Performance Of Prototype Research Articles

Effect Analyses of Thermal Deformation on Magnetic Performance of the CPMU Prototype in SSRF

A cryogenic permanent magnet undulator (CPMU) prototype cooled by sub-cooled liquid nitrogen was developed in Shanghai Synchrotron Radiation Facility (SSRF) in 2016. The CPMU prototype mainly consist of NdFeB based hybrid magnet arrays with a period of 20 mm and a magnetic length of 1.6 m, a pair of girders to support the magnetic arrays, parallel SLN2 cooling loops attached to the girders, thermal spacers connecting the girders and the copper LN2 tubes, electric heaters to heat the girders and regulate the magnet working temperature at around 120 K, and stems made of stainless steel to support the girders. During the first magnetic field measurement, the RMS phase error of the CPMU prototype changed from 3.2 degree at room temperature to 4.5 degree at 135 K. By shimming the magnetic field, its RMS phase error is reduced to 3.5 at low temperature finally. This paper presents detailed analyses of temperature distribution and thermal deformation along the CPMU girder during cool down process. By comparison with test results, the deterioration of the RMS phase error is well explained. The analyses can provide guidance for magnetic field shimming and avoid or reduce the deterioration of the RMS phase error at low temperature.

Energy-Regenerative Semiactive Lateral Suspension Control in High-Speed Trains Using Electromagnetic Damper Cum Energy Harvester

With the increasing speeds of high-speed trains (HSTs), advanced suspension design are necessary to guarantee riding comfort and energy efficiency. In this study, a novel energy-regenerative semiactive secondary suspension system of HSTs and the corresponding control strategy, which have not been reported in the literature, were developed using the emerging electromagnetic damper cum energy harvester (EMDEH) with both vibration control and energy harvesting functions. The developed EMDEH can provide continuously tunable damping coefficients by semiactively controlling the duty cycle of an energy harvesting circuit. The mechanical behavior and energy performance of a full-scale EMDEH prototype were experimentally characterized via cyclic tests. An EMDEH simulation model was developed and verified through comparison with experimental results. A semiactive control strategy was designed to track the target force generated by a Linear–Quadratic–Gaussian (LQG) controller. Numerical simulations revealed that the semiactive EMDEH (SEMDEH) could reduce the car body vibration more effectively than the traditional passive dampers and fixed-duty-cycle EMDEH (FEMDEH) at train speeds of 200–350 km/h. Moreover, although the FEMDEH generated a greater power than the SEMDEH in the aforementioned train speed range, the SEMDEH could still generate powers of 25.89–153.19 W.

A novel 3-DoF piezoelectric robotic pectoral fin: design, simulation, and experimental investigation

The fish pectoral fins, which play a vital role for fish swimming mobility, can perform three degree-of-freedom movements (rowing, feathering, and flapping motions), promoting that a lot of bionic robotic pectoral fins have been proposed and developed. However, these developed robotic pectoral fins driven by electromagnetic motors or smart materials still cannot fully realize the aforementioned three movement modes. To solve this problem, a novel piezoelectric robotic pectoral fin based on the converse piezoelectric effect and friction drive principle is proposed in this study, to achieve the three motion modes. Using a piezoelectric actuator, the robotic pectoral fin can be driven to move with three degree-of-freedom motion modes. Firstly, the overall structures of the proposed piezoelectric robotic pectoral fin and the designed piezoelectric actuator are explained in detailed. Additionally, a finite element simulation and a combination of vibration measurement and impedance analysis experiments are carried out to verify the effectiveness of the proposed piezoelectric actuator. Finally, an experimental investigation is conducted to evaluate output performances of the robotic pectoral fin prototype. Experimental results indicated that (a) the maximum average velocities of the rowing and flapping motions of the pectoral fin prototype under an excitation voltage of 550 Vpp are 290 and 241.7 deg s−1, respectively, and the maximum rotation speed of the feathering motion is 6.03 deg s−1; (b) the maximum output forces of the rowing and flapping motions of the pectoral fin are 2.156 and 2.107 N, respectively; (c) rowing motion start stop response times are 13 and 10.6 ms, flapping motion start and stop response times are 14.2 and 9.2 ms, and feathering motion start/stop response times are 34 and 56.8 ms, respectively.

