{"id":"https://openalex.org/W2973788922","doi":"https://doi.org/10.1126/scirobotics.aax4615","title":"Tuna robotics: A high-frequency experimental platform exploring the performance space of swimming fishes","display_name":"Tuna robotics: A high-frequency experimental platform exploring the performance space of swimming fishes","publication_year":2019,"publication_date":"2019-09-11","ids":{"openalex":"https://openalex.org/W2973788922","doi":"https://doi.org/10.1126/scirobotics.aax4615","mag":"2973788922","pmid":"https://pubmed.ncbi.nlm.nih.gov/33137777"},"language":"en","primary_location":{"id":"doi:10.1126/scirobotics.aax4615","is_oa":false,"landing_page_url":"https://doi.org/10.1126/scirobotics.aax4615","pdf_url":null,"source":{"id":"https://openalex.org/S4210213233","display_name":"Science Robotics","issn_l":"2470-9476","issn":["2470-9476"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310315823","host_organization_name":"American Association for the Advancement of Science","host_organization_lineage":["https://openalex.org/P4310315823"],"host_organization_lineage_names":["American Association for the Advancement of Science"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Science Robotics","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","pubmed"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5018384358","display_name":"Joseph Zhu","orcid":"https://orcid.org/0000-0001-9941-6986"},"institutions":[{"id":"https://openalex.org/I4210155100","display_name":"Inspire Institute","ror":"https://ror.org/049ktr581","country_code":"US","type":"nonprofit","lineage":["https://openalex.org/I4210155100"]},{"id":"https://openalex.org/I51556381","display_name":"University of Virginia","ror":"https://ror.org/0153tk833","country_code":"US","type":"education","lineage":["https://openalex.org/I51556381"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"J. Zhu","raw_affiliation_strings":["Bio-Inspired Engineering Research Laboratory (BIERL), Department of Mechanical and Aerospace Engineering, University of Virginia, 122 Engineer\u2019s Way, Charlottesville, VA 22903, USA","Bio-Inspired Engineering Research Laboratory (BIERL), Department of Mechanical and Aerospace Engineering, University of Virginia, 122 Engineer's Way, Charlottesville, VA 22903, USA"],"raw_orcid":"https://orcid.org/0000-0001-9941-6986","affiliations":[{"raw_affiliation_string":"Bio-Inspired Engineering Research Laboratory (BIERL), Department of Mechanical and Aerospace Engineering, University of Virginia, 122 Engineer\u2019s Way, Charlottesville, VA 22903, USA","institution_ids":["https://openalex.org/I4210155100","https://openalex.org/I51556381"]},{"raw_affiliation_string":"Bio-Inspired Engineering Research Laboratory (BIERL), Department of Mechanical and Aerospace Engineering, University of Virginia, 122 Engineer's Way, Charlottesville, VA 22903, USA","institution_ids":["https://openalex.org/I51556381"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5010420139","display_name":"Carl White","orcid":null},"institutions":[{"id":"https://openalex.org/I4210155100","display_name":"Inspire Institute","ror":"https://ror.org/049ktr581","country_code":"US","type":"nonprofit","lineage":["https://openalex.org/I4210155100"]},{"id":"https://openalex.org/I51556381","display_name":"University of Virginia","ror":"https://ror.org/0153tk833","country_code":"US","type":"education","lineage":["https://openalex.org/I51556381"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"C. White","raw_affiliation_strings":["Bio-Inspired Engineering Research Laboratory (BIERL), Department of Mechanical and Aerospace Engineering, University of Virginia, 122 Engineer\u2019s Way, Charlottesville, VA 22903, USA","Bio-Inspired Engineering Research Laboratory (BIERL), Department of Mechanical and Aerospace Engineering, University of Virginia, 122 Engineer's Way, Charlottesville, VA 22903, USA"],"raw_orcid":"https://orcid.org/0000-0003-0055-038X","affiliations":[{"raw_affiliation_string":"Bio-Inspired Engineering Research Laboratory (BIERL), Department of Mechanical and Aerospace Engineering, University of Virginia, 122 Engineer\u2019s Way, Charlottesville, VA 22903, USA","institution_ids":["https://openalex.org/I4210155100","https://openalex.org/I51556381"]},{"raw_affiliation_string":"Bio-Inspired Engineering Research Laboratory (BIERL), Department of Mechanical and Aerospace Engineering, University of Virginia, 122 Engineer's Way, Charlottesville, VA 22903, USA","institution_ids":["https://openalex.org/I51556381"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5020000220","display_name":"Dylan