Abstract
A useful measure of efficiency of transport in aquatic animals and autonomous underwater vehicles is cost of transport. Often, cost of transport data on specific animals or platforms is not readily available or does not fit specific use cases, but images are readily available. In this work, we present a methodology to synthesize such data without the need for a specimen or laboratory tests. We propose a computer vision in a methodology called Ika-Fit to determine important physical characteristics, such as surface area, slenderness ratio, and mass, that are used for a cost of transport model. The Ika-Fit method provides a good estimation of parameters when compared to biological data and robotic platforms. These parameters are estimated for existing engineered systems, and the model is compared to published data; the model is found to demonstrate higher accuracy using fewer parameters in estimating cost of transport over existing methods.
Highlights
Can we make a robotic fish or autonomous underwater vehicle (AUV) that competes with the performance of nature? When building an AUV, what is the best locomotion mode to use for a specific mission application? Cost of transport (CoT) offers a way to more holistically and accurately compare multiple systems that operate with different locomotion modes, sizes, and masses
The CoT metric is a measure of the energy efficiency of a biological animal or engineered system in transporting a unit mass over a unit distance [1]
AUVs for example, this metric indicates the amount of energy that is expended for a specific mission time [3,4]
Summary
Cost of transport (CoT) offers a way to more holistically and accurately compare multiple systems that operate with different locomotion modes, sizes, and masses. The CoT metric is a measure of the energy efficiency of a biological animal or engineered system in transporting a unit mass over a unit distance [1]. In biological systems, this metric is a combination of the base metabolic rate and the active metabolic rate [2]. CoT can be used to compare energy efficiency of multiple locomotion modes [5], fish species [6], or AUVs [3,4,7]. Out of 139 platforms surveyed, only 3 groups reported CoT results
Sign-in/Register to view highlights & summary Sign-in/Register to access full text options 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
