,  FIG. 7 , and  FIG. 9  (where  FIG. 9  illustrates an exemplary computer readable and computer executable medium  902  containing a computer program product  900  including method operations included in program code  600  executed on a system  700 , implementing robotic fin  100  actuation in platform vehicle  780 . 
         [0043]    The time history of fin  100  curvature, defined as the curvature profile over a single fin  100  flap, is defined by the time histories of the individual rib rotation angles within that actively controlled curvature robotic fin  100 . Combined with the time history of the fin  100  rotation angle, this defines the kinematics for the fin  100 . Smooth rib and fin  100  rotation time histories are achieved by commanding key servo rotation points for each individual rib and fin  100  servo throughout the fin  100  stroke, and then interpolating between these points to achieve the desired rotation angles throughout the stroke (in other words, interpolates between predefined angular positions to determine a position at an intermediate time). A snippet of a program code  600  including the functions for defining actively controlled curvature robotic fin  100  kinematics is included below (this exemplary version of the program code  600  is not limited and exhaustive of the types of methods of actuation that can be implemented in program code. Various changes in form and details of the program code can be made without departing from the spirit and scope of the invention; thus, adaptations and modifications of the program code, as well as other aspects of the specific embodiments adopted by others by applying knowledge within the skill of the art, may be performed without departing from the general concept of the exemplary embodiments of the invention. Therefore, such adaptations and modifications are intended to be within the meaning and range of equivalents of the disclosed embodiments. In the program code  600 , for each gait definition, a unique row vector is defined for each servo, and each row vector defines that servo&#39;s positions over time: 
         [0000]    
       
         
               
             
               
               
             
               
             
               
               
             
               
             
               
               
             
               
             
               
               
             
               
             
               
               
             
               
             
               
               
             
               
             
               
               
             
               
               
             
               
               
             
               
               
             
               
               
             
               
               
             
               
               
             
               
               
             
               
               
             
               
               
             
               
               
             
               
               
             
               
               
             
               
               
             
               
               
             
               
               
             
               
               
             
               
             
               
               
             
               
               
             
               
               
             
               
               
             
               
               
             
               
               
             
               
               
             
               
               
             
               
             
               
               
             
               
             
               
               
             
               
               
             
               
               
             
               
               
             
               
               
             
               
               
             
               
             
               
               
             
               
             
               
               
             
               
               
             
               
             
               
               
             
               
             
               
               
             
               
               
             
               
               
             
               
               
             
               
             
               
               
             
               
               
             
               
               
             
               
             
           
               
                   
               
             
             
               
                 Program Code 600: 
               
               
                 //define forward gait 
               
               
                 int8_t forward_gait[servos_per_fin][positions] = { 
               
             
          
           
               
                   
                 {−100,−100,100,100,100,100,−100,−100}, 
               
               
                   
                 {−50,−50,50,50,50,50,−50,−50}, 
               
               
                   
                 {50,50,−50,−50,−50,−50,50,50}, 
               
               
                   
                 {100,100,−100,−100,−100,−100,100,100}, 
               
               
                   
                 {0,71,100,71,0,−71,−100,−71}}; 
               
             
          
           
               
                 //define reverse gait 
               
               
                 int8_t reverse_gait[servos_per_fin][positions] = { 
               
             
          
           
               
                   
                 {−50,−100,−50,0,50,100,50,0}, 
               
               
                   
                 {0,−50,−100,−50,0,50,100,50}, 
               
               
                   
                 {50,0,−50,−100,−50,0,50,100}, 
               
               
                   
                 {100,50,0,−50,−100,−50,0,50}, 
               
               
                   
                 {0,−71,−100,−71, 0,71,100,71}}; 
               
             
          
           
               
                 //define lift/up gait 
               
               
                 int8_t upward_gait[servos_per_fin][positions] = { 
               
             
          
           
               
                   
                 {100,−28,−28,−28,−68,−68,−20,60}, 
               
               
                   
                 {−26,−10,−2,−2,−30,−30,−38,−54}, 
               
               
                   
