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arxiv: 2604.19991 · v1 · submitted 2026-04-21 · ⚛️ physics.flu-dyn

Maneuvering of an underwater vehicle using bio-inspired pectoral fins

Pedro C. Ormonde , Xiaowei He , Kenneth Breuer This is my paper

Pith reviewed 2026-05-10 01:04 UTC · model grok-4.3

classification ⚛️ physics.flu-dyn
keywords underwater vehiclebio-inspired pectoral finsflapping finslateral maneuveringStrouhal numberforce characterizationcyber-physical systemfish-like propulsion
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0 comments X

The pith

Bio-inspired pectoral fins on an underwater vehicle generate controllable lateral forces for maneuvering through synchronized flapping.

A machine-rendered reading of the paper's core claim, the machinery that carries it, and where it could break.

The paper establishes that a pair of flapping fins modeled after fish pectoral fins can serve as control surfaces on an underwater vehicle to produce the forces needed for sideways movement. Force tests across flapping frequencies show streamwise thrust depends mostly on the fin's frontal area while sideways forces also scale with Strouhal number, and that symmetric flapping cancels lateral forces whereas anti-symmetric flapping lowers streamwise peaks. A full vehicle demonstration confirms the fins can shift the vehicle laterally when operated together. This matters for underwater systems because it offers a way to achieve hovering or precise positioning without relying solely on propellers or rudders.

Core claim

The Cyber-physical underwater vehicle equipped with bio-inspired flapping fins on its sides demonstrates that the pair of fins can successfully maneuver the vehicle in the lateral direction, with different flapping synchronizations allowing suppression of lateral forces or reduction in streamwise force peaks.

What carries the argument

The pair of bio-inspired flapping pectoral fins operated in symmetric or anti-symmetric modes to modulate streamwise and lateral forces on the vehicle body.

If this is right

  • Symmetric flapping can be used to suppress unwanted lateral forces during forward travel.
  • Anti-symmetric flapping reduces the largest streamwise force spikes for steadier propulsion.
  • Lateral vehicle displacement occurs when the fins are driven to produce net cross-stream force.
  • The force trends with reduced frequency and Strouhal number allow prediction of the resulting vehicle motion.
  • The same fins support hovering and station-keeping tasks by balancing the generated forces.

Where Pith is reading between the lines

These are editorial extensions of the paper, not claims the author makes directly.

  • The design could lower the energy cost of fine position adjustments compared with continuous propeller use.
  • Full six-degree-of-freedom control would require combining these side fins with additional surfaces at other locations on the body.
  • Scaling the vehicle larger would need separate checks to confirm that fin-body interactions stay small enough to ignore.
  • Autonomous underwater vehicles that must hold position near structures could adopt this approach for low-speed agility.

Load-bearing premise

The force measurements taken from the fins in isolation apply directly when the fins are mounted on the vehicle and operated together without major changes from body-induced flow interference.

What would settle it

A test run in which the vehicle shows no measurable net lateral displacement despite anti-symmetric fin flapping at the Strouhal numbers predicted to produce sideways force would falsify the maneuvering claim.

Figures

Figures reproduced from arXiv: 2604.19991 by Kenneth Breuer, Pedro C. Ormonde, Xiaowei He.

