Pectoral fin model for maneuver of underwater vehicles

This paper deals with experimental analysis of fish fin motion and performance tests of pectoral fin model from the viewpoint of maneuverability of underwater vehicles. Observation of cooperative motion of the fins of Black Bass at a low speed revealed that the combination of feathering and lead-lag of a pair of pectoral fins dominantly generates the fish motions of forward going, backward going, hovering and turning. The hydrodynamic tests of an apparatus of the pectoral fin motion made it clear that the apparatus generates thrust force in a certain range of phase difference between feathering and lead-lag motions. A fish model consisting of fish body model and a pair of the apparatus could turn at the same position as well as swim forward and backward