Publications

Book Chapters

Fish, F.E., Haj-Hariri, H., Smits, A.J., Bart-Smith, H., and Iwasaki, T., "Biomimetic Swimmer Inspired by the Manta Ray, Biomimetics: Nature Based Innovation," Y. Bar-Cohen, ed.,  CRC Press, Boca Raton, FL, 2011, pp 495-523 (2011).

2011
Z. Chen, T. Um, J. Zhu, and H. Bart-Smith, “Bio-inspired Robotic Cownose Ray Propelled by Electroactive Polymer Pectoral Fin”, Proc. of the ASME 2011 International Mechanical Engineering Congress & Exposition, pp 64174:1-8, 2011. pdf

Fish, F.E. and Kocak, D. M., "Biomimetics and Marine Technology: An Introduction," Marine Technology Society Journal, Volume 45, Number 4, pp. 8-13 (July/August 2011).

Moored, K. W.; Fish, F. E.; Kemp, T. H. and Bart-Smith, H., "Batoid Fishes: Inspiration for the Next Generation of Underwater Robots," Marine Technology Society Journal, Volume 45, Number 4, pp. 99-109 (July/August 2011).

Moored, K. W.; Dewey, P. A.; Leftwich, M. C., Bart-Smith, H. and Smits, A. J., "Bioinspired Propulsion Mechanisms Based on Manta Ray Locomotion," Marine Technology Society Journal, Volume 45, Number 4, pp. 110-118 (July/August 2011).

Fish, F. E.; Weber, P. W.; Murray, M. M. and Howle, L. E., " Marine Applications of the Biomimetic Humpback Whale Flipper,"Marine Technology Society Journal, Volume 45, Number 4, pp. 198-207 (July/August 2011).

Elizabeth Pennisi, "Manta Machines," SCIENCE, 332, 1028-1029 (2011).

Russo, R.S., Blemker, S.S., Fish, F., Moored, K, and Bart-Smith, H., "Form-function Relationship Between Ray Skeletal Architecture and Ray Locomotion," 51, E119-E119 (2011). 

Nichols, R.H., Fish, F.E., Boettger, S.A., Bart-Smith, H., "Comparative Gross and Sensory Morphology of Batoid Tails," 51, E100-E100 (2011) 
Moored, K.W., Quinn, D.B., Fish, F.E., Haj-Hariri, H., and Bart-Smith, H., "Analytical Model to Describe Pectoral Fin Kinematics of the Manta Birostris: Implications for Bio-inspired Design," 51, E51-E51 (2011).

Kemp, T., Bart-Smith, H. and Moored, K., "Understanding Batoid Propulsion Through Artificial Structures," 51, E68-E68 (2011). 

Hoffman, J.L., Fish, F.E., and Bart-Smith, H., "Examining Behavioral Responses For Stability of Batoids in Response to Waves," 51, E58-E58 (2011). 

Fish F.E, Nichols, R.H., Dudas, M.A., Moored, K.W., Bart-Smith, H., "Kinematics of Swimming in the Manta Ray (Manta birostris): 3D Analysis of Open Water Maneuverability," 51, E42-E42 (2011).
 
Chen, Z., Um, T.I., and Bart-Smith, H., "A Novel Fabrication of Ionic Polymer-metal Composite Membrane Actuator Capable of 3-dimensional Kinematic Motions," SENSORS AND ACTUATORS A-PHYSICAL 168, 131-139 (2011). 

Bliss, T.K., Iwasaki, T, and Bart-Smith, H., "Central Pattern Generator Control of a Tensegrity Swimmer." AUVSI (2011).

Bliss, T.K., Werly, J.M., Iwasaki, T, and Bart-Smith, H., "Experimental Validation of Robust Resonance Entrainment for CPG-Controlled Tensegrity Structures." IEEE Transactions on Control Systems Technology (2011)

Bliss, T.K., Iwasaki, T, and Bart-Smith, H., "Resonance Entrainment of Tensegrity Structures via CPG Control." Automatica (2011)

Um, T.I., Chen, Z, and Bart-Smith, "A Novel Electroactive Polymer Depth Control Device for Bio-inspired Underwater Vehicles," IEEE Robotics and Automation , (2011) in press 