                 {−54,10,2,2,30,30,14,−26}, 
               
               
                   
                 {36,16,12,8,48,48,52,76}, 
               
               
                   
                 {−60,−58,−49,−31,−2,35,72,94}}; 
               
             
          
           
               
                 //define lift/down gait 
               
               
                 int8_t downward_gait[servos_per_fin][positions] = { 
               
             
          
           
               
                   
                 {−100,28,28,28,68,68,20,−60}, 
               
               
                   
                 {26,10,2,2,30,30,38,54}, 
               
               
                   
                 {54,−10,−2,−2,−30,−30,−14,26}, 
               
               
                   
                 {−36,−16,−12,−8,−48,−48,−52,−76}, 
               
               
                   
                 {60,58,49,31,2,−35,−72,−94}}; 
               
             
          
           
               
                 //define demo gait 
               
               
                 int8_t demo_gait[servos_per_fin][positions] = { 
               
             
          
           
               
                   
                 {−100,−50,100,100,100,50,−100,−100}, 
               
               
                   
                 {−50,−50,50,50,50,50,−50,−50}, 
               
               
                   
                 {50,50,−50,−50,−50,−50,50,50}, 
               
               
                   
                 {100,100,−100,−100,−100,−100,100,100}, 
               
               
                   
                 {0,71,100,71,0,−71,−100,−71}}; 
               
             
          
           
               
                 //define home (centered) gait 
               
               
                 int8_t home_gait[servos_per_fin][positions] = { 
               
             
          
           
               
                   
                 {0,0,0,0,0,0,0,0}, 
               
               
                   
                 {0,0,0,0,0,0,0,0}, 
               
               
                   
                 {0,0,0,0,0,0,0,0}, 
               
               
                   
                 {0,0,0,0,0,0,0,0}, 
               
               
                   
                 {0,0,0,0,0,0,0,0}}; 
               
             
          
           
               
                 //decides which gait to run 
               
               
                 int8_t kinematics_interpolate(uint8_t gait, float pcurrent, uint8_t pnext, 
               
               
                 uint8_t i) 
               
             
          
           
               
                   
                 { 
               
               
                   
                 int8_t val1; 
               
               
                   
                 int8_t val2; 
               
               
                   
                 if(gait==NONE) 
               
             
          
           
               
                   
                 return 0; 
               
             
          
           
               
                   
                 else if(gait==FORWARD) 
               
             
          
           
               
                   
                 { 
               
               
                   
                 val1=forward_gait[i][(uint8_t)pcurrent]; 
               
               
                   
                 val2=forward_gait[i][pnext]; 
               
               
                   
                 } 
               
             
          
           
               
                   
                 else if(gait==REVERSE) 
               
             
          
           
               
                   
                 { 
               
             
          
           
               
                   
                 val1=reverse_gait[i][(uint8_t)pcurrent]; 
               
               
                   
                 val2=reverse_gait[i][pnext]; 
               
               
                   
                 } 
               
             
          
           
               
                   
                 else if(gait==LIFT) 
               
             
          
           
               
                   
                 { 
               
               
                   
                 val1=upward_gait[i][(uint8_t)pcurrent]; 
               
               
                   
                 val2=upward_gait[i][pnext]; 
               
               
                   
                 } 
               
             
          
           
               
                   
                 else if(gait==DOWN) 
               
             
          
           
               
                   
                 { 
               
               
                   
                 val1=downward_gait[i][(uint8_t)pcurrent]; 
               
               
                   
                 val2=downward_gait[i][pnext]; 
               
               
                   
                 } 
               
             
          
           
               
                   
                 else if(gait==DEMO) 
               
             
          
           
               
                   
                 { 
               
               
                   
                 val1=demo_gait[i][(uint8_t)pcurrent]; 
               
               
                   
                 val2=demo_gait[i][pnext]; 
               
               
                   
                 } 
               
             
          
           
               
                   
                 else if(gait==HOME) 
               
             
          
           
               
