Amplitude Variation Research Articles

Leader-Following Consensus of Discrete-Time Nonlinear Multi-Agent Systems with Asymmetric Saturation Impulsive Control

Impulsive control is an effective approach for coordinating multi-agent systems in practical environments due to its high robustness and low cost. However, impulsive control exhibits characteristics such as high amplitude and rapid variation, potentially presenting threats to the equipment. Additionally, multi-agent systems are constrained by input saturation due to limitations in physical controller structures and information-processing capabilities. These saturation constraints may be asymmetrical. Therefore, it is necessary to consider the saturation constraint when implementing impulsive control, as it can also mitigate the threats posed by the impulse to agents. This paper investigates the leader-following consensus for a class of discrete-time nonlinear multi-agent systems, proposing an asymmetric saturation impulsive control protocol to reduce the energy consumption and damage to the equipment. Regarding the handle of asymmetric saturation, an approach is proposed that eliminates the need for transformation from the asymmetric case to the symmetric case, which retains the saturation function and directly introduces the sector condition to deal with saturation nonlinearity. Furthermore, based on Lyapunov stability theory and matrix theory, sufficient conditions for leader-following consensus in discrete-time nonlinear multi-agent systems under asymmetric saturation impulsive control are established, and the admissible region of the system is estimated. Finally, numerical simulations are provided to verify the validity of the theoretical results.

Unveiling the intricate symphony of nonlinear pulsation mode interactions in high-amplitude δ Scuti stars

Information on the interiors of stars can be gleaned from their pulsations. Pulsation modes, which are determined by the internal state and structure of a star, are typically considered stable over short timescales. These independent pulsation modes have been used in asteroseismology to determine the interior structures of stars. Here, we report the discovery of peculiar pulsation mode interactions in the high-amplitude δ Scuti star KIC 6382916 (J19480292+4146558) that challenge the reliability of independent pulsation modes as indicators of a star’s internal structure. Through analysis of archival data, we find distinct variations in the amplitudes and frequencies of three independent pulsation modes and their harmonics and combinations over approximately 20 days. These variations can reach amplitudes of about 140% and frequency variations of about 12%. Correlation analysis of amplitude and frequency variations reveal additional pulsation mode interaction details and patterns. Notably, our findings regarding the phenomena related to the harmonics of independent pulsation modes challenge the traditional understanding in this area. These discoveries serve as cornerstones for future research and advance nonlinear asteroseismology.

Processing of VLF Amplitude Measurements: Deduction of a Quiet Time Seasonal Variation

AbstractThe amplitude of Very Low Frequency (VLF) transmissions propagating from transmitter to receiver between the Earth's surface and the ionospheric D‐region is a useful measurement to detect changes in the ionization within the D‐region ranging from 60 to 90 km. The VLF signal amplitude is disturbed by geomagnetic, solar, and atmospheric phenomena. To be able to identify perturbations in the VLF signal amplitude, we determine its averaged seasonal variation under quiet solar and geomagnetic conditions. Here it is challenging, that long time series of the VLF signal amplitude show significant jumps and outliers, which are caused artificially by technical adjustments/maintenance work. This paper presents a new approach for processing long VLF data time series over multiple years resulting in level 2 data. The new level 2 data enables the consideration of time series with artificial jumps since the jumps are leveled. Moreover, the outliers are removed by a robust and systematic 2‐step outlier filtering. The average seasonal and diurnal variation for different transmitter‐receiver combinations can be computed with the new level 2 data by applying a composite analysis. A subsequently applied polynomial fit obtains the quiet time lines for daytime and nighttime, representing the typical seasonal variation under undisturbed conditions of the VLF signal amplitude for each considered link. The developed quiet time lines may serve as a tool to determine perturbations of the VLF signal amplitude with solar and geomagnetic as well as atmospheric origin. Also, they allow comparison of the VLF signal amplitude variation for different transmitter‐receiver links.