Moored K.W., Kemp T.H., Houle, N.E., and Bart-Smith, H. "Analytical Predictions, Optimization, and Design of a Tensegrity-based Artificial Pectoral Fin," International Journal of Solids and Structures doi:10.1016/j.ijsolstr.2011.07.008 (2011). pdf

Parson, J., Fish, F. E., and Nicastro, A. J., "Turning performance in batoid rays: Limitations of a rigid body," Journal of Experimental Marine Biology and Ecology, doi:10.1016/j.jembe.2011.03.010 (2011). pdf

Futakata, Y. and Iwasaki, T., “Entrainment to Natural Oscillations via Uncoupled Central Pattern Generators,” IEEE Transactions on Automatic Control, vol. 56, no.4, pp. 1075 - 1089.  2011. pdf

Chen, J., Tian, J.H., Iwasaki, T., , and W.O. Friesen, "Mechanisms underlying rhythmic locomotion: Dynamics of muscle activation," Journal of Experimental Biology, no. 214, pp. 1955-1964 (2011). pdf

Chen, J., Friesen, W.O., and Iwasaki, T., “Mechanisms underlying rhythmic locomotion: Body-fluid interaction in undulatory swimming,” Journal of Experimental Biology, vol.214, no.4, pp.561-574, 2011. pdf

Blair, J. and Iwasaki, T., “Optimal gaits for mechanical rectifier systems,” IEEE Transactions on Automatic Control, vol.56, no.1, pp.59-71, 2011. pdf

Chen, Z., Um, T.I., Bart-Smith, H., "A novel fabrication of ionic polymer-metal composite membrane actuator capable of 3-dimensional kinematic motions," Sensors and Actuators A, no.168, pp. 131-139 pdf

Green, M.A., Rowley, C.W. and A.J. Smits, “The unsteady three-dimensional wake produced by a trapezoidal pitching panel." In Press Journal of Fluid Mechanics.

Moored, K. W., Dewey, P. A., Leftwich, M. C., Bart-Smith, H. and Smits, A. J., “Bio-inspired propulsion mechanisms based on lamprey and manta ray locomotion.” Under review Journal of Marine Technology Science.

Moored, K.W., Kemp, T.H., Houle, N.E., and Bart-Smith, H., "Analytical Predictions, Optimization and Design of a Tensegrity-Based Artificial Pectoral Fin," International Journal of Solids and Structures , (2011) in revision 

Moored, K.W., Fish, F., and Bart-Smith, H., "Manta Ray: the Ideal Platform for a Bio-inspired Underwater Robot," Marine Technology Society Journal , (2011) in revision 

Moored, K.W., Dewey, P.A., Leftwich, M.C., Bart-Smith, H., and Smits, A.J., "Bio-inspired Propulsion Mechanisms Based on Lamprey and Manta Ray Locomotion," Marine Technology Society Journal , (2011) in revision 

Dewey, P. A., Carriou, A. and Smits, A. J. "On the relationship between efficiency and wake structure of a batoid-inspired oscillating fin." Under review Journal of Fluid Mechanics. pdf

Buchholz, J. H. J., Green, M. A. and Smits, A. J. “Scaling the circulation shed by a pitching panel.” Under review Journal of Fluid Mechanics.

Z. Chen, T. Um, and H. Bart-Smith, “Modeling and Control of Artificial Bladder Enabled by Ionic Polymer-Metal Composite”, submitted to the 2012 American Control Conference, Montreal, Canada, 2012

2010
Fish, F. E., "Biomimetics: Determining engineering opportunities from nature," Proceedings SPIE Conference, SPIE Vol. 7401, 740109 (Aug. 21, 2009). pdf

Fish, F. E., "Swimming strategies for energy economy." Pp. 90-122. In: Fish Swimming: An Etho-ecological Perspective, (P. Domenici, and B. G. Kapoor, eds.). Science Publishers, Enfield, NH (2010). pdf

Green, M. A., Rowley, C. W. and Smits, A. J. “Using hyperbolic Lagrangian Coherent Structures to investigate vortices in bio-inspired fluid flows.” Chaos, Vol. 20 (1), 2010. pdf

