Abstract :

There are three groups of fishes in accordance with their swimming style. The principle of mechanics and characteristics of fish swimming are introduced. The general research issues and designs are analyzed and summarized. The main objective is to research a robot-fish, made by Giant Magnetostrictive Material (GMM). In the design, the elementary fish structure is set up where the fish framework is simulated as an alloy sheet, GMM as the muscle and the external magnetic field as the nerve system. Considering coupling of Navier-Stokes equations and nonlinear structural vibration, the problem is computed numerically with a nonlinear method. The result discovers a rule that the best swimming performance of robot-fish depends upon the special relation between the frequency of the external magnetic field and the natural frequency of robot-body. An optimized design of robot-fish with two tails is devised based on this rule. The fish is capable of moving forward and backward by adjusting the modes of swinging tails, which is controlled by the frequency of external magnetic field. Further, jump-start, cruise and swerve of the robot-fish are discussed.

根据鱼类游动特点将其分成三类。分析每一类鱼游动的力学机理。介绍目前机器鱼研究和设计发展概括及特点。将超磁材料仿生机器鱼作为主要研究对象。设想以合金薄板模拟具有一定刚度和柔性的鱼体骨架，以超磁致伸缩材料模拟肌肉和用外部磁场模拟神经系统，从而建立一个基本模型。考虑流体力学的Navier-Stokes 方程和结构的非线性振动方程耦合作为基本控制方程和计算模型。采用非线性计算方法对问题进行数值计算和优化设计。研究工作发现外部磁场频率与鱼体固有频率特定条件下，仿生机器鱼游动最佳。利用该规律优化设计出独特的双尾超磁仿生机器鱼。该鱼不携带任何动力系统，并可实现向前和向后游动。同时研究和讨论仿生鱼快速起动、高效巡航游动和机动转弯等功能与控制。

Biography:

Prof. Xinsheng Xu is the Vice Director of Research Institute of Engineering Mechanics, Dalian University of Technology. He obtained Bachelor Degree (1982), Master Degree (1990) and Ph.D (1993) in Department of Mechanics, Peking University. He conducted further research of the Hamiltonian system as a Post Doctor from 1993 to 1995 and has been a Professor since 1995 in Department of Engineering Mechanics, Dalian University of Technology. Prof. Xu is appointed as Member of the Committee of Science Foundation of Doctoral Subject of China, Member of Expert Group of Prize for Science and Technology of Ministry of Education of China, and Member of Expert Group of �211� Engineering of China. In addition, he is the Editor of Journal of Dalian University of Technology and the Editor of Journal of Mechanics and Practice. In 2001, he was awarded a Visitorship by the Croucher Foundation of Hong Kong. Prof. Xu obtained Excellent Post Doctor of China in 1999 and National Excellent Post Doctor in 2005.

徐新生，教授，副所长。1978年至1993年间续在北京大学学习，获学士学位，硕士学位和博士学位。1993年在大连理工大学做博士后研究工作。并在1995年8月出站前夕破格直接晋升为教授。国家211立项专家组成员；国家博士点基金评审专家组成员；教育部高校科技奖评审专家组成员；《力学与实践》和《大连理工大学学报》编委。2001年获得香港Croucher Foundation；1999年获中国�国氏�博士后奖励基金（中国优秀博士后，1/10）；2005年&! #33719;�全国优秀博士后人员�称号。