Seis2Rock: A Data‐Driven Approach to Direct Petrophysical Inversion of Pre‐Stack Seismic Data

AbstractThe inversion of petrophysical parameters from seismic data represents a fundamental step in the process of characterizing the subsurface, with applications ranging from subsurface resource exploration to geothermal, carbon capture and storage, and hydrogen storage. We propose a novel, data‐driven approach, named Seis2Rock, that utilizes optimal basis functions learned from well‐log information to create a direct link between pre‐stack seismic data and so‐called band‐limited petrophysical reflectivities. Seis2Rock is composed of two stages: training and inference. During training, a set of optimal basis functions are identified by performing singular value decomposition on one or more synthetic amplitude variation with offset gathers created from measured or rock‐physics synthesized elastic well logs. In inference, seismic pre‐stack data are first projected into a set of band‐limited petrophysical reflectivities using the previously computed basis functions; this is followed by regularized post‐stack seismic inversion of the individual properties. In this work, we apply the Seis2Rock methodology to a synthetic data set based on the Smeaheia reservoir model and to the open Volve field data set. Our numerical results reveal the ability of the proposed method in recovering accurate porosity, shale content, and water saturation models. Finally, the proposed methodology is applied in the context of reservoir monitoring to invert time‐lapse, pre‐stack seismic data for water saturation changes.

Reducing motor evoked potential amplitude variability through normalization.

BackgroundTranscranial Magnetic Stimulation (TMS) is used for in vivo assessment of human motor cortical excitability, with application of TMS pulses over the motor cortex resulting in muscle responses that can be recorded with electromyography (EMG) as Motor Evoked Potentials (MEPs). These have been widely explored as potential biomarkers for neuropsychiatric disorders but methodological heterogeneity in acquisition, and inherent high variability, have led to constraints in reproducibility. Normalization, consisting in scaling the signal of interest to a known and repeatable measurement, reduces variability and is standard practice for between-subject comparisons of EMG. The effect of normalization on variability of MEP amplitude has not yet been explored and was assessed here using several methods.MethodsThree maximal voluntary isometric contractions (MVICs) and 40 MEPs were collected from the right hand in healthy volunteers, with a retest session conducted 4 to 8 weeks later. MEP amplitude was normalized using either external references (MVICs) or internal references (extreme MEPs). Iterative re-sampling of 30 normalized MEPs per subject was repeated 5,000 times to define, for each normalization method, distributions for between-subject coefficients of variation (CV) of the mean MEP amplitude. Intra-class correlation coefficients (ICC) were used to assess the impact of normalization on test–retest stability of MEP amplitude measurements.ResultsIn the absence of normalization, MEPs collected from the right hand of 47 healthy volunteers were within reported values regarding between-subject variability (95% confidence intervals for the CV: [1.0567,1.0577]) and showed good temporal stability (ICC = 0.77). Internal reference normalization substantially reduced between-subject variability, by values of up to 64%, while external reference normalization had no impact or increased between-subject variability. Normalization with the smallest references reduced test–retest stability, with use of the largest references resulting in slight reduction or improvement of ICCs. Internal reference normalization using the largest MEPs was found to be robust to several sensitivity analyses.ConclusionInternal, but not external, reference normalization reduces between-subject variability of MEP amplitude, and has a minimal impact on within-subject variability when conducted with the largest references. Additional research is necessary to further validate these normalization methods toward potential use of MEPs as biomarkers of neuropsychiatric disorders.

ЗМЕНШЕННЯ ВПЛИВУ ВІДХИЛЕНЬ ПАРАМЕТРІВ ГЕНЕРАТОРІВ У ПРЕЦИЗІЙНИХ КВАДРАТУРНИХ МОСТАХ

The article is devoted to solving the problem of attestation of electric capacity standards at industrial frequency. The expediency of using a quadrature bridge of alternating current to determine the parameters of standards of electric capacity at industrial frequency by comparison with the parameters of standards of active resistance was noted. The advantage of using a bridge imbalance indicator with high input impedance is shown, which consists in the possibility of reducing the influence of higher harmonics of the supply voltages. An analysis of the well-known method of reducing of measurement errors caused by the deviation of the generator parameters from the calculated ones was carried out. It is shown that the known method does not provide sufficient compensation for the influence of these errors when the deviations of the generator parameters increase, as well as when the deviations of the bridge from the balance state increase. An iterative algorithm for calculating the measured deviation of the impedance ratio of the compared standards from the nominal value is proposed. Mathematical expressions for calculating the measured quantity are given. Calculations of the components of the measurement error for different values of generator voltage deviations were carried out. Calculations were performed for two variants of generator voltage variation implementation: multiplicative voltage amplitude variation and additive voltage phase variation. The developed iterative correction method allows to reduce the specified errors to the required levels in a small number of iteration steps - in the vast majority of cases, two steps are enough. The application of the method allows obtaining high metrological characteristics with rather large deviations of the voltage ratio of bridge generators, which makes it possible to reduce hardware costs when implementing quadrature alternating current bridges for comparing capacitance and active resistance standards. References 15, figure 1, table 1.