                   
                 { 
               
               
                   
                 val1=home_gait[i][(uint8_t)pcurrent]; 
               
               
                   
                 val2=home_gait[i][pnext]; 
               
               
                   
                 } 
               
             
          
           
               
                   
                 return interpolatef(fmod(pcurrent,1), 0, 1, val1, val2); 
               
               
                   
                 } 
               
             
          
           
               
                   
                 //calculates and interpolates kinematics 
               
               
                   
                 void kinematics_calculate(uint8_t fin_gait[ ], float pcurrent, uint8_t 
               
             
          
           
               
                 pnext) 
               
             
          
           
               
                   
                 { 
               
               
                   
                 for(int i=0; i&lt;servos_per_fin; i++)//cycle through each servo 
               
             
          
           
               
                   
                 { 
               
               
                   
                 rib_position[FL][i] = 
               
             
          
           
               
                   
                 (kinematics_interpolate(fin_gait[0],pcurrent,pnext,i) 
               
             
          
           
               
                   
                 //make sure fits within servo movement 
               
               
                   
                 if(amplification[FL] &lt; 0) 
               
             
          
           
               
                   
                 amplification[FL]=0; 
               
             
          
           
               
                   
                 if(amplification[FL] &gt; 1) 
               
             
          
           
               
                   
                 amplification[FL]=1; 
               
             
          
           
               
                   
                 //interpolate gait to match servo range, and factor in 
               
             
          
           
               
                 amplification 
               
             
          
           
               
                   
                 rib_position[FL][i] = interpolate((int8_t)rib_position[FL][i], −100, 100,... 
               
             
          
           
               
                 DRIVE_SPEED_MIN*amplification[FL],... 
               
             
          
           
               
                   
                 DRIVE_SPEED_MAX*amplification[FL]); 
               
             
          
           
               
                   
                 } 
               
             
          
           
               
                   
                 } 
               
             
          
           
               
                   
                 //runs the kinematics based on a timer 
               
               
                   
                 void kinematics(void) 
               
             
          
           
               
                   
                 { 
               
               
                   
                 //--------- start TIME PASSED CALCULATOR 
               
               
                   
                 //get time passed 
               
               
                   
                 t_stroke_end = clockGetus( ); 
               
               
                   
                 t_stroke_time_passed = t_stroke_end − t_stroke_start; 
               
               
                   
                 //if timer goes over allowed time in stroke, reset 
               
               
                   
                 if(t_stroke_time_passed &gt; time_per_stroke_us) 
               
             
          
           
               
                   
                 { 
               
               
                   
                 t_stroke_time_passed −= time_per_stroke_us;//determine 
               
             
          
           
               
                 time that it went over 
               
             
          
           
               
                   
                 t_stroke_start = clockGetus( )−t_stroke_time_passed;//reset 
               
             
          
           
               
                 timer 
               
             
          
           
               
                   
                 } 
               
             
          
           
               
                   
                 //--------- end TIME PASSED CALCULATOR 
               
               
                   
                 //--------- start DETERMINE ARRAY POSITION 
               
               
                   
                 //determine position in kinematics to use, given current time 
               
             
          
           
               
                 passed 
               
             
          
           
               
                   
                 float position_current = interpolatef(t_stroke_time_passed, 0, 
               
             
          
           
               
                 time_per_stroke_us,... 
               
             
          
           
               
                   
                 0, positions); 
               
             
          
           
               
                   
                 //calculate the next position 
               
               
                   
                 uint8_t position_next = position_current +1; 
               
               
                   
                 if(position_next&gt;(positions−1)) 
               
             
          
           
               
                   
                 position_next=0; 
               
             
          
           
               
                   
                 //--------- end DETERMINE ARRAY POSITION 
               
               
                   
                 //--------- start CALCULATE KINEMATICS 
               
               
                   
                 kinematics_calculate(FL_gait,FL,position_current,position_next); 
               
               
                   
                 //--------- end CALCULATE KINEMATICS 
               
               
                   
                 //--------- start MBAB 
               
               
                   
                 rib_position[FL][bulk]=interpolate(rib_position[FL][bulk],DRIVE_SPE 
               
             
          
           
               
                 ED_MIN,... 
               