From a Deployable Soft Mechanism Inspired by a Nemertea Proboscis to a Robotic Blood Vessel Mechanism

In this project, we aim to establish a design theory as well as implementation methods for deformable robot mechanisms that can branch and change in shape, structure, and stiffness. As the first step in our research on this project, we present an initial prototype of a branched torus mechanism that uses an inflatable structure inspired by a nemertea proboscis. We develop a basic mechanical model of this proboscis structure, and we confirm the basic performance and effective functionality of the configuration experimentally using a real prototype, specifically, a deployable torus mechanism and a retractable torus mechanism with an incompressible fluid. In addition, as an expanded concept from the branched torus mechanism, robotic blood vessels that can have an active self-healing function are prototyped, and the basic performance of the actual prototype is confirmed through experiments.

Variable-Stiffness and Deformable Link Using Shape-Memory Material and Jamming Transition Phenomenon

In this study, we developed a variable-stiffness and deformable link using shape-memory material and the jamming transition phenomenon. Above its glass transition temperature (Tg), a shape-memory polymer (SMP) can be deformed by applying a small load. SMPs maintain the deformed shape after they have been cooled below Tg, and they return to their original shape when heated above Tg. The reversible change in the elastic modulus between the glassy and rubbery states of SMPs can be on the order of 100–1000 times. We exploited the characteristics of SMPs to develop robot components with variable stiffness and sensitivity. The jamming transition phenomenon for granular material has been widely used as a method to change the stiffness of robots. This phenomenon is the change from fluid-like to solid-like conditions by removing air from a space containing particles. In this study, we developed a variable-stiffness link by combining the SMP and the jamming transition phenomenon. Moreover, by replacing the SMP with shape-memory alloys (SMAs), whose recovery force and elastic modulus are larger than those of SMPs, we prepared a second prototype with variable stiffness. We evaluated the performance of both prototypes, using the SMP or the SMA, with experiments and confirmed the motion principle of the proposed link (e.g., shape recovery and shape fixity). Moreover, it was confirmed that the stiffness of these links can be changed among four states.

Drone-Borne Ground-Penetrating Radar for Snow Cover Mapping

Ground-penetrating radar (GPR) is one of the most commonly used instruments to map the Snow Water Equivalent (SWE) in mountainous regions. However, some areas may be difficult or dangerous to access; besides, some surveys can be quite time-consuming. We test a new system to fulfill the need to speed up the acquisition process for the analysis of the SWE and to access remote or dangerous areas. A GPR antenna (900 MHz) is mounted on a drone prototype designed to carry heavy instruments, fly safely at high altitudes, and avoid interference of the GPR signal. A survey of two test sites of the Alpine region during winter 2020–2021 is presented, to check the prototype performance for mapping the snow thickness at the catchment scale. We process the data according to a standard flow-chart of radar processing and we pick both the travel times of the air–snow interface and the snow–ground interface to compute the travel time difference and to estimate the snow depth. The calibration of the radar snow depth is performed by comparing the radar travel times with snow depth measurements at preselected stations. The main results show fairly good reliability and performance in terms of data quality, accuracy, and spatial resolution in snow depth monitoring. We tested the device in the condition of low snow density (<200 kg/m3) and this limits the detectability of the air–snow interface. This is mainly caused by low values of the electrical permittivity of the dry soft snow, providing a weak reflectivity of the snow surface. To overcome this critical aspect, we use the data of the rangefinder to properly detect the travel time of the snow–air interface. This sensor is already installed in our prototype and in most commercial drones for flight purposes. Based on our experience with the prototype, various improvement strategies and limitations of drone-borne GPR acquisition are discussed. In conclusion, the drone technology is found to be ready to support GPR-based snow depth mapping applications at high altitudes, provided that the operators acquire adequate knowledge of the devices, in order to effectively build, tune, use and maintain a reliable acquisition system.

Novel Perlin-based Phantoms Using 3D Models of Compressed Breast Shape and Fractal Noise.

