arXiv subjects

Qimin Feng

Publications and source records attributed to Qimin Feng.

7 recordsLinked to original sources

arXiv2026

A reconfigurable multi-axis cyber-physical framework for multi-regime fluid--structure interaction experiments

Fluid--structure interaction (FSI) experiments are typically built around mechanical dynamics and constraints imposed by the physical apparatus, so changing mass, stiffness, damping, or allowable motion often requires hardware reconfiguration. Here we present a reconfigurable cyber-physical framework in which these properties are instead assigned through software-defined dynamics. The system provides three translational and one rotational degree of freedom, each independently configurable as prescribed, load-responsive, or locked, with operating roles that can also be reassigned during a running experiment. Measured forces and torques are incorporated into real-time virtual dynamic models, while a common supervisory architecture coordinates multi-axis motion, mode switching, synchronized data acquisition, and diagnostic positioning. The prescribed-motion pathway is validated using a pitching hydrofoil by comparison with published thrust and power scaling trends, while the load-responsive pathway is evaluated using an active-heave/passive-pitch benchmark that reproduces the expected frequency-dependent resonant response over the tested conditions. The same platform is then reconfigured for intra-cycle active--passive pitching, coordinated vertical-axis turbine-surrogate motion, force-driven passive surge, and automated multilayer stereoscopic particle image velocimetry. These results demonstrate that distinct FSI boundary conditions and measurement requirements can be implemented within a common motion, sensing, and control architecture. By treating mechanical roles and constraints as software-defined experimental variables, the framework provides a reusable basis for reconfigurable FSI experiments without redesigning the underlying platform for each application.

physics.flu-dyn↗

arXiv2026

Underwater Navigation in Unsteady Flows Using Measurement Histories from a Single Sensing Unit

Spatial flow measurements support underwater navigation, but distributed sensing is constrained by robot size and sensor layout. We use a causal observer to estimate current lateral velocities from a finite history of measurements collected by a single sensing unit, supplying the inputs of a fixed navigation controller. In two-dimensional wake simulations with access to body-frame ambient velocity, this virtual sensing interface reduces simultaneous flow sampling from three points to the robot center. Trained only in a circular-cylinder wake at Re = 100, the flow-history observer achieves 84.4% and 80.6% success at held-out Re = 205 and 240 without retraining. These rates are 7.4 and 4.6 percentage points below direct spatial sensing and more than 30 points above a matched current-only observer. Past flow remains beneficial when past goal and yaw information is available. Across obstacle geometries, performance remains close to direct sensing in square-prism wakes but declines in triangular-prism wakes. Component replacement identifies the lateral velocity difference as control-relevant, while controlled perturbations reveal sensitivity to error persistence. The results demonstrate the closed-loop utility of single-point flow histories under the assumed observation model.

cs.RO↗

arXiv2026

Write-Safe Flow Field Mapping under Ambiguous Onboard Sensing and Localization Drift

Mobile robots can infer local flow structure from onboard sensing, but a locally plausible estimate is not always safe to write into a global map. Similar flow structures may produce ambiguous observations, while localization drift causes predicted patches to be written at incorrect locations. Repeated misregistered updates then accumulate into persistent ghost structures. We address this failure mode with a map-reference-aware conservative fusion framework. The model predicts a local velocity patch and a learned write-safety score that continuously attenuates uncertain map updates while permitting initialization when no reliable map reference is available. Across synthetic jet and crossflow environments, the proposed method reduces average ghost contamination by 42% relative to ungated fusion. A zero-shot hardware replay using real pressure and optical-flow measurements from a thruster wake further reduces ghost contamination by 39% while retaining 81% map coverage. These results show that safe map writing is critical for flow mapping under ambiguous sensing and localization drift.

cs.RO↗

arXiv2026

Passive Phase-Oriented Impedance Shaping for Rapid Acceleration in Soft Robotic Swimmers