Analysis of Pre-Seismic Ionospheric Disturbances Prior to 2020 Croatian Earthquakes

We study the sub-ionospheric VLF transmitter signals recorded by the Austrian Graz station in the year 2020. Those radio signals are known to propagate in the Earth-ionosphere waveguide between the ground and lower ionosphere. The Austrian Graz facility (geographic coordinates: 15.46°E, 47.03°N) can receive such sub-ionospheric transmitter signals, particularly those propagating above earthquake (EQ) regions in the southern part of Europe. We consider in this work the transmitter amplitude variations recorded a few weeks before the occurrence of two EQs in Croatia at a distance less than 200 km from Graz VLF facility. The selected EQs happened on 22 March 2020 and 29 December 2020, with magnitudes of Mw5.4 and Mw6.4, respectively, epicenters localized close to Zagreb (16.02°E, 45.87°N; 16.21°E, 45.42°N), and with focuses of depth smaller than 10 km. In our study we emphasize the anomaly fluctuations before/after the sunrise times, sunset times, and the cross-correlation of transmitter signals. We attempt to evaluate and to estimate the latitudinal and the longitudinal expansions of the ionospheric disturbances related to the seismic preparation areas.

Inkjet printing P(VDF-TrFE-CTFE) actuators for large bending strains

Additive manufacturing of sensors and actuators together with structural materials and electronics will make it possible to fabricate innovative system designs that are overly laborious to realise with conventional methods. While printing of the structural materials and electronics are advancing fast, the additive manufacturing methods for actuators and sensors are in an earlier stage of development. This research will develop a manufacturing process for entirely inkjet printed electroactive polymer (EAP) actuators basing on the P(VDF-TrFE-CTFE) relaxor ferroelectric polymer and Ag electrodes. The process consists of (1) printing an Ag layer on a polyethylene terephthalate (PET) substrate for the bottom electrode; (2) formulating, printing and annealing a P(VDF-TrFE-CTFE) ink for the EAP layer; and (3) printing and sintering an Ag layer on the plasma-treated EAP surface to form the top electrode. Two actuator variations, addressed as DMC and KM512, are manufactured and characterised by their: (a) response to quasi-static excitation (1 Hz sine wave); (b) hysteresis behaviour; (c) actuation amplitude variation with the input voltage; and (d) frequency response. The 18 mm long actuators showed 91.4 µm (DMC, 200 Vpp ) and 224 µm (KM512, 275 Vpp ) deflections in response to 1 Hz sinusoidal excitation, and 1.10 mm (DMC, 113 Hz, 200 Vpp ) and 1.72 mm (KM512, 114 Hz, 200 Vpp ) deflections in resonant operation. It is 55% more quasi-static strain and 470% more resonant strain than in earlier fully inkjet-printed polyvinylidene fluoride (PVDF) -based actuators, and comparable to similar partially inkjet-printed actuators. This is the first time that inkjet printing of all three layers of a relaxor ferroelectric actuator have been achieved.

Investigating the occurrence of flow instabilities in coastal unconfined aquifers using sand tank experiments

Subterranean estuaries form the land-sea transition zone in coastal aquifers and are relevant for coastal freshwater management and coastal ecology. Tidal fluctuations typically lead to the formation of upper saline plumes, where denser saltwater circulates on top of the discharging, less dense freshwater. Extensive numerical simulations and only a few experimental trials previously demonstrated that these saline plumes may become unstable and exhibit salt fingering flow. This work used laboratory sand tank experiments to study the formation and evolution of tide induced flow instabilities in homogenous, unconfined coastal aquifers in a systematic manner, addressing the combined effects of relevant parameters such as sediment type, beach slope, fresh groundwater inflow, tidal amplitude, and tidal period variation. Some of these parameters have never been targeted in laboratory-based studies before and a comparable systematic and comprehensive approach has so far not been conducted. The resulting flow patterns were studied visually through the application of a colour tracer to the saltwater. The results show that the upper saline plume may be stable, unstable, or transitional, whereby the beach slope predominantly defines its state. When salt fingers form, they amplify the mixing zone between ground- and saltwater and force the freshwater to discharge at multiple locations along the beach. The processes were best visible in the coarsest sediment (1.02 × 10-2 m s−1). The finer grained the sediment was, the smaller the upper saline plume that formed. The present study further reveals the possibility of three-dimensional fingering flow, even though the physical model was intended to represent a two-dimensional cross-section. The application of a previously proposed non-dimensional stability diagram yielded reasonably accurate predictions of stability behaviour in coastal unconfined aquifers under laboratory settings. This further supports the plausibility of flow instabilities in subterranean estuaries within specific ranges of influencing hydrogeological factors.