Virtual clinical trials (VCTs) have been used widely to evaluate digital breast tomosynthesis (DBT) systems. VCTs require realistic simulations of the breast anatomy (phantoms) to characterize lesions and to estimate risk of masking cancers. This study introduces the use of Perlin-based phantoms to optimize the acquisition geometry of a novel DBT prototype. These phantoms were developed using a GPU implementation of a novel library called Perlin-CuPy. The breast anatomy is simulated using 3D models under mammography cranio-caudal compression. In total, 240 phantoms were created using compressed breast thickness, chest-wall to nipple distance, and skin thickness that varied in a {[35, 75], [59, 130), [1.0, 2.0]} mm interval, respectively. DBT projections and reconstructions of the phantoms were simulated using two acquisition geometries of our DBT prototype. The performance of both acquisition geometries was compared using breast volume segmentations of the Perlin phantoms. Results show that breast volume estimates are improved with the introduction of posterior-anterior motion of the x-ray source in DBT acquisitions. The breast volume is overestimated in DBT, varying substantially with the acquisition geometry; segmentation errors are more evident for thicker and larger breasts. These results provide additional evidence and suggest that custom acquisition geometries can improve the performance and accuracy in DBT. Perlin phantoms help to identify limitations in acquisition geometries and to optimize the performance of the DBT prototypes.

Design and Performance of a LARMbot PK Arm Prototype

This paper presents design and performance of a prototype of new humanoid arm that has been developed at the LARM2 laboratory of the University of Rome “Tor Vergata”. This new arm, called LARMbot PK arm, is an upper limb that is designed for the LARMbot humanoid robot. LARMbot is a humanoid robot designed to move freely in open spaces, and able to adapt to task environment. Its objective is to transport objects weighing a few kilograms in order to facilitate the restocking of workstations, or to manage small warehouses and other tasks feasible for humanoids. The LARMbot PK arm is conceived as a solution that is designed on the basis of a parallel tripod structure using linear actuators to provide high agility of movement. This solution is designed with components that can be found on the market or can be created by 3D printing in order to offer a quality and price ratio well convenient for user-oriented humanoid robots. Experimental tests are discussed with the built prototype to demonstrate the capabilities of the proposed solution in terms of agility, autonomy, and power to validate the LARMbot PK arm solution as a satisfactory solution for the new upper limbs of the LARMbot humanoid robot.

Design of a Barometer-Based Pulse-Taking Device With In Vivo Validation Against High-Frequency Ultrasound Pulse Wave Imaging

Wrist-site pulse-sensing devices have drawn increasing attention for daily monitoring of human body conditions in the context of western medicine and modernization of traditional Chinese medicine (TCM) palpation. Existing tactile pulse sensors are deemed to only access the superficial tissue layer as surface detectors but have not been validated against medical imaging of the radial artery and its pulsation. We hereby proposed to employ high-frequency (15.6MHz) and high frame-rate (1000fps) ultrasound radial pulse wave imaging (US-rPWI) to substantiate human radial pulse-taking. We first presented an easy-to-fabricate, cost-effective pulse-sensing prototype based on a commercial off-the-shelf (COTS) barometer. The prototype performance was evaluated using a homemade pressurized vessel-mimicking phantom and 30 different <italic xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">in vitro</i> pulses outputted from a TCM palpation training machine. Phantom experiments evidenced accurate portrayal of dynamic pressure waveforms (mean distortion ratio: 3.38±0.07%, compared with the ground truth). <italic xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">In vivo</i> validation on human pre- and post- prandial pulses was further performed. US-rPWI revealed significantly diminished pulse amplitudes and gradual waveform deformation from the arterial wall to the skin layer. Nevertheless, <italic xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">in vivo</i> pulse waveforms detected at the skin surface by the prototype were highly correlated (correlation coefficient: 0.926±0.07) with those obtained from the radial arterial wall by US-rPWI. Moreover, the changes in post-prandial pulse waveforms detected by both the prototype and US-rPWI were in excellent agreement with those in TCM literature, thus demonstrating the sensitivity of human pulse-taking in quantitative assessment of health conditions at the point of care and providing more clinical evidence for the modernization of TCM sphygmology.

