{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,10,11]],"date-time":"2025-10-11T01:31:27Z","timestamp":1760146287180,"version":"build-2065373602"},"reference-count":23,"publisher":"MDPI AG","issue":"10","license":[{"start":{"date-parts":[[2024,10,21]],"date-time":"2024-10-21T00:00:00Z","timestamp":1729468800000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"name":"Key Laboratory of IoT Monitoring and Early Warning, Ministry of Emergency Management"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotics"],"abstract":"<jats:p>Oscillating fins are devices designed to produce thrust through periodic undulating movements. However, these structures lack flexibility and often provide thrust in only one fixed direction. Observation and biological references suggest that the dorsal fin rays of seahorses can tilt longitudinally in the spine direction, changing the thrust direction. This study aims to analyze the dynamic effects of seahorse dorsal fin inclining and design a flexible bionic thruster based on this principle. Computational fluid dynamics analysis hypothesizes that fin inclination controls the net force direction in the vertical plane. A force sensor and pulley system test platform were constructed to examine the influences of wave features and the inclination angle on thrust in both vertical and horizontal directions, with discrete fin surfaces used to eliminate force interference. Force testing and snapshots indicate that wave velocity positively impacts net force magnitude, while fin inclination allows for control over force orientation. This tiltable oscillating fin thruster possesses more degrees of freedom, leading to better flexibility and providing controllable thrust orientation.<\/jats:p>","DOI":"10.3390\/robotics13100154","type":"journal-article","created":{"date-parts":[[2024,10,21]],"date-time":"2024-10-21T10:49:22Z","timestamp":1729507762000},"page":"154","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":0,"title":["Engineering of a Bio-Inspired Tiltable Oscillating Fin Submersible Thruster"],"prefix":"10.3390","volume":"13","author":[{"ORCID":"https:\/\/orcid.org\/0009-0000-1526-8657","authenticated-orcid":false,"given":"Zihao","family":"Liu","sequence":"first","affiliation":[{"name":"Experiment Highschool Affiliated to Beijing Normal University, Beijing 100033, China"}]},{"given":"Duanling","family":"Li","sequence":"additional","affiliation":[{"name":"Automation School, Beijing University of Posts and Telecommunications, Beijing 100876, China"}]}],"member":"1968","published-online":{"date-parts":[[2024,10,21]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","unstructured":"Aguzzi, J., Costa, C., Calisti, M., Funari, V., Stefanni, S., Danovaro, R., Gomes, H.I., Vecchi, F., Dartnell, L.R., and Weiss, P. (2021). Research Trends and Future Perspectives in Marine Biomimicking Robotics. Sensors, 21.","DOI":"10.3390\/s21113778"},{"key":"ref_2","doi-asserted-by":"crossref","unstructured":"Lamas, M.I., and Rodriguez, C.G. (2020). Hydrodynamics of Biomimetic Marine Propulsion and Trends in Computational Simulations. J. Mar. Sci. Eng., 8.","DOI":"10.3390\/jmse8070479"},{"key":"ref_3","doi-asserted-by":"crossref","first-page":"833","DOI":"10.1109\/TSMC.2020.3004862","article-title":"Development and Motion Control of Biomimetic Underwater Robots: A Survey","volume":"52","author":"Wang","year":"2020","journal-title":"IEEE Trans. Syst. Man Cybern. Syst."},{"key":"ref_4","doi-asserted-by":"crossref","first-page":"1856","DOI":"10.1098\/rsif.2012.0084","article-title":"Fish and Robots Swimming Together: Attraction towards the Robot Demands Biomimetic Locomotion","volume":"9","author":"Marras","year":"2012","journal-title":"J. R. Soc. Interface"},{"key":"ref_5","doi-asserted-by":"crossref","unstructured":"Li, G., Liu, G., Leng, D., Fang, X., Li, G., and Wang, W. (2023). Underwater Undulating Propulsion Biomimetic Robots: A Review. Biomimetics, 8.","DOI":"10.3390\/biomimetics8030318"},{"key":"ref_6","doi-asserted-by":"crossref","unstructured":"Bu, K., Gong, X., Yu, C., and Xie, F. (2022). Biomimetic Aquatic Robots Based on Fluid-Driven Actuators: A Review. J. Mar. Sci. Eng., 10.","DOI":"10.3390\/jmse10060735"},{"key":"ref_7","doi-asserted-by":"crossref","unstructured":"Low, K.H. (2011, January 3\u20135). Current and Future Trends of Biologically Inspired Underwater Vehicles. Proceedings of the Defense Science Research Conference and Expo (DSR), Singapore.","DOI":"10.1109\/DSR.2011.6026887"},{"key":"ref_8","doi-asserted-by":"crossref","first-page":"238","DOI":"10.1115\/1.1946027","article-title":"Median and Paired Fin Controllers for Biomimetic Marine Vehicles","volume":"58","author":"Kato","year":"2005","journal-title":"Appl. Mech. Rev."