Figure 1
Figure 1. Figure 1: Experimental setup. (a) Schematics of the experimental apparatus. (b) Cyber [PITH_FULL_IMAGE:figures/full_fig_p004_1.png] view at source ↗
Figure 2
Figure 2. Figure 2: Phase-averaged, streamwise forces produced by (a) a single fin, and (b) and [PITH_FULL_IMAGE:figures/full_fig_p006_2.png] view at source ↗
Figure 3
Figure 3. Figure 3: Phase-averaged, cross-stream forces produced by (a) a single fin, and (b) and [PITH_FULL_IMAGE:figures/full_fig_p007_3.png] view at source ↗
Figure 4
Figure 4. Figure 4: Phase-averaged ˆz−moment produced by (a) a single fin, and (b) and (c) two fins flapping with phase synchronization ϕ = π and ϕ = 0, respectively. Amplitudes β = [30◦ , 40◦ , 60◦ ] and frequency f = 0.75 Hz and k = 0.15. The shaded region indicates the standard error interval (SE) for a total of three measurements. The gray dashed line indicates the fin angle over one cycle θ/β as indicated by the vertical… view at source ↗
Figure 5
Figure 5. Figure 5: Time-average forces produced by a single flapping fin for a stationary vehicle [PITH_FULL_IMAGE:figures/full_fig_p009_5.png] view at source ↗
Figure 6
Figure 6. Figure 6: Average forces produced by a quasi-steady fin during an upstroke motion (green [PITH_FULL_IMAGE:figures/full_fig_p011_6.png] view at source ↗
Figure 7
Figure 7. Figure 7: Lateral force coefficient divided by the projected cross-stream length [PITH_FULL_IMAGE:figures/full_fig_p012_7.png] view at source ↗
Figure 8
Figure 8. Figure 8: Lateral maneuvering of the vehicle in response to lateral forces produced by two [PITH_FULL_IMAGE:figures/full_fig_p015_8.png] view at source ↗
read the original abstract

A Cyber-physical underwater vehicle is equipped with bio-inspired flapping fins positioned on the sides of the vehicle's main body. The proposed control surfaces are inspired by fish pectoral fins, generating forces and moments that can potentially be harnessed for maneuvering, hovering and station keeping. The streamwise and cross-stream forces produced by the fins are characterized for a range of reduced frequencies and Strouhal numbers. The streamwise forces are shown to be predominantly a function of the fin's projected frontal area, while the lateral forces also depend on the Strouhal number. When operated simultaneously, different flapping synchronizations can be employed for specific goals; a symmetric motion suppresses the lateral forces, while an anti-symmetric motion decreases the peaks of the streamwise force produced. The Cyber-physical vehicle demonstrates how the pair of fins can successfully maneuver the vehicle in the lateral direction.

Editorial analysis

A structured set of objections, weighed in public.

Desk editor's note, referee report, simulated authors' rebuttal, and a circularity audit. Tearing a paper down is the easy half of reading it; the pith above is the substance, this is the friction.

Referee Report

2 major / 2 minor

Summary. The manuscript describes a cyber-physical underwater vehicle equipped with bio-inspired flapping pectoral fins mounted on the sides of the main body. It presents experimental characterization of streamwise and cross-stream forces generated by the fins over ranges of reduced frequencies and Strouhal numbers, notes that streamwise forces depend primarily on projected frontal area while lateral forces also vary with Strouhal number, compares symmetric (lateral-force suppressing) and anti-symmetric (streamwise-peak reducing) flapping, and claims a successful demonstration of lateral vehicle maneuvering via simultaneous fin operation.

Significance. If the force characterizations are robust and the vehicle-level demonstration is shown to match integrated fin forces without large unaccounted interference, the work could contribute to bio-inspired control surfaces for underwater vehicles, enabling improved lateral maneuvering, hovering, and station-keeping without conventional rudders or thrusters.

major comments (2)
  1. [Vehicle demonstration / final experimental results] The vehicle demonstration (described in the final paragraph of the abstract and corresponding experimental section): the claim that the pair of fins 'successfully maneuver the vehicle in the lateral direction' is presented without quantitative metrics such as measured trajectories, velocities, yaw rates, or direct comparison of observed motion to forces predicted from the individual-fin characterizations. This leaves the central claim vulnerable to the possibility of significant hydrodynamic interference or body-induced flow alterations when the fins operate simultaneously on the attached body.
  2. [Force characterization experiments] Force characterization results (sections reporting streamwise and cross-stream forces vs. reduced frequency and Strouhal number): the stated dependencies (streamwise force on projected frontal area; lateral force also on Strouhal number) are given without accompanying error bars, repeatability statistics, or uncertainty quantification, making it impossible to assess the strength of the reported trends or their applicability to the simultaneous-operation case.
minor comments (2)
  1. The abstract would be strengthened by including at least one or two specific numerical values (e.g., the range of Strouhal numbers tested or the observed lateral displacement in the demonstration) rather than purely qualitative statements.
  2. Figures showing force time histories or polar plots should explicitly label symmetric versus anti-symmetric cases and include scale bars or reference lines for the claimed force dependencies.