A novel active volumetric rotating disks solar receiver for concentrated solar power generation

• The complete analysis is composed by a CFD model and its experimental validation. • The experimental results fits with CFD model results. • Thermal performance shows promising results compared to the state of the art. • Next steps in the receiver development will be its upscaling. A new active, first of its kind, volumetric receiver prototype is used in this study to obtain the conclusions about its thermal performance. The rotating disks cooling, was studied first, numerically, using a CFD software and second, experimentally, using a laboratory-scale prototype. This study evaluates the convective heat transfer from rotating disks to a transverse air crossflow. The thermal energy exchange on the disk surfaces allows us to calculate the heat transfer coefficient from disk surface temperature and the thermal performance of the receiver prototype and local Nusselt number through the receiver depth are also a key point in the research. The influence of rotational speed and air mass flow on the heat transfer coefficient is also studied. Differences between numerical and experimental results show high concordance, with a relative error below 15% in the worst point. The thermal performance shown by the lab-scale receiver is promising for the further development of the active Open Volumetric Air Receivers (OVAR) technology. The obtained thermal efficiency results show an improvement of around 10% at 900 °C when compared to the current state of the art of volumetric receivers.

Rancang Bangun Prototipe Pembangkit Listrik Tenaga Mikrohidro Menggunakan Turbin Pelton

Water energy can be used as a power plant by utilizing the available potential energy (waterfall potential and flow velocity). The water turbine is one of the driving machines where the working fluid is water which is used directly to rotate the turbine runner and turbine generator to produce electrical energy. This research was conducted using a Pelton type water turbine installation and measurements were made of turbine and generator rotation, flow rate, electric voltage and electric current with variations in the position of the nozzle angle. The research method used is a laboratory-scale experimental method and the results of the design of the water turbine are used as a practicum tool for students of the Department of Mechanical Engineering, Energy Generation Engineering Study Program. The results showed that there was an effect of the position of the nozzle angle on the performance of the PLTMH prototype using a Pelton turbine, in this study the nozzle position will be designed at an angle of 00,450,600, and 750.

Research on Stress Design and Manufacture of the Fiber-Reinforced Composite Sleeve for the Rotor of High-Speed Permanent Magnet Motor

As a key component to ensure the safety and stability of the surface-mounted permanent magnet motor rotor, stress research on the sleeve has long been a subject that has attracted researchers. Fiber-reinforced composite materials have the characteristics of high specific strength, high specific modulus, and low eddy current loss. The use of a fiber-reinforced composite material sleeve that can effectively reduce the thickness of the sleeve and structural weight, and can improve the power density of the motor is an inevitable trend of the development of high-performance permanent magnet motors. This paper summarizes the matching of fibers and resins of composite materials to the sleeve: the stress design criteria, stress calculation method, and stress influencing factors of the composite sleeve; two typical stress-forming methods of the composite sleeve; and the preloading effect of the sleeve, strength, and rotor prototype performance testing. This paper focuses on the application of tension winding technology in sleeve forming. Based on the characteristics of composite material layer synthesis, this method has the advantages of high forming efficiency, small forming damage, easy realization of stress design, and a high preloading effect. This method can meet the sleeve-forming requirements of high-performance, large-scale, high-speed permanent magnet motors. However, the application of the new high-performance material system in the existing research is insufficient, the research on the technological factors in the tension winding process is scarce, and the performance testing method after the sleeve preparation is single, which needs further research.

CMOS Interface Circuits for High-Voltage Automotive Signals

The acquisition of high-voltage signals from sensors and actuators in an internal-combustion engine is often required for diagnostic purposes or in the case of conversion to alternative fuels, such as hydrogen, natural gas, or biogas. The integration of electronic interfaces and acquisition circuits in a single device provides benefits in terms of component-count reduction and performance. Nonetheless, the high voltage level of the involved signals makes on-chip design challenging. Additionally, the circuits should be compatible with the CMOS technology, with limited use of high-voltage options and a minimum number of off-chip components. This paper describes the design and the implementation in 350 nm CMOS technology of electronic interfaces and acquisition circuits for typical high-voltage signals of automotive context. In particular, a novel co-design of dedicated voltage clamps with electro-static discharge (ESD) protections is described. The proposed circuits require only a single off-chip resistor, and they are suitable for the acquisition of signals with peak voltages up to 400 V. The measured performance of the silicon prototypes, in the [−40 °C, +125 °C] temperature range, make the proposed electronic interfaces suitable for the automotive domain.

