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Robotic systems capable of aquatic movement has increased exploitation in recent years due to the diverse range of missions that can be performed in otherwise hostile environments. The remainder of the paper is organized as follows: Section II presents the investigated carangiform swimming patterns.
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The project aimed to achieve the fastest swimming speeds of real fish with seven main objectives: (i) to devise a prototype which operates in two swimming patterns, for further investigation of the carangiform swimming motion to be conducted (ii) to significantly increase force transfer by achieving a high power density ratio in combination with an efficient mechanical energy transfer (iii) to achieve unrestricted high force swimming by realizing a prototype capable of carrying a high powered energy supply (iv) to develop a structurally robust mechanical drive system based on the critical properties proposed in, capable of intensively high frequencies of 20Hz (v) to greatly reduce forward resistance by engineering a streamlined body considering individual parts' geometries and alignment throughout the kinematic cycle (vi) to stabilize the free swimming prototype's unsteady oscillatory motion during intensively high frequencies to achieve a more efficient force transfer (vii) to conduct a series of experiments measuring the prototype's achievements in terms of kinematic data, speed, thrust, and energy consumption in relation to driven frequency. Limitations and future recommendations on possible improvements for these systems are offered and deeply discussed. Then, it is discussed what makes these systems bioinspired and biomimetic, and the trends of these designs. The electronic components of these systems are outlined to give an idea of how these bioinspired AUVs are constructed. All types of developed actuators are reviewed, organized, and explained based on their materials and motion capabilities. In this review, how previous AUV developers determined the kinematic, physical, and hydrodynamic modeling of these systems are consolidated and discussed. The respective animals that exhibit a specific swimming mode give a range of criteria to follow make the system more capable of swimming. There is a diverse range of biological locomotion's to choose from when developing a bioinspired AUV. Removing the human pilot and creating an animal-based AUV means that more hazardous aquatic environments can be studied with reduced repercussions. Bioinspired aquatic unmanned vehicles (AUVs) could be exploited in a diverse range of missions depending on the design and its capabilities. The result is the abandonment of inefficient propeller-based locomotion for a biological locomotion type suitable for the specific mission.
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