Simulated Author's Rebuttal

2 responses · 0 unresolved

We thank the referee for the constructive comments, which help clarify the presentation of our force characterizations and vehicle demonstration. We address each major comment below and will revise the manuscript to incorporate additional quantitative details and uncertainty measures.

read point-by-point responses

  1. Referee: The vehicle demonstration (described in the final paragraph of the abstract and corresponding experimental section): the claim that the pair of fins 'successfully maneuver the vehicle in the lateral direction' is presented without quantitative metrics such as measured trajectories, velocities, yaw rates, or direct comparison of observed motion to forces predicted from the individual-fin characterizations. This leaves the central claim vulnerable to the possibility of significant hydrodynamic interference or body-induced flow alterations when the fins operate simultaneously on the attached body.

    Authors: We agree that the current description of the vehicle demonstration is primarily qualitative. In the revised manuscript, we will add quantitative metrics from the motion-capture data, including time series of lateral displacement, yaw angle, and derived velocities/yaw rates during simultaneous fin operation. We will also include a direct comparison of observed motion to forces predicted by integrating the individual-fin characterizations, with discussion of any discrepancies. The cyber-physical setup records body forces concurrently, allowing us to quantify interference; we will add analysis showing that synchronization modes mitigate peak forces and reduce unaccounted effects. These additions will strengthen the central claim without altering the reported findings. revision: yes

  2. Referee: Force characterization results (sections reporting streamwise and cross-stream forces vs. reduced frequency and Strouhal number): the stated dependencies (streamwise force on projected frontal area; lateral force also on Strouhal number) are given without accompanying error bars, repeatability statistics, or uncertainty quantification, making it impossible to assess the strength of the reported trends or their applicability to the simultaneous-operation case.

    Authors: The reported forces are cycle-averaged means from repeated trials. To address the lack of uncertainty information, we will revise the figures to include error bars (standard deviation across cycles) and add text on repeatability and measurement uncertainty. This will allow readers to evaluate the robustness of the streamwise-force dependence on projected area and the additional Strouhal-number dependence for lateral forces. The synchronization results already show consistent trends across operating conditions; the added statistics will support their applicability to simultaneous operation. revision: yes

Circularity Check

0 steps flagged

No circularity: purely experimental characterization and demonstration

full rationale

The paper reports force measurements on isolated fins across reduced frequencies and Strouhal numbers, followed by a direct experimental demonstration of lateral maneuvering on the cyber-physical vehicle when the fins operate simultaneously. No derivations, first-principles equations, or model predictions appear in the provided text or abstract. The load-bearing step is the physical experiment itself, not any reduction of a claimed result to its own inputs or to a self-citation chain. Force characterizations are presented as measured data, not as fitted parameters later renamed as predictions. The translation from isolated-fin forces to vehicle motion is acknowledged as an assumption but is tested directly rather than derived circularly. This is a standard experimental paper with no self-definitional, fitted-input, or ansatz-smuggling steps.

Axiom & Free-Parameter Ledger

0 free parameters · 0 axioms · 0 invented entities

The abstract describes an experimental study with no mathematical derivations, free parameters, axioms, or newly postulated entities; all elements are standard fluid-dynamic quantities such as reduced frequency and Strouhal number.

pith-pipeline@v0.9.0 · 5445 in / 1049 out tokens · 55496 ms · 2026-05-10T01:04:36.742976+00:00 · methodology

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Reference graph

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