K. Wainwright","orcid":"https://orcid.org/0000-0003-4964-5048"},"institutions":[{"id":"https://openalex.org/I136199984","display_name":"Harvard University","ror":"https://ror.org/03vek6s52","country_code":"US","type":"education","lineage":["https://openalex.org/I136199984"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"D. K. Wainwright","raw_affiliation_strings":["Museum of Comparative Zoology, Harvard University, 26 Oxford Street, Cambridge, MA 02138, USA"],"raw_orcid":"https://orcid.org/0000-0003-4964-5048","affiliations":[{"raw_affiliation_string":"Museum of Comparative Zoology, Harvard University, 26 Oxford Street, Cambridge, MA 02138, USA","institution_ids":["https://openalex.org/I136199984"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5087243061","display_name":"Valentina Di Santo","orcid":"https://orcid.org/0000-0002-5419-3747"},"institutions":[{"id":"https://openalex.org/I136199984","display_name":"Harvard University","ror":"https://ror.org/03vek6s52","country_code":"US","type":"education","lineage":["https://openalex.org/I136199984"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"V. Di Santo","raw_affiliation_strings":["Museum of Comparative Zoology, Harvard University, 26 Oxford Street, Cambridge, MA 02138, USA"],"raw_orcid":"https://orcid.org/0000-0002-5419-3747","affiliations":[{"raw_affiliation_string":"Museum of Comparative Zoology, Harvard University, 26 Oxford Street, Cambridge, MA 02138, USA","institution_ids":["https://openalex.org/I136199984"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5053939876","display_name":"George Lauder","orcid":"https://orcid.org/0000-0003-0731-286X"},"institutions":[{"id":"https://openalex.org/I136199984","display_name":"Harvard University","ror":"https://ror.org/03vek6s52","country_code":"US","type":"education","lineage":["https://openalex.org/I136199984"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"G. V. Lauder","raw_affiliation_strings":["Museum of Comparative Zoology, Harvard University, 26 Oxford Street, Cambridge, MA 02138, USA"],"raw_orcid":"https://orcid.org/0000-0003-0731-286X","affiliations":[{"raw_affiliation_string":"Museum of Comparative Zoology, Harvard University, 26 Oxford Street, Cambridge, MA 02138, USA","institution_ids":["https://openalex.org/I136199984"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5021002960","display_name":"Hilary Bart\u2010Smith","orcid":"https://orcid.org/0000-0001-7469-7734"},"institutions":[{"id":"https://openalex.org/I4210155100","display_name":"Inspire Institute","ror":"https://ror.org/049ktr581","country_code":"US","type":"nonprofit","lineage":["https://openalex.org/I4210155100"]},{"id":"https://openalex.org/I51556381","display_name":"University of Virginia","ror":"https://ror.org/0153tk833","country_code":"US","type":"education","lineage":["https://openalex.org/I51556381"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"H. Bart-Smith","raw_affiliation_strings":["Bio-Inspired Engineering Research Laboratory (BIERL), Department of Mechanical and Aerospace Engineering, University of Virginia, 122 Engineer\u2019s Way, Charlottesville, VA 22903, USA","Bio-Inspired Engineering Research Laboratory (BIERL), Department of Mechanical and Aerospace Engineering, University of Virginia, 122 Engineer's Way, Charlottesville, VA 22903, USA"],"raw_orcid":"https://orcid.org/0000-0001-7469-7734","affiliations":[{"raw_affiliation_string":"Bio-Inspired Engineering Research Laboratory (BIERL), Department of Mechanical and Aerospace Engineering, University of Virginia, 122 Engineer\u2019s Way, Charlottesville, VA 22903, USA","institution_ids":["https://openalex.org/I4210155100","https://openalex.org/I51556381"]},{"raw_affiliation_string":"Bio-Inspired Engineering Research Laboratory (BIERL), Department of Mechanical and Aerospace Engineering, University of Virginia, 122 Engineer's Way, Charlottesville, VA 22903, USA","institution_ids":["https://openalex.org/I51556381"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5021002960"],"corresponding_institution_ids":["https://openalex.org/I4210155100","https://openalex.org/I51556381"],"apc_list":null,"apc_paid":null,"fwci":223.0442,"has_fulltext":false,"cited_by_count":349,"citation_normalized_percentile":{"value":0.99978654,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":100},"biblio":{"volume":"4","issue":"34","first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11170","display_name":"Biomimetic flight and propulsion mechanisms","score":0.9998000264167786,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11170","display_name":"Biomimetic flight and propulsion