Experimental Study on Prototype of Printed Circuit Heat Exchanger

The printed circuit heat exchanger (PCHE) is the key equipment of the supercritical carbon dioxide Brayton cycle applied to sodium cooled fast reactor. It is required that the equipment not only can operate in high temperature and high pressure environment but also has high efficiency and compact structure. The China Institute of Atomic Energy has carried out the research on a sodium-supercritical carbon dioxide PCHE and has designed and manufactured a heat exchanger prototype with the heat transfer power of 50 kW. In addition, the supercritical carbon dioxide test loop and sodium test loop have been built to test the performance of the heat exchanger prototype. The conclusions are as follows: 1) The heat exchange power of the heat exchanger under rated working condition is 54.2 kW, and the deviation is around 8%, which meets the design requirements; 2) With the increase of the flow ratio of sodium to carbon dioxide, the temperature difference at the high temperature end decreases, and the temperature difference at the low temperature end increases; 3) The change of flow rate of the carbon dioxide has a great influence on heat transfer power; 4) The total heat transfer coefficient of the heat exchanger increases with the increase of the pressure of carbon dioxide; when the pressure increases from 15.5 to 20 MPa, the total heat transfer coefficient increases by 12.8%.

Thermal performance of a controllable pavement solar collector prototype with configuration flexibility

Solar energy harvesting as a renewable and sustainable energy source has been widely investigated in recent years across engineering fields. The use of Pavement Solar Collectors (PSC) can lead to clean energy production, an increase in road safety, prolong the service life of asphalt pavement, and can mitigate the Urban Heat Island (UHI) effect. This study describes a controllable large-scale research PSC prototype with high configuration flexibility, and full monitoring capability at the University of Antwerp, Belgium. Since small- or laboratory-scale setups do not reflect the behavior of actual projects, the present paper investigates the thermal response of a large-scale PSC in the Western European climate, including heating load, heat extraction capacity, and asphalt surface and profile temperature changes during heating and cooling experiments.The study shows that a low supply temperature compared to high (14 °C vs. 28 °C) can reduce the depletion rate of the stored thermal energy in borehole thermal energy storage up to 7 times. The sensitivity analysis indicates that an increase in flow rate from laminar to transient regime requires twice as much thermal power compared to the same flow rate changes within transient and turbulent regimes. The maximum average daily efficiency of the PSC could reach 34% with a flow rate of 4 l/min. The experimental results showed that increasing the pipe length from 50 m to 200 m reduces the cumulative power extraction capacity by up to 48%. Furthermore, the PSC system shows great potential in reducing the asphalt surface temperature (up to 12 °C) to mitigate the UHI effects. Finally, the PSC system effectively controls the temperatures of the interface zones to reduce the rutting distress in the summertime and lower the potential of cold thermal crack developments and brittle shear failure behavior in wintertime.

Resorption Thermal Transformer Generator Design

This work takes an empirical and evidence-based approach in the development of a resorption thermal transformer. It presents the initial modelling conducted to understand key performance parameters (coefficient of performance and specific mean power) before discussing a preliminary design. Experimental results from large temperature jump and isosteric heating tests have identified the importance of heat transfer in ammonia-salt systems. Both the heat transfer resistance between the salt composite adsorbent and the tube side wall, and the heat transfer from the heat transfer fluid to the tube side wall are key to realising resorption systems. The successful performance of a laboratory-scale prototype will depend on the reduction in these heat transfer resistances, and improvements may be key in future prototype machines. A sorption reactor is sized and presented, which can be scaled for length depending on the desired power output. The reactor design presented was derived using data on reaction kinetics constants and heat of reaction for calcium chloride reacting with ammonia that were obtained experimentally. The data enabled accurate modelling to realise an optimised design of a reactor, focusing on key performance indicators such as the coefficient of performance (COP) and the system power density. This design presents a basis for a demonstrator that can be used to collect and publish dynamic data and to calculate a real COP for resorption system.

A Low-Profile, Top-Loaded, Multielement, Monopole Antenna for Compact UGV Systems

This communication presents a low-profile and efficient low-very high-frequency (VHF) antenna designed for compact unmanned ground vehicles (UGVs). An effective miniaturization strategy for a top-loaded multielement monopole antenna is proposed to improve its gain while maintaining a low profile. The approach introduces multiple closely spaced short vertical radiating elements and a structurally constructed 180° phase shifter connecting the elements on a small ground plane. The phase shifter enables electric currents flowing through the vertical elements to be in phase, resulting in enhanced radiation without increasing the antenna profile. In order to improve the antenna bandwidth, a monopole configuration with a sleeve feed and capacitive top loading is adapted. The proposed antenna optimized for a compact UGV via parametric analysis has a height of <inline-formula xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink"> <tex-math notation="LaTeX">$0.028\lambda $ </tex-math></inline-formula> at 42 MHz (the corresponding electrical size <inline-formula xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink"> <tex-math notation="LaTeX">$ka=0.24$ </tex-math></inline-formula> ). The measured performance of an antenna prototype shows the 3 dB bandwidth of 0.67 MHz and the peak gain of −2.5 dBi. The proposed design can achieve more than 16% reduction in lateral dimensions and 1 dB improvement in gain compared to the state-of-the-art design with similar topology. The performance of the antenna integrated on an actual UGV system is also evaluated by experiments.