An auditory perspective on phonological development in infancy.

The auditory system encodes the phonetic features of languages by processing spectro-temporal modulations in speech, which can be described at two time scales: relatively slow amplitude variations over time (AM, further distinguished into the slowest <8-16 Hz and faster components 16-500 Hz), and frequency modulations (FM, oscillating at higher rates about 600-10 kHz). While adults require only the slowest AM cues to identify and discriminate speech sounds, infants have been shown to also require faster AM cues (>8-16 Hz) for similar tasks. Using an observer-based psychophysical method, this study measured the ability of typical-hearing 6-month-olds, 10-month-olds, and adults to detect a change in the vowel or consonant features of consonant-vowel syllables when temporal modulations are selectively degraded. Two acoustically degraded conditions were designed, replacing FM cues with pure tones in 32 frequency bands, and then extracting AM cues in each frequency band with two different low-pass cut- off frequencies: (1) half the bandwidth (Fast AM condition), (2) <8 Hz (Slow AM condition). In the Fast AM condition, results show that with reduced FM cues, 85% of 6-month-olds, 72.5% of 10-month-olds, and 100% of adults successfully categorize phonemes. Among participants who passed the Fast AM condition, 67% of 6-month-olds, 75% of 10-month-olds, and 95% of adults passed the Slow AM condition. Furthermore, across the three age groups, the proportion of participants able to detect phonetic category change did not differ between the vowel and consonant conditions. However, age-related differences were observed for vowel categorization: while the 6- and 10-month-old groups did not differ from one another, they both independently differed from adults. Moreover, for consonant categorization, 10-month-olds were more impacted by acoustic temporal degradation compared to 6-month-olds, and showed a greater decline in detection success rates between the Fast AM and Slow AM conditions. The degradation of FM and faster AM cues (>8 Hz) appears to strongly affect consonant processing at 10 months of age. These findings suggest that between 6 and 10 months, infants show different developmental trajectories in the perceptual weight of speech temporal acoustic cues for vowel and consonant processing, possibly linked to phonological attunement.

Song amplitude variation in Masked Gnatcatcher (Polioptila dumicola) as response to traffic noise

Song amplitude variation in Masked Gnatcatcher (Polioptila dumicola) as response to traffic noise

Study on the Frequency Variation and Amplitude Variation Characteristics of HTS Bulks

Study on the Frequency Variation and Amplitude Variation Characteristics of HTS Bulks

Oscillating shocks in the transonic viscous, variable Γ accretion flows around black holes

ABSTRACT We investigate the time evolution of the transonic-viscous accretion flow around a non-rotating black hole. The input parameters used for the simulation are obtained from semi-analytical solutions. This code is based on the total variation diminishing routine and correctly handles the angular momentum transport due to viscosity. The thermodynamic properties of the flow are described by a variable adiabatic index equation of state. We regenerate the inviscid and viscous steady-state solutions, including shocks, using the simulation code and compare them with the semi-analytical solutions. The angular momentum piles up across a shock due to shock-jump conditions and viscous transport of angular momentum. This will push the shock-front outward and can result in shock oscillation or a complete destabilization of shock. We study how shocks behave in the presence of viscosity. As the viscosity parameter (α) crosses a critical value, the previously steady shock becomes time-dependent, eventually leading to oscillations. The value of this critical viscosity depends on the injection angular momentum (λou) and the specific energy (ϵ). We estimated the posteriori bremsstrahlung and synchrotron cooling, and the net radiative output also oscillates with the frequency of the shock. We also study the variation of frequency, amplitude, and mean position of oscillation with α. Considering a black hole with a mass of 10 M⊙, we observed that the power spectrum exhibits a prominent peak at the fundamental frequency of a few to about tens of Hz, accompanied by multiple harmonics. This characteristic is frequently observed in numerous accreting black hole candidates.