mechanisms","score":0.9998000264167786,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9997000098228455,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9979000091552734,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/tuna","display_name":"Tuna","score":0.7756873369216919},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7042248845100403},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.6921567320823669},{"id":"https://openalex.org/keywords/space","display_name":"Space (punctuation)","score":0.4655744731426239},{"id":"https://openalex.org/keywords/fishery","display_name":"Fishery","score":0.4418639838695526},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.3905818462371826},{"id":"https://openalex.org/keywords/biology","display_name":"Biology","score":0.2661001682281494},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.23758232593536377},{"id":"https://openalex.org/keywords/fish-actinopterygii","display_name":"Fish <Actinopterygii>","score":0.20112711191177368}],"concepts":[{"id":"https://openalex.org/C2780532849","wikidata":"https://www.wikidata.org/wiki/Q6146274","display_name":"Tuna","level":3,"score":0.7756873369216919},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7042248845100403},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.6921567320823669},{"id":"https://openalex.org/C2778572836","wikidata":"https://www.wikidata.org/wiki/Q380933","display_name":"Space (punctuation)","level":2,"score":0.4655744731426239},{"id":"https://openalex.org/C505870484","wikidata":"https://www.wikidata.org/wiki/Q180538","display_name":"Fishery","level":1,"score":0.4418639838695526},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.3905818462371826},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.2661001682281494},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.23758232593536377},{"id":"https://openalex.org/C2909208804","wikidata":"https://www.wikidata.org/wiki/Q127282","display_name":"Fish <Actinopterygii>","level":2,"score":0.20112711191177368},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1126/scirobotics.aax4615","is_oa":false,"landing_page_url":"https://doi.org/10.1126/scirobotics.aax4615","pdf_url":null,"source":{"id":"https://openalex.org/S4210213233","display_name":"Science Robotics","issn_l":"2470-9476","issn":["2470-9476"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310315823","host_organization_name":"American Association for the Advancement of Science","host_organization_lineage":["https://openalex.org/P4310315823"],"host_organization_lineage_names":["American Association for the Advancement of Science"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Science Robotics","raw_type":"journal-article"},{"id":"pmid:33137777","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/33137777","pdf_url":null,"source":{"id":"https://openalex.org/S4306525036","display_name":"PubMed","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Science robotics","raw_type":null}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/14","display_name":"Life below water","score":0.7799999713897705}],"awards":[{"id":"https://openalex.org/G3074425569","display_name":null,"funder_award_id":"N000141612515","funder_id":"https://openalex.org/F4320337345","funder_display_name":"Office of Naval Research"}],"funders":[{"id":"https://openalex.org/F4320306079","display_name":"David and Lucile Packard Foundation","ror":"https://ror.org/032atxq54"},{"id":"https://openalex.org/F4320337345","display_name":"Office of Naval Research","ror":"https://ror.org/00rk2pe57"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":91,"referenced_works":["https://openalex.org/W40470872","https://openalex.org/W177242423","https://openalex.org/W790608154","https://openalex.org/W950266974","https://openalex.org/W1490008642","https://openalex.org/W1535984716","https://openalex.org/W1549935978","https://openalex.org/W1601496676","https://openalex.org/W1876808619","https://openalex.org/W1963636759","https://openalex.org/W1966417947","https://openalex.org/W1966580601","https://openalex.org/W1967218403","https://openalex.org/W1991678341","https://openalex.org/W2003172346","https://openalex.org/W2008949258","https://openalex.org/W2010587870","https://openalex.org/W2012634580","https://openalex.org/W2026853446","https://openalex.org/W2033477502","https://openalex.org/W2035299816","https://openalex.org/W2043045272","https://openalex.org/W2046295461","https://openalex.org/W2056514964","https://openalex.org/W2059980804","https://openalex.org/W2067981250","https://openalex.org/W2072860124","https://openalex.org/W2078516054","