A Fish Feeding Robot Prototype with a Water Level Control System Using a Proportional – Integral Controller

The purpose of this study is to develop a fish feeding robot prototype that equipped with a water level control system for pond use and to propose an effective control scheme for the robot prototype and the water level control system. The system used in this paper consists of a feed storage tank, a feed distribution mechanism, a feed ejection mechanism, an ejector position turning mechanism, a water level control system, a base and a solar panel system for energy sources. The three mechanisms used three DC motors as actuator, respectively. The water level control system used a water pump to pump water out of pond when the level of water exceeds the maximum level limit, and an ultrasonic sensor to measure the level of water in pond. On – Off and proportional – integral (PI) controllers used to control DC motors of the three mechanisms, and the water level control system, respectively. Performances of the robot prototype with the water level control system were examined through laboratory scale experiments. The result of the conducted experiments are presented and discussed.

Low-Cost and High-Performance Solution for Positioning and Monitoring of Large Structures.

Systems for accurate attitude and position monitoring of large structures, such as bridges, tunnels, and offshore platforms are changing in recent years thanks to the exploitation of sensors based on Micro-ElectroMechanical Systems (MEMS) as an Inertial Measurement Unit (IMU). Currently adopted solutions are, in fact, mainly based on fiber optic sensors (characterized by high performance in attitude estimation to the detriment of relevant costs large volumes and heavy weights) and integrated with a Global Position System (GPS) capable of providing low-frequency or single-update information about the position. To provide a cost-effective alternative and overcome the limitations in terms of dimensions and position update frequency, a suitable solution and a corresponding prototype, exhibiting performance very close to those of the traditional solutions, are presented and described hereinafter. The solution leverages a real-time Kalman filter that, along with the proper features of the MEMS inertial sensor and Real-Time Kinematic (RTK) GPS, allows achieving performance in terms of attitude and position estimates suitable for this kind of application. The results obtained in a number of tests underline the promising reliability and effectiveness of the solution in estimating the attitude and position of large structures. In particular, several tests carried out in the laboratory highlighted high system stability; standard deviations of attitude estimates as low as 0.04° were, in fact, experienced in tests conducted in static conditions. Moreover, the prototype performance was also compared with a fiber optic sensor in tests emulating actual operating conditions; differences in the order of a few hundredths of a degree were found in the attitude measurements.

Asymmetrical Oscillating Morphology Hydrodynamic Performance of a Novel Bionic Pectoral Fin

This research proposes a novel bionic pectoral fin and experimentally studied the effects of the oscillation parameters on the hydrodynamic performance of a bionic experimental prototype. Inspired by manta rays, the bionic pectoral fin was simplified and modeled based on the natural pectoral fin skeleton structure and oscillation morphology of this underwater creature. A dual-degree-of-freedom bionic pectoral fin was designed. The active spatial motion was realized by the space six-link mechanism driven by two motors, and the passive deformation was achieved by carbon fiber. The motion analysis of the bionic pectoral fin proves that the pectoral fin can realize an “8”-shaped spatial trajectory. An experimental prototype was developed accordingly. The experimental prototype could flap between 0.1 Hz and 0.6 Hz and produce a maximum thrust of 20 N. The hydrodynamic performance under different oscillation parameters was studied experimentally in a water pool. The experimental results indicate that the hydrodynamic performance of the pectoral fin oscillation is closely related to the motion equation parameters including the amplitude, frequency, phase difference, and initial bias. In addition to considering the impact of parameters on thrust and lift, the influences of asymmetrical oscillation on the position of the equivalent point were also studied. The results show that the pectoral fin proposed in this research exhibited the expected spatial deformation and outstanding hydrodynamic performance. The obtained results shed light on the updated design and control of a bionic robot fish.