             
          
           
               
                   
                 DRIVE_SPEED_MAX,min_bulk_LF,max_bulk_LF); 
               
             
          
           
               
                   
                 //--------- end MBAB 
               
               
                   
                 //--------- start Sending final commands to servos 
               
               
                   
                 act_setSpeed(&amp;rib1_FL,rib_position[FL][rib1]); 
               
               
                   
                 act_setSpeed(&amp;rib2_FL,rib_position[FL][rib2]); 
               
               
                   
                 act_setSpeed(&amp;rib4_FL,rib_position[FL][rib4]); 
               
               
                   
                 act_setSpeed(&amp;rib5_FL,rib_position[FL][rib5]); 
               
               
                   
                 act_setSpeed(&amp;bulk_FLf,rib_position[FL][bulk]); 
               
               
                   
                 act_setSpeed(&amp;bulk_FLr,rib_position[FL][bulk]); 
               
               
                   
                 } 
               
             
          
           
               
                   
                 Where int = integer 
               
               
                   
                 Where val = value 
               
               
                   
                 Where FL = forward left 
               
               
                   
                 Where pcurrent = position_current 
               
               
                   
                 Where pnext = position_next 
               
               
                   
                 Where MBAB = mean bulk angle bias, and 
               
               
                   
                 Where a library of C−code functions called “WebbotLib is used 
               
             
          
           
               
                 which defines various functions, such as “act_setSpeed”, 
               
               
                   
               
             
          
         
       
     