Amplitude-based multiscale reverse dispersion entropy: a novel approach to bearing fault diagnosis

The multiscale fluctuation dispersion entropy algorithm (MFDE) is widely used to extract the characteristics from a variety of complex nonlinear signals, including bearing signals, due to its excellent performance to quantify the uncertainties of complex nonlinear systems. However, limited by the classification number and coarse-graining process, the periodic impulses generated by the defect point cannot be effectively detected by MFDE, restraining the characterization abilities of entropy features and resulting in undesirable diagnosis results for bearing faults. To overcome the disadvantages of MFDE, an amplitude-based multiscale dispersion entropy (AMDE) is proposed in this paper. The AMDE utilizes the phase scale factor to calculate multiple groups of amplitude difference series that contain different amplitude information. As such, the amplitude compression caused by the large-scale factor in traditional coarse-graining process is avoided, and the calculated entropy features not only characterize the irregularity of the whole signal but also reflect the changes of the impulse components. Afterwards, the perception range and the sensibility of AMDE are expanded and enhanced for amplitude variation, and the coarse-graining process and Gaussian reference are used to obtain multi-dimensional reversed entropy features. Combining those steps, the amplitude-based multiscale reverse dispersion entropy (AMRDE) algorithm is proposed. Finally, the capability of the proposed algorithm to track the amplitude variation and fluctuation is successfully demonstrated by analyzing noisy signals and amplitude-modulated signal. Meanwhile, the features extracted from bearing signals demonstrated that it is effective to use AMRDE to represent the health conditions of rolling bearing. Therefore, the entropy metric calculated by AMRDE can be the useful indicator in the fields of mechanical equipment fault diagnosis, structural health monitoring, and so on.

Enhancing Reliability and Safety in Industrial Applications: Assessing the Applicability of Energy b-Value to Composites.

This study investigates the fracture behavior of glass fiber-reinforced plastic (GFRP) under various loading conditions using acoustic emission (AE) testing. Using fracture tests and time series analysis of AE signals, parameters such as b-value, improved b-value (Ib-value), and energy b-value (be-value) were examined to understand crack initiation, growth, and structural failure. The stress-strain curve revealed distinct responses during tensile and step loading, and time series analysis highlighted variations in amplitude, AE energy, and Kaiser and Felicity effects. Under tensile loading, the Ib-value exhibited a linear decrease, while step loading introduced complexities, including the Felicity effect. The be-value, incorporating energy considerations, fluctuated, providing insights into micro-cracks and macro-cracks. Statistical analysis demonstrated a consistent decrease in the be-value, emphasizing its potential for long-term monitoring. This study provides a comprehensive technique for assessing composite material fracture behavior, enhancing understanding for critical applications in hydrogen storage vessels and pressure pipes as well as advancing reliability and safety in industrial sectors.

A Case Study of Wave–Wave Interaction South to Dongsha Island in the South China Sea

In a SAR image acquired by the ERS-2 satellite, crossed “X-shape” internal solitary waves (ISWs) south to Dongsha Island are found to be a wave–wave interaction composed of five solitons: two head waves, two tail waves, and the overlapped part. To explain this remote sensing phenomenon, based on a high-resolution three-dimensional MIT general circulation model (MITgcm) using realistic topography and tidal forcing, the “X-shape” internal waves are reproduced at the same location. The development processes of the waves indicate that the “X-shape” ISWs are two waves diffracted from one internal wave southeast to Dongsha Island. During the propagation, the amplitude of their overlapped part of the “X-shape” ISWs becomes significantly larger than the sum of the amplitudes of both head waves, which proves that nonlinear wave–wave interaction has occurred. Based on wave–wave interaction theory, the theoretical maximum value of the amplitude of the overlapped part at the initial moment is calculated as 14.12 m, which is in good agreement with the model results of 14 m. Meanwhile, the variation of the theoretical amplitude of the overlapped part is basically consistent with that of the modeled one, confirming the occurrence of the wave–wave interaction. Besides, when the waves propagate over varying water depths, the type of the wave–wave interaction can change rather than being fixed from the start.

Imaging CO2$_2$ reinjection into basalts at the CarbFix2 reinjection reservoir (Hellisheiði, Iceland) with body‐wave seismic interferometry

AbstractAs part of the Synergetic Utilisation of CO storage Coupled with geothermal EnErgy Deployment project, investigating CO reinjection with different seismic methods, both passive and active seismic surveys have been conducted at the geothermal power plant at Hellisheiði, Iceland. During the 2021 survey, two geophone lines recorded noise for a week. We process the passive‐source data with seismic interferometry to image the subsurface structure around the CarbFix2 reinjection reservoir. To improve image quality, we perform an illumination analysis to select only noise panels dominated by body‐wave energy. The results show that most noise panels are dominated by air‐wave energy arriving from the direction of the power plant. We use panels with a near‐vertical incidence to create a zero‐offset image and a larger selection of body‐wave‐dominated panels to create virtual common‐shot gathers. We process the gathers with a simple reflection seismology processing workflow to obtain stacked images. The zero‐offset images show a relatively lower signal‐to‐noise ratio and only horizontal reflectors. The stacked images show slightly dipping reflectors and possibly lateral amplitude variations around the expected injection region. This could indicate a region of interest for future research into the reinjection reservoir.

