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This book reports on the state of the art in the field of aerial-aquatic locomotion, focusing on the main challenges concerning the translation of this important ability from nature to synthetic systems, and describing innovative engineering solutions that have been applied in practice by the authors at the Aerial Robotics Lab of Imperial College London. After a general introduction to aerial-aquatic locomotion in nature, and a summary of the most important engineering achievements, the book introduces readers to important physical and mathematical aspects of the multimodal locomotion problem. Besides the basic physics involved in aerial-aquatic locomotion, the role of different phenomena happening in fluids, or those due to structural mechanics effects or to power provision, are presented in depth, across a large dimension range, from millimeters to hundreds of meters. In turn, a practice-oriented discussion on the obstacles and opportunities of miniaturization, for both robots and animals is carried out. This is followed by applied engineering considerations, which describe relevant hardware considerations involved in propulsion, control, communication and fabrication. Different case studies are analyzed in detail, reporting on the latest research carried out by the authors, and covering topics such as propulsive aquatic escape, the challenging mechanics of water impact, and a hybrid sailing and flying aircraft. Offering extensive and timely information on the design, construction and operation of small-scale robots, and on multimodal locomotion, this book provides researchers, students and professionals with a comprehensive and timely reference guide to the topic of aerial-aquatic locomotion, and the relevant bioinspired approaches. It is also expected to inspire future research and foster a stronger multidisciplinary discussion in the field.
Robotic design, especially in underwater robots, is critical to research, national defense, deep sea exploration and sea disaster rescue. Developing an advanced underwater robot, however, is complicated, as it involves propulsion, depth regulation, motion between propellers and other auxiliary system coordination, as well as sensing and feedback signals synchronization. Additionally, it is more challenging to manage the aquatic environment and guarantee the robotic design. In particular, the propulsion system could fit well in this environment and allow for efficient swimming. These challenges make the development of an underwater robot much more difficult, and finding the best solutions to building a robot in a standard and robust manner is critical to satisfying the large amount of requirements of the underwater robots in different perspectives. Aquatic creatures have developed swimming capabilities far superior in many ways to what has been achieved by nautical science and technology and have inspired alternative ideas of developing smart and advanced novel robotic mechanisms for propulsion in different fluid environments. Many bioinspired aquatic robots mimic the structure design, locomotion behaviors and even control method of their counterparts in nature and achieved great swimming performance. The further development of a more general design methodology for bioinspired underwater robots, however, has been impeded due to the diversity of biological sources for underwater propulsion. Consequently, there have been several studies attempting to understand basic propulsion principles to synchronize the biological diversity. In this dissertation, we first review the current stages and challenges of design of underwater robots. Afterwards, we provided a methodology for the design of efficient underwater robots from a biological perspective at multiple scales. To achieve this goal, we introduced the unique propulsion features of aquatic species in terms of locomotion mechanism as the swimmer increased in size from the micro/nanoscale to the macro-scale. Then, we discussed the biological propulsion principles for aquatic robotic design, including design of propeller, body, propulsion appendages, locomotion control and auxiliary system. In addition, we introduced the method for the implementation of bioinspired robots, including mechanical design, electronic engineering and system integration (Chapter 1). The following chapters show that four aquatic robots from the micro/nanoscale to the macro-scale were designed by learning unique features from biology and providing specific investigation of propulsion principle for robotic design at each scale. We validated and demonstrated the design of each robot using both mathematical model based simulation and hardware implemented robot experiments. In chapter 2, propulsion was investigated at micro/nanoscale (body length10-2m). Due to the constraints imposed at micro/nanoscale which has low Reynolds number (Re
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By the New York Times bestselling author of The Bone Clocks and Cloud Atlas | Longlisted for the Man Booker Prize Selected by Time as One of the Ten Best Books of the Year | A New York Times Notable Book | Named One of the Best Books of the Year by The Washington Post Book World, The Christian Science Monitor, Rocky Mountain News, and Kirkus Reviews | A Los Angeles Times Book Prize Finalist | Winner of the ALA Alex Award | Finalist for the Costa Novel Award From award-winning writer David Mitchell comes a sinewy, meditative novel of boyhood on the cusp of adulthood and the old on the cusp of the new. Black Swan Green tracks a single year in what is, for thirteen-year-old Jason Taylor, the sleepiest village in muddiest Worcestershire in a dying Cold War England, 1982. But the thirteen chapters, each a short story in its own right, create an exquisitely observed world that is anything but sleepy. A world of Kissingeresque realpolitik enacted in boys’ games on a frozen lake; of “nightcreeping” through the summer backyards of strangers; of the tabloid-fueled thrills of the Falklands War and its human toll; of the cruel, luscious Dawn Madden and her power-hungry boyfriend, Ross Wilcox; of a certain Madame Eva van Outryve de Crommelynck, an elderly bohemian emigré who is both more and less than she appears; of Jason’s search to replace his dead grandfather’s irreplaceable smashed watch before the crime is discovered; of first cigarettes, first kisses, first Duran Duran LPs, and first deaths; of Margaret Thatcher’s recession; of Gypsies camping in the woods and the hysteria they inspire; and, even closer to home, of a slow-motion divorce in four seasons. Pointed, funny, profound, left-field, elegiac, and painted with the stuff of life, Black Swan Green is David Mitchell’s subtlest and most effective achievement to date. Praise for Black Swan Green “[David Mitchell has created] one of the most endearing, smart, and funny young narrators ever to rise up from the pages of a novel. . . . The always fresh and brilliant writing will carry readers back to their own childhoods. . . . This enchanting novel makes us remember exactly what it was like.”—The Boston Globe “[David Mitchell is a] prodigiously daring and imaginative young writer. . . . As in the works of Thomas Pynchon and Herman Melville, one feels the roof of the narrative lifted off and oneself in thrall.”—Time