         [0044]    Referring to  FIG. 6 , the process of defining the kinematics for each actively controlled curvature robotic fin  100  represented by the above program code  600  includes the following operations: 
         [0045]    A first operation (operation 1) defines a fin  100  gait, or combination of fin  100  and rib angle-time histories, by determining fin  100  stroke angle(s) for rib  1 , rib  2 , rib  4 , rib  5  and/or any number of ribs utilized. 
         [0046]    A second operation (operation 2), or sub-operation, repeats the first operation above to define preprogrammed fin gaits which produce thrust in desired directions. 
         [0047]    In a third operation (operation 3), logic gates are used to determine which fin gaits to combine (gait combination data  716 ), based on desired fin thrust. 
         [0048]    In a fourth operation (operation 4), weighted percentages (weighted percentages data  720 ) are calculated for the determined and selected fin gaits which are to be combined, in order to produce the desired fin  100  thrust. 
         [0049]    In a fifth operation (operation 5), fin angles and rib angles are combined for each operation in the preprogrammed stroke time histories (stroke time history data  718 ) from the selected gaits determined in the above third operation (operation 3) and the weighted percentages (weighted percentages data  720 ) calculated from the above fourth operation (operation 4); and 
         [0050]    In a sixth operation (operation 6), based on fin  100  gait, computed from the above operation 5 and also in conjunction with defined stroke amplitude and frequency, commands are generated and sent to onboard fin  100  actuators and rib actuators. 
         [0051]    The fin(s)  100  (i.e., the robotic fin(s)  100 ) can be incorporated into unmanned underwater vehicle(s)  780  (UUV&#39;s), where the UUV is propelled by a plurality of fin(s)  100 ; in a third exemplary embodiment, the UUV vehicle  780  can be propelled by at least four fin(s)  100 . In other embodiments, the vehicle  780  can be propelled by at least one fin  100 . UUV models are validated by comparing open-loop simulated responses (using computational fluid dynamics) with the experimentally measured responses to fin thrust and lift inputs. Closed-loop control algorithms (feedback control algorithms), which command changes in fin kinematics, are tested on the UUV and validate fin  100  and UUV models and demonstrate precise maneuvering capabilities of the actively controlled curvature robotic pectoral fin  100 . 
         [0052]    Vehicle  780  hardware control and computations are performed by a 16 MHz A T MEGA 2560 microcontroller. 
         [0053]    Vehicle  780  can range in length from about 0.40 meters to about 2 meters having an ideal length of about 1.01 meters. 
         [0054]    Referring to  FIG. 7  and  FIG. 8 , where  FIG. 8  shows coordinate reference frames of vehicle  780 . The vehicle  780  employs a water-tight cylinder for housing lithium batteries including lithium and other types of batteries (such as battery  782 ); control electronics, sensors, and inertial measurement units (IMUs) including: a three-axis gyro, a three-axis accelerometer and compass. 
         [0055]    Referring to  FIG. 8 , the fin  100  mounts and housings are designed to reduce drag by minimizing cross-flow through the vehicle hull. The flooded, fiberglass molded nose, middle, and tail sections are currently reserved for additional payloads and sensors  784 . Optimization of the performance of vehicle  780  allows minimization of (i.e., reduced) power requirements. 
         [0056]    The rigid body hull of vehicle  780  is modeled separately from the elastic bending and twisting of the fin(s)  100 . The rigid body hull of vehicle  780  is based on six degree-of-freedom ( 6 -DOF) translational and rotational equations. The vehicle  780  hull is symmetric about the x-z and y-z planes, and although it is not symmetric about the x-y plane; according to W. Wang et al. “Modeling and simulation of the VideoRay ProIII underwater vehicle,” MTS OCEANS Conference, May 2007, it is assumed to be symmetric because it operates at low-speeds. Thus, because of vehicle  780  symmetry and low speed operation, lift forces on the body become negligible. 
         [0057]    The rigid body mass terms of the vehicle  780  were calculated from CAD models and physical measurements of the vehicle  780 . Drag terms were computed in computational fluid dynamics simulations and showed that the linear terms were negligible along and about all axes. 
         [0058]    Referring to  FIG. 8 , the actively controlled curvature fin(s)  100  are mounted to the rigid body of the vehicle  780 , such that fin  100  thrust acts along the body x-axis and fin  100  lift acts along the body z-axis. Fin  100  force generation along the body y-axis is negligible, because the differential in the force produced by the left side fin(s)  100  with the right side fin(s)  100  is close to zero in this direction. 
         [0059]    Fin  100  thrust is characterized as (IT); and fin  100  lift is characterized as (fL). LF, LB, RF and RB identify the left front, left back, right front, and right back of fin(s)  100 , respectively. The x-position of the center of pressure on the fin(s)  100  is denoted by XF for the front fin(s)  100  and XB for the back fin(s)  100 . The y-position of the center of pressure on the fin(s)  100  is denoted by YL for the left fin(s)  100  and YR for the right fin(s)  100 . The center of pressure defines the location of the fin  100  generated forces which is needed to compute the fin  100  generated moments, and was determined in computational fluid dynamics (CFD) simulations. 