2009
Moored, K.W., and Bart-Smith, H., "Investigation of Clustered Actuation in Tensegrity Structures," International Journal of Solids and Structures, Volume 46, Issue 17, 15 August 2009, Pages 3272-3281. pdf

Kant, R. and Humphrey, J.A.C., "Response of cricket and spider motion-sensing hairs to airflow pulsations," Journal of the Royal Society Interface, doi:10.1098/rsif.2008.0523, 2009. pdf

2008
Moored, K.W., Smith, W., Hester, J.M., Chang, W., and Bart-Smith, H., "Investigating the Thrust Production of a Myliobatoid-Inspired Oscillating Wing," Advances in Science and Technology, Vol. 58, 2008, Pages 25-30. pdf

Bliss, T.K., Iwasaki, T., and Bart-Smith, H., "CPG Control of a Tensegrity Morphing Structure For Biomimetic Applications," Advances in Science and Technology, Vol. 58, 2008, Pages 137-142. pdf

Refereed Conference Publications

2011
Blair, J.T. and Iwasaki, T., “Modeling of flapping-wing rectifier systems and optimal gait analysis,” IFAC World Congress, 2011. pdf

Um, T., Chen, Z., and Bart-Smith, H.,"A novel electroactive polymer depth control device for bio-inspired underwater vehicles", Proc. of  the IEEE International Conference on Robotics and Automation, Shanghai, pp 172-177, 2011 pdf

Chen, Z., Um, T., and Bart-Smith, H., "Ionic Polymer-Metal Composite Enabled Robotic Manta Ray", Proc. of SPIE Conference on Electroactive Polymer Actuators and Devices (EPAD), San Diego, Vol. 7976, pp 796737, 2011 pdf

Chen, Z., Um, T., and Bart-Smith, H.,“Bio-inspired Robotic Cownose Ray Propelled by Electroactive Polymer Pectoral Fin”, submitted to the ASME 2011 International Mechanical Engineering Congress & Exposition, Denver, CO, 2011

2010
Chen, Z., Zhu, L., and Iwasaki, T., “Autonomous locomotion of multi-link mechanical systems via natural oscillation pattern,” IEEE Conference on Decision and Control, 2010. pdf

Y. Futakata and T. Iwasaki, “Natural entrainment of mechanical systems with tensegrity structure,” SICE Annual Conference, 2010. pdf

Zhu, L., Chen, Z. and Iwasaki, T., “Synthesis of controllers for exact entrainment to natural oscillation,” World Congress on Intelligent Control and Automation, 2010. pdf

Chen, Z. and Iwasaki, T., “Analysis of weakly coupled neuronal oscillators and its applications to leech swimming,” World Congress on Intelligent Control and Automation, 2010. pdf

Futakata, Y. and Iwasaki, T., “Natural entrainment of collocated mechanical systems via decentralized multi-agent feedback,” American Control Conference, 2010. pdf

2009
Chen, Z. and Iwasaki, T., “Robust entrainment to natural oscillations of asymmetric systems arising from animal locomotion,” IEEE Conference on Decision and Control, 2009. pdf

Forch, R. and Iwasaki, T., “Control of underactuated undulatory locomotor exploiting anti-resonance: A case study,” American Control Conference, 2009. pdf

J. Blair and T. Iwasaki, “A further result on the optimal harmonic gait for locomotion of mechanical rectifier systems,” American Control Conference, 2009. pdf

Presentations

2012
Fish, F. E., Gabler, M. K., Beneski, J. T., Mulvany, S. and Moored, K. W. Hydrodynamic function of the cephalic lobes of the cownose ray for bottom swimming stabilization. (Presented at the Annual Meeting of the Society for Integrative and Comparative Biology, Charleston, SC, January 3-8, 2012.

Fontanella, J. E., Fish, F. E., Barchi, E. I., Campbell-Malone, R., Nichols, R. H. and Beneski, J. T. Batoid out of hell: Hydrodynamic geometry of rays related to swimming mode. Presented at the Annual Meeting of the Society for Integrative and Comparative Biology, Charleston, SC, January 3-8, 2012.

2011
Dewey, P. A. and Smits, A. J. “Hydrodynamics of manta ray pectoral fin motion,” 7th International Symposium on Turbulence and Shear Flow Phenomena on July 28-31, 2011, Ottawa, Canada.