Rapid acceleration and burst maneuvers in underwater robots depend less on maintaining precise resonance and more on force--velocity phase alignment during thrust generation. In this work, we investigate constrained-layer damping (CLD) as a passive mechanism for frequency-selective impedance shaping in soft robotic swimmers. Unlike conventional stiffness-tuning approaches, CLD selectively amplifies the dissipative component of bending impedance while preserving storage stiffness, passively shifting the impedance composition toward dissipative dominance as actuation frequency increases. We characterize this behavior through dry impedance measurements, demonstrate that CLD enhances thrust and alters force--motion phase relationships across Strouhal numbers in constrained propulsion tests, and validate that passive impedance shaping yields a nearly five-fold increase in peak acceleration and a three-fold increase in terminal velocity in unconstrained swimming trials. These results establish phase-oriented passive impedance modulation as a simple, control-free pathway for improving transient propulsion in soft robotic systems.

cs.RO↗

arXiv2026

Inertial effects on the mechanical efficiency of a semi-passive oscillating hydrofoil energy harvester

Oscillating-foil-based energy harvesters have demonstrated strong potential for low-speed hydrokinetic energy extraction; however, the actuator-level mechanical energy balance associated with prescribed pitching motion remains poorly understood. The present work experimentally characterizes how foil mass ratio, pitching-axis location, and reduced frequency jointly govern the hydrodynamic and mechanical efficiencies of a semi-passive oscillating hydrofoil. Results show that rotational inertia redistributes actuator demand through phase-dependent torque exchange, while heave-pitch coupling can partially cancel this demand when favorably phased. Pitching-axis location modifies the phase and direction of the fluid torque through changes in the effective hydrodynamic moment arm. Reduced frequency governs the balance between enhanced unsteady loading and inertia-amplified actuator demand. Optimal performance is achieved within reduced frequency region of 0.125-0.16 using quarter-chord to one-third-chord pitching axes and relatively low foil mass ratios from about 0.5 to 2.0, yielding a peak mechanical efficiency of 33.96% -- which can diverge from the hydrodynamic efficiency by approximately 38.16% depending on configuration. Torque-loop analysis and PIV measurements show that this synchronization is a key mechanism governing the observed efficiency trends.

physics.flu-dyn↗

arXiv2025

Lift reversal from vortex-surface phase coupling in a heaving foil near a free surface

Classical descriptions of flapping propulsion near a free surface emphasize the energetic penalties of wave generation, treating the interface primarily as an energy sink. Here, we show that the same deformable boundary can also act as a phase-dependent kinematic constraint on vertical force generation. Using force measurements, particle image velocimetry and potential-flow simulations, we characterize how a free surface reorganizes vortex shedding for a heaving hydrofoil at moderate Reynolds number (O(10^4)). For moderate to deep submergence, the cycle-averaged lift undergoes a systematic transition from repulsion to suction as the unsteady number increases. The reversal occurs within a narrow band of unsteady numbers, where the phase-shifted surface motion generates vertical advection that alters the pairing of trailing-edge vortices and redirects the wake momentum flux. A force decomposition shows that the reversal arises from a coordinated change in quasi-steady pressure loading and wake-induced force. These results identify the phase of the free-surface response, organized by unsteady number, as a key parameter governing near-surface lift and illustrate how deformable boundaries can reconfigure unsteady loading through vortex-surface phase coupling.

physics.flu-dyn↗

arXiv2025

Wavenumber affects the lift of ray-inspired fins near a substrate

Rays and skates tend to have different fin kinematics depending on their proximity to a ground plane such as the seafloor. Near the ground, rays tend to be more undulatory (high wavenumber), while far from the ground, rays tend to be more oscillatory (low wavenumber). It is unknown whether these differences are driven by hydrodynamics or other biological pressures. Here we show that near the ground, the time-averaged lift on a ray-like fin is highly dependent on wavenumber. We support our claims using a ray-inspired robotic rig that can produce oscillatory and undulatory motions on the same fin. Potential flow simulations reveal that lift is always negative because quasisteady forces overcome wake-induced forces. Three-dimensional flow measurements demonstrate that oscillatory wakes are more disrupted by the ground than undulatory wakes. All these effects lead to a suction force toward the ground that is stronger and more destabilizing for oscillatory fins than undulatory fins. Our results suggest that wavenumber plays a role in the near-ground dynamics of ray-like fins, particularly in terms of dorsoventral accelerations. The fact that lower wavenumber is linked with stronger suction forces offers a new way to interpret the depth-dependent kinematics of rays and ray-inspired robots.

physics.flu-dyn↗