Astronomically forced climate evolution in the North China Plain since the Late Pliocene

Under the background of global warming, the impact of climate change in the densely populated North China Plain is becoming increasingly prominent. Cenozoic deposits in this area can provide insights into the evolution of the monsoon and the associated climate changes. This study focused on the SYZK01 borehole in the Beijing Plain area, primarily consisting of fluvial-lacustrine sediments. By employing detailed magnetic stratigraphy and multi-dating methods, we determined the age of the deposits to be approximately 0–3.3 Ma. Grain size and spontaneous potential logging were selected as proxies for paleoclimate. Our results reveal a strong coupling between the 0.063–0.25 mm grain size component, spontaneous potential logging and deep-sea δ18O in the overall sediment, confirming that glacial-interglacial cycles are the most significant form of climate change affecting the sedimentation process in the North China Plain. We observed a dominant 100 kyr eccentricity cycle within the 0.063–0.25 mm grain size component through the spectral analysis of the time-domain series of grain size indicators. In comparison, the 41 kyr cycle exhibited significant influence only from 1.1 to 0.6 million years ago. Notably, our study highlights that the SYZK01 borehole records the “late Pliocene-early Pleistocene 100 kyr problem,” characterized by phase and amplitude variations that do not align with Earth's orbital eccentricity.

A Rydberg atom-based amplitude-modulated receiver using the dual-tone microwave field

We propose a Rydberg atom-based receiver for amplitude-modulation (AM) reception utilizing a dual-tone microwave field. The pseudo-random binary sequence (PRBS) signal is encoded in the basic microwave field (B-MW) at the frequency of 14.23 GHz. The signal can be decoded by the atomic receiver itself but more obvious with the introduction of an auxiliary microwave (A-MW) field. The receiver’s amplitude variations corresponding to microwave field are simulated by solving density matrices to give this mechanism theoretical support. An appropriate AM frequency is obtained by optimizing the signal-to-noise ratio, guaranteeing both large data transfer capacity (DTC) and high fidelity of the receiver. The power of two MW fields, along with the B-MW field frequency, is studied to acquire larger DTC and wider operating bandwidth. Finally, the readout of PRBS signals is performed by both the proposed and conventional mechanisms, and the comparison proves the obvious increment of DTC with the proposed scheme. This proof-of-principle demonstration exhibits the potential of the dual-tone scheme and offers a novel pathway for Rydberg atom-based microwave communication, which is beneficial for long-distance communication and weak signal perception outside the laboratory.

Design and Analysis of a Novel Bionic Tensegrity Robotic Fish with a Continuum Body.

Biological fish exhibit remarkable adaptability and exceptional swimming performance through their powerful and flexible bodies. Therefore, designing a continuum flexible body is significantly important for the development of a robotic fish. However, it is still challenging to replicate these functions of a biological body due to the limitations of actuation and material. In this paper, based on a tensegrity structure, we propose a bionic design scheme for a continuum robotic fish body with a property of stiffness variation. Its detailed structures and actuation principles are also presented. A mathematical model was established to analyze the bending characteristics of the tensegrity structure, which demonstrates the feasibility of mimicking the fish-like oscillation propulsion. Additionally, the stiffness variation mechanism is also exhibited experimentally to validate the effectiveness of the designed tensegrity fish body. Finally, a novel bionic robotic fish design scheme is proposed, integrating an electronic module-equipped fish head, a tensegrity body, and a flexible tail with a caudal fin. Subsequently, a prototype was developed. Extensive experiments were conducted to explore how control parameters and stiffness variation influence swimming velocity and turning performance. The obtained results reveal that the oscillation amplitude, frequency, and stiffness variation of the tensegrity robotic fish play crucial roles in swimming motions. With the stiffness variation, the developed tensegrity robotic fish achieves a maximum swimming velocity of 295 mm/s (0.84 body length per second, BL/s). Moreover, the bionic tensegrity robotic fish also performs a steering motion with a minimum turning radius of 230 mm (0.68 BL) and an angular velocity of 46.6°/s. The conducted studies will shed light on the novel design of a continuum robotic fish equipped with stiffness variation mechanisms.