1. Bioinspired Underwater Robots
Manta and stingrays

2. Mimic vs. Inspiration

3. Why a Stingray?

4. Why a stingray? Cownose manta ray Southern stingray
Manta rays migrating in open ocean:

5. Human-made state of the art
Meet “Waldo”
Meet “Hercules”

6. Oscillation vs. Undulation
Intermediate
motion
oscillatory

7. MIT stingray (undulatory)

8. MantaDroid (National University of Singapore)

9. Count Flapula (Lincoln Neely, Jack Gaiennie, Nick Noble, BioE w 2015)

10. Extracting form and function

11. CADD model  3D print + Silicone Pour

12. What’s inside the box
Tail
Nose

13. Actuation System

14. Stroke dynamics: motion tracking
(action starts at ~ 24 s)
(best footage ~ s)
starts at ~ 5 s)
Rearward propagating wave

15. Rearward propagating wave

16. Velocity vs. flapping frequency

17. Showtime!

18. Future directions Efficiency/actuators? Neutral Buoyancy?
Turning/maneuvering?
Fluid mechanics of thrust?

19. Citations
Biomimetic Stingray with Intermediate Propulsion Jack Gaiennie, Lincoln Neely,Nick Noble (Bioengineering winter 2015)
Rosenberger, L. J., “Pectoral Fin Locomotion in Batoid Fishes: Undulation versus Oscillation,” The Journal of Experimental Biology 204, , 2001.
 Schaefer, J. T., Summers, A. P., “Batoid Wing Skeletal Structure: Novel Morphologies, Mechanical Implications, and Phylogenetic Patterns,” Journal of Morphology 264: , 2005.