Nichols, R. H., Fish, F. E., Boettger, S. A. and Bart-Smith, H.," Comparative gross and sensory morphology of batoid tails," Annual Meeting of the Society for Integrative and Comparative Biology, Salt Lake City, UT, 1/3/2011.

Pederzani, J.-N., Moored, K. W., Fish, F. E. and Haj-Hariri, H., "A numerical investigation of the hydrodynamic signature of batoid swimming," Annual Meeting of the Society for Integrative and Comparative Biology, Salt Lake City, UT, 1/3/2011.

Blair, J.T. and Iwasaki, T., “The role of wing geometry on batoid gait selection,” Integrative and Comparative Biology, vol.51, pp.E167-E167, 2011. pdf

2010
Fish, F. E., "Swimming kinematics of manta rays: Oscillatory winged propulsion by a large pelagic batoid," Annual Meeting of the Society for Integrative and Comparative Biology, 1/3-8/2010.

Fish, F. E., "Biomimetic applications of cetacean natural technologies for efficient propulsion and energy generation," Sigma Xi, Saint Joseph University chapter membership induction ceremony, 4/27/2010.

Fish, F. E., "Winged aquatic locomotion for high energetic efficiency through vortex control," Natural Locomotion in Fluids and on Surfaces: Swimming, Flying, and Sliding workshop at the Institute for Mathematics and its Application (IMA), University of Minnesota, 6/1-5/2010.

Fish, F. E., "Mechanics of flapping in natural oscillatory propulsive systems: aquatic locomotion by manta rays and dolphins with biomimetic application," Symposium on the Mechanics and Locomotion in Fluids, US National Congress on Theoretical and Applied Mechanics, Penn State University, University Park, PA, 6/27/ 2010 – 7/2/2010.

Fish, F. E., "Passive and active vortex control from designs inspired by marine animals, DARPA's Defense Sciences Office," Examining the existing technologies and potential future improvements in the area of undersea flapping/flexible foil propulsion based on inspiration from biological systems, Arlington, VA, 11/7/2010.

Chen, J., Iwasaki, T., and Friesen, W.O.,  “Study of propulsion mechanisms in leech anguilliform swimming," American Society for Biomechanics Annual Meeting, 2010.

Chen, J., Friesen, W.O. and Iwasaki, T., “Study of motor control of leech anguilliform swimming,” American Society for Biomechanics Annual Meeting, 2010.

Dewey, P., Carriou, A., Smits, A., “Vortical structures in the wake of an undulating fin,” Paper QT.00004, 63rd Meeting of the American Physical Society Division of Fluid Dynamics, Long Beach, CA, November 21-23, 2010.

2009
Parson, J., Fish, F. E. and Nicastro, A. J., "Turning performance in batoid rays: Limitations of a rigid body," Annual Meeting of the Society for Integrative and Comparative Biology, Boston, MA, 1/3-7/2009.

Green, M. A., Rowley, C. W. and Smits, A. J.,  “Three-dimensional wake of a biologically inspired propulsor,” Paper 2009-4196 39th AIAA Fluid Dynamics Conference, San Antonio, Texas, 22 - 25 Jun 2009. pdf

Green, M. A., Rowley, C. W. and Smits, A. J.,“Three-dimensional wake of a biologically-inspired propulsor,” Paper EV-00003, 62nd Meeting of the American Physical Society Division of Fluid Dynamics, Minneapolis, MN, November 22-24, 2009.

Quinn, D., Rein-Weston, D., Dewey, P., Green, M., and Smits, A., “Propulsive performance of oscillating batoid-inspired fins,” Paper BV-00007, 62nd Meeting of the American Physical Society Division of Fluid Dynamics, Minneapolis, MN, November 22-24, 2009.

Green, M. A., Rowley, C. W. and Smits, A. J.,  “Three-dimensional wake of a biologically inspired propulsor,” Paper 2009-4196 39th AIAA Fluid Dynamics Conference, San Antonio, Texas, 22 - 25 Jun 2009.

Other
Featured in West Chester University Magazine, “Mimicking Nature’s Designs”, Winter/Spring 2011, p. 15. pdf

Featured in ScienceMag.org, Manta Machines, May 2011, pp. 1028-1029.