Fast Motion Performance of a Bionic Ray Robot With Serial Pectoral Fins
Bibliographic record
Abstract
Rays have shown superior ocean swimming performance, but the underwater robots that use rays as bionic objects still need to be improved in terms of forward speed. In this letter, we observe and investigate the structure and motion characteristics of rays, and design a bionic ray robot driven by two pairs of serial pectoral fins. In Addition, theoretical analysis of the deformation of the pectoral fin motion is conducted, and fluid simulation and experimentation studies are used to examine the forward propulsion capabilities of the anterior and posterior fins under various phase differences. The enhanced propulsion performance of the posterior fin is explained from the perspective of fluid vortices, which are related to the jet direction and position of the front fin vortices. The results show that the phase difference has a significant impact on the forward speed of the robot. The maximum forward speed of the robot fish is up to 1.2 m/s at 30° phase difference, i.e., 2.86 body length per second (BL/s), which is ahead of the existing robots of the same type.
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How this classification was reachedexpand
Full frame machine prediction
Teacher imitationNot calibrated prevalence, not ground truth. Human validation pending. The Gemma side is a direct model label for every work in the frame, read from the title-only record. The Codex side is a classifier learned from the 10,348 direct Codex labels and calibrated to design-weighted sample rates; fields without enough sample support carry no Codex call. Candidate is the union of the two sides; consensus is their intersection. These outputs are machine_predicted_unvalidated and are not human labels.
Distilled classifier scores by category (both heads)
| Category | Codex | Gemma |
|---|---|---|
| Metaresearch | 0.000 | 0.000 |
| Meta-epidemiology (narrow) | 0.000 | 0.000 |
| Meta-epidemiology (broad) | 0.000 | 0.000 |
| Bibliometrics | 0.000 | 0.000 |
| Science and technology studies | 0.000 | 0.000 |
| Scholarly communication | 0.000 | 0.000 |
| Open science | 0.000 | 0.000 |
| Research integrity | 0.000 | 0.000 |
| Insufficient payload (model declined to judge) | 0.001 | 0.000 |
Machine scores (provisional)
The two teacher heads of the student model, read on this work. A score orders the frame for review; it never asserts a category, and the validation status ships verbatim with every row.
Baseline scores from an immature model (maturity gate not passed, 7 training rounds). Scores rank; they never assert a category.
score_only:v0-immature-baseline · verbatim from the scoring run: score_only means the number may rank works, and no category label ships from itClassification
machine, unvalidatedMachine predicted; a candidate call from one source (direct Gemma or distilled Codex), not a consensus.
How this classification was reached, model by model and score by score, is at the end of the page under "How this classification was reached".