         [0060]    CFD computed thrust time history for fin  100  forward gait kinematics using experimental forward gait kinematics at 1.8 Hz flapping frequency derived an average thrust of 1.76 Newtons, achieved an improved force generation, even when considering that vehicle  780  fin  100  thrust decreases linearly with free stream flow speed in the regime of flow speeds the vehicle experiences. Fin  100  kinematics selection and fin  100  force production characterization is an active area of research, and the fin  100  model continues to be updated as these fin  100  studies produce results. More detailed studies of fin  100  kinematics including curvature time histories, and flapping frequency and amplitude will lead to improved fin  100  thrust and lift performances, which in turn will lead to improved vehicle  780  performance, as well as a more refined fin  100  model. 
         [0061]    Heave Performance: experimental results demonstrate a steady-state vehicle  780  heave rate of 3.3 cm/s. 
         [0062]    Yaw Performance: An expected magnitude of average thrust from each of the four fin(s)  100  is 0.7 Newtons. Experimental results demonstrate a steady-state yaw rate of 41 degrees/second. 
         [0063]    While validation of the 6-degrees of freedom vehicle  780  dynamics model is not complete using only analysis of experimental heave and yaw data, it does validate the methods by which vehicle  780  dynamics coefficients are calculated. The rigid body mass, added mass, and drag coefficients validated through heave and yaw experiments are computed using equations and tools as the coefficients describing other vehicle  780  modes of motion. 
         [0064]    Closed loop maneuvering performance: Closed loop control performance for simple maneuvers is analyzed in simulation and experiments. Vehicle  780  control is achieved by combining preprogrammed fin  100  gaits to alter the fin  100  kinematics and vector thrust in a direction to produce desired vehicle  780  motion. 
         [0065]    Depth control: Feedback of vehicle  780  depth through a pressure transducer (SSI TECHNOLOGIES P51) provides the primary source of state information for vehicle  780  depth control. Fin  100  bias is controlled as a function of depth, pitch rate and angle, and roll rate and angle. As the vehicle  780  has sufficient natural damping in heave, feedback of depth rate is not needed. A gain constant is denoted by value K for a given subscripted state variable. In a dive maneuver, pitch and roll stability are ensured while depth is controlled to a commanded value. Simulated performance of the vehicle  780  is a simple depth change maneuver (moving vertically through a column of water) and is compared with experimental results. In simulated and experimental depth maneuvers, the vehicle  780  completes a 40 cm dive in 14 seconds. The simulated depth matches the experimental depth with an average error of 0.7 cm during the dive maneuver. However, during resurfacing (after 14 seconds), the simulation and the experiment diverge, leading to a depth error of 15 cm, after 16 seconds of the dive maneuver. Explanation for this error includes changes in vehicle  780  buoyancy, attributed to pockets of air within the wetted hull, and shifting of mass within the vehicle  780  electronics housing leading to fin  100  bias angle saturation to maintain pitch and roll stability, as associated with mean bulk angle bias (MBAB). 
         [0066]    Heading control: Feedback of vehicle  780  heading through a magnetic compass and yaw rate through a gyro provide the primary sources of state information for vehicle  780  heading control. According to P. Sitorus et al., “Design and implementation of paired pectoral fins locomotion of labriform fish applied to a fish robot,” Journal of Bionic Engineering, vol. 6, pp. 37-45, 2009, fin  100  curvature is controlled as a function of forward speed, and yaw rate and angle. While vehicle  780  position in the x-y plane would normally also drive fin  100  curvature, the vehicle  780  currently does not have an accurate positioning system in this plane. Simulated performance of the vehicle  780  in a simple yaw maneuver (in hover) is in agreement with experimental results. An 180 degree turn is completed in 6 seconds in both simulation and experiment. During the entire 180 degree heading change and steady-state oscillation, the average error between simulation and experiment is 16 degrees. (An explanation for this error includes interference in compass heading measurements due to magnetic field disturbances in the laboratory environment). Improved performance has been achieved in the heading control algorithm, based on validation of the feedback controller for heading, such as adding yaw rate feedback, which dampens oscillations in heading control response. 
         [0067]    Vehicle  780  operates at a forward speed surge rate from about zero (0) meters per second (m/s) and/or zero (0) knots up to a maximum of about 1.2 m/s and/or 2.3 knots. Operating in a range between 2 and 3 knots enables much greater position holding capability and vehicle  780  control in shallow water areas. 
         [0068]    Vehicle  780  maximum heave rate ranges from about 3.1 cm/s up to about 3.8 cm/s. 