},{"key":"ref_9","doi-asserted-by":"crossref","unstructured":"Quan, X., Zhao, X., Zhang, S., Zhou, J., Yu, N., and Hou, X. (2021). Research on the Undulatory Motion Mechanism of Seahorse Based on Dynamic Mesh. Appl. Bionics Biomech., 2021.","DOI":"10.1155\/2021\/2807236"},{"key":"ref_10","doi-asserted-by":"crossref","unstructured":"Epstein, M.B., Edward Colgate, J., and MacIver, M.A. (2006, January 9\u201315). Generating Thrust with a Biologically-Inspired Robotic Ribbon Fin. Proceedings of the 2006 IEEE\/RSJ International Conference on Intelligent Robots and Systems, Beijing, China.","DOI":"10.1109\/IROS.2006.281681"},{"key":"ref_11","doi-asserted-by":"crossref","first-page":"633","DOI":"10.1016\/j.mechmachtheory.2008.08.013","article-title":"Biological Inspirations, Kinematics Modeling, Mechanism Design and Experiments on an Undulating Robotic Fin Inspired by Gymnarchus niloticus","volume":"44","author":"Hu","year":"2009","journal-title":"Mech. Mach. Theory"},{"key":"ref_12","unstructured":"Lin, L., Xie, H., Shen, L., and Zhou, R. (2008, January 16\u201318). Control System Design and Simulation for Bionic Undulating Fin. Proceedings of the Chinese Control Conference, Kunming, China."},{"key":"ref_13","doi-asserted-by":"crossref","unstructured":"Liu, H., and Curet, O. (2018). Swimming Performance of a Bio-Inspired Robotic Vessel with Undulating Fin Propulsion. Bioinspir. Biomim., 13.","DOI":"10.1088\/1748-3190\/aacd26"},{"key":"ref_14","doi-asserted-by":"crossref","first-page":"521","DOI":"10.1146\/annurev-marine-010814-015614","article-title":"Fish Locomotion: Recent Advances and New Directions","volume":"7","author":"Lauder","year":"2024","journal-title":"Annu. Rev. Mar. Sci."},{"key":"ref_15","doi-asserted-by":"crossref","first-page":"939","DOI":"10.1017\/S0025315400020981","article-title":"On Seahorse Locomotion","volume":"56","author":"Blake","year":"1976","journal-title":"J. Mar. Biol. Assoc. U. K."},{"key":"ref_16","first-page":"63","article-title":"Morphological Perspectives of the Seahorse Hippocampus kuda (Bleeler) Vertebral System","volume":"2","author":"Kumaravel","year":"2010","journal-title":"Int. Sci. Res. J."},{"key":"ref_17","doi-asserted-by":"crossref","first-page":"021913","DOI":"10.1063\/5.0187694","article-title":"Hydrodynamic Analysis of the Upright Swimming of Seahorse","volume":"36","author":"Li","year":"2024","journal-title":"Phys. Fluids"},{"key":"ref_18","unstructured":"Botello-Payro, E., Diez-Robles, L., Rauh, C., and Delgado, A. (2010, January 7\u20139). Analysis of the Flow Induce by the Undulatory Fin Motion of Seahorse. Proceedings of the Fachtagung \u201cLasermethoden in der Str\u00f6mungsmesstechnik\u201d, Cottbus, Germany."},{"key":"ref_19","doi-asserted-by":"crossref","first-page":"561","DOI":"10.1002\/jez.10183","article-title":"Mechanical Properties of the Dorsal Fin Muscle of Seahorse (Hippocampus) and Pipefish (Syngnathus)","volume":"293","year":"2002","journal-title":"J. Exp. Zool."},{"key":"ref_20","doi-asserted-by":"crossref","first-page":"80","DOI":"10.1002\/jmor.1022","article-title":"The Dorsal Fin Engine of the Seahorse (Hippocampus sp.)","volume":"248","author":"Consi","year":"2001","journal-title":"J. Morphol."},{"key":"ref_21","doi-asserted-by":"crossref","first-page":"913","DOI":"10.1017\/S0263574711001159","article-title":"Swimming Locomotion Modeling for Biomimetic Underwater Vehicle with Two Undulating Long-Fins","volume":"30","author":"Shang","year":"2011","journal-title":"Robotica"},{"key":"ref_22","doi-asserted-by":"crossref","unstructured":"Toda, Y., Suzuki, T., Uto, S., and Tanaka, N. (2004). Fundamental Study of a Fishlike Body with Two Undulating Side-Fins. Bio-Mechanisms of Swimming and Flying, Springer.","DOI":"10.1007\/978-4-431-53951-3_8"},{"key":"ref_23","unstructured":"Kulisiewicz, B.E.Z., Payro, E.B., Lienhart, H., Rauh, C., Delgado, A., Krupczynski, P., and Schuster, S. (2009, January 8\u201310). Kinematics and Hydrodynamics of Undulatory Fin Motion of Seahorse. Proceedings of the Fachtagung \u201cLasermethoden in der Str\u00f6mungsmesstechnik\u201d, Erlangen, Germany."}],"container-title":["Robotics"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.mdpi.com\/2218-6581\/13\/10\/154\/pdf","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,10,10]],"date-time":"2025-10-10T16:17:40Z","timestamp":1760113060000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.mdpi.com\/2218-6581\/13\/10\/154"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2024,10,21]]},"references-count":23,"journal-issue":{"issue":"10","published-online":{"date-parts":[[2024,10]]}},"alternative-id":["robotics13100154"],"URL":"https:\/\/doi.org\/10.3390\/robotics13100154","relation":{},"ISSN":["2218-6581"],"issn-type":[{"type":"electronic","value":"2218-6581"}],"subject":[],"published":{"date-parts":[[2024,10,21]]}}}