         [0069]    Vehicle  780  maximum yaw rate ranges from about 37 degrees/second up to about 41 degrees/s. 
         [0070]    Proportional-integral-derivative (PID) control of fin  100  parameters is sufficient for quick and accurate simple propulsion and/or control maneuvers achieving a highly maneuverable UUV vehicle  780 . Even though fin(s)  100  have demonstrated the capability to vector thrust in multiple directions through changes to curvature and stroke bias angle, values for these fin  100  parameters, such as fin  100  kinematics of gait optimization for maximum thrust and lift are being improved so as to achieve greater control authority and improved vehicle  780  performance. 
         [0071]    Referring to  FIG. 6 ,  FIG. 7  and  FIG. 9 , a computer readable medium  902  having a plurality of computer executable instructions executed by a computer processor  706 , executing program code  600 , causes the computer processor  706  to perform a plurality of method operations of actuating robotic fin  100  maneuvers in association with platform vehicle  780 , the computer executable instructions include: instructions performing a defining operation 1, where operation 1 defines a fin  100  gait and a combination of fin  100  and rib angle—time histories of a fin  100  stroke angle for at least rib  1 , rib  2 , rib  3 , rib  4  and rib  5 . 
         [0072]    Again referring to,  FIG. 6 ,  FIG. 7  and  FIG. 9 , a plurality of method operations of actuating robotic fin  100  maneuvers in association with platform vehicle  780 , further includes instructions performing a decision operation 2, selected from a group of decision operations consisting of deciding to repeat the defining operation 1 of defining preprogrammed fin  100  gait thrust directions or deciding to continue to a determining operation 3. 
         [0073]    Again referring to,  FIG. 6 ,  FIG. 7  and  FIG. 9 , a plurality of method operations of actuating robotic fin  100  maneuvers in association with platform vehicle  780 , further includes instructions performing the determining operation 3, using logic gates to determine which fin  100  gaits to combine based on desired fin  100  thrust. 
         [0074]    Further referring to,  FIG. 6 ,  FIG. 7  and  FIG. 9 , a plurality of method operations of actuating robotic fin  100  maneuvers in association with platform vehicle  780 , further includes instructions performing a calculating operation 4, calculating weighted percent of selected fin  100  gaits needed to produce desired fin  100  thrusts, selected in operation 3. 
         [0075]    Again referring to Further,  FIG. 6 ,  FIG. 7  and  FIG. 9 , a plurality of method operations of actuating robotic fin  100  maneuvers in association with platform vehicle  780 , further includes a combining operation 5, combining fin  100  and rib angles for each fin  100  gait thrust direction preprogrammed stroke time histories defined from selected gaits in the determining operation 3 and weights in the calculating operation 4. 
         [0076]    Further referring to  FIG. 6 ,  FIG. 7  and  FIG. 9 , a plurality of method operations of actuating robotic fin  100  maneuvers in association with platform vehicle  780 , further includes instructions sending commands, using computed fin  100  gaits selected from the combining operation 5 with user defined stroke amplitude and frequency, commanding fin  100  and rib control electronics to actuate actively controlled curvature of ribs, causing actively controlled robotic propulsion and steering maneuverability of onboard robotic fin  100 , causing platform vehicle  780  to maneuver in a fluid medium. 
         [0077]    While the exemplary embodiments have been particularly shown and described with reference to preferred embodiments thereof, it will be understood, by those skilled in the art that the preferred embodiments including the first exemplary embodiment, and the second exemplary embodiment have been presented by way of example only, and not limitation; furthermore, various changes in form and details can be made therein without departing from the spirit and scope of the invention. Thus, the breadth and scope of the present exemplary embodiments should not be limited by any of the above described preferred exemplary embodiments, but should be defined only in accordance with the following claim and/or claims and their equivalents. Any and/or all references cited herein are each entirely incorporated by reference herein, including all data, tables, figures, and text presented in the cited references. Also, it is to be understood that the phraseology or terminology herein is for the purpose of description and not of limitation, such that the terminology or phraseology of the present specification is to be interpreted by the skilled artisan in light of the teachings and guidance presented herein, in combination with the knowledge of one of ordinary skill in the art. The foregoing description of the specific embodiments will so fully reveal the general nature of the invention that others can, by applying knowledge within the skill of the art, readily modify and/or adapt for various applications such specific embodiments, without undue experimentation, and without departing from the general concept of the exemplary embodiments. Therefore, such adaptations and modifications are intended to be within the meaning and range of equivalents of the disclosed embodiments, based on the teaching and guidance presented herein.

Technology Classification (CPC): 1