https://openalex.org/W2080510595","https://openalex.org/W2080524911","https://openalex.org/W2083120813","https://openalex.org/W2085518741","https://openalex.org/W2087898660","https://openalex.org/W2092346296","https://openalex.org/W2097665223","https://openalex.org/W2097759356","https://openalex.org/W2099271517","https://openalex.org/W2099383421","https://openalex.org/W2100593585","https://openalex.org/W2104896655","https://openalex.org/W2104983615","https://openalex.org/W2105621884","https://openalex.org/W2108177106","https://openalex.org/W2112009694","https://openalex.org/W2118614614","https://openalex.org/W2120058346","https://openalex.org/W2120163044","https://openalex.org/W2124673069","https://openalex.org/W2131296515","https://openalex.org/W2138578406","https://openalex.org/W2139676030","https://openalex.org/W2142875600","https://openalex.org/W2143424433","https://openalex.org/W2143541854","https://openalex.org/W2144844660","https://openalex.org/W2150406592","https://openalex.org/W2150631092","https://openalex.org/W2152719076","https://openalex.org/W2155460757","https://openalex.org/W2156894442","https://openalex.org/W2157348182","https://openalex.org/W2159779776","https://openalex.org/W2161857274","https://openalex.org/W2165706296","https://openalex.org/W2168389986","https://openalex.org/W2173073434","https://openalex.org/W2183172413","https://openalex.org/W2188824913","https://openalex.org/W2254090756","https://openalex.org/W2257791260","https://openalex.org/W2291851360","https://openalex.org/W2335421812","https://openalex.org/W2338030343","https://openalex.org/W2413970730","https://openalex.org/W2461439130","https://openalex.org/W2567994256","https://openalex.org/W2597223536","https://openalex.org/W2605221221","https://openalex.org/W2725211858","https://openalex.org/W2746358562","https://openalex.org/W2769662528","https://openalex.org/W2793128170","https://openalex.org/W2794826238","https://openalex.org/W2800503756","https://openalex.org/W2805772645","https://openalex.org/W2892047096","https://openalex.org/W4213040521","https://openalex.org/W4234301890","https://openalex.org/W4238505782","https://openalex.org/W4285719527","https://openalex.org/W6632864200"],"related_works":["https://openalex.org/W4253926926","https://openalex.org/W2184489252","https://openalex.org/W2241819126","https://openalex.org/W2304292705","https://openalex.org/W2736013131","https://openalex.org/W174173265","https://openalex.org/W2184739577","https://openalex.org/W2756310421","https://openalex.org/W575935108","https://openalex.org/W2183931464"],"abstract_inverted_index":{").":[0],"Body":[1],"kinematics,":[2],"speed,":[3],"and":[4,17,32,75,166],"power":[5],"were":[6],"measured":[7],"at":[8,92,122,139,147],"increasing":[9],"tail":[10,50],"beat":[11,51],"frequencies":[12],"to":[13,18,58,98,170],"quantify":[14],"swimming":[15,30,60,165],"performance":[16,174],"study":[19],"flow":[20],"fields":[21],"generated":[22],"by":[23],"the":[24,37,76,88,93,99,104,160,168],"tail.":[25],"Experimental":[26],"analyses":[27],"of":[28,53,62,69,85,111,133,162],"freely":[29],"tuna":[31],"mackerel":[33],"allow":[34],"comparison":[35],"with":[36,87,119],"tuna-like":[38],"robotic":[39,105],"system.":[40],"The":[41,128],"Tunabot":[42,77,129],"(255":[43],"millimeters":[44],"long)":[45],"can":[46],"achieve":[47],"a":[48,59,82,115,120,131,153,172],"maximum":[49],"frequency":[52,108],"15":[54],"hertz,":[55],"which":[56],"corresponds":[57],"speed":[61],"4.0":[63],"body":[64,124],"lengths":[65,125],"per":[66,126,142,150],"second.":[67,127],"Comparison":[68],"midline":[70],"kinematics":[71],"between":[72],"scombrid":[73],"fish":[74],"shows":[78],"good":[79],"agreement":[80],"over":[81],"wide":[83],"range":[84,132],"frequencies,":[86],"biggest":[89],"discrepancy":[90],"occurring":[91],"caudal":[94],"fin,":[95],"primarily":[96],"due":[97],"rigid":[100],"propulsor":[101],"used":[102],"in":[103],"model.":[106],"As":[107],"increases,":[109],"cost":[110],"transport":[112],"(COT)":[113],"follows":[114],"fish-like":[116,173],"U-shaped":[117],"response":[118],"minimum":[121],"~1.6":[123],"has":[130],"~9.1":[134],"kilometers":[135,146],"if":[136],"it":[137],"swims":[138],"0.4":[140],"meter":[141,149],"second":[143],"or":[144],"~4.2":[145],"1.0":[148],"second,":[151],"assuming":[152],"10-watt-hour":[154],"battery":[155],"pack.":[156],"These":[157],"results":[158],"highlight":[159],"capabilities":[161],"high-frequency":[163],"biological":[164],"lay":[167],"foundation":[169],"explore":[171],"space":[175],"for":[176],"bio-inspired":[177],"underwater":[178],"vehicles.":[179]},"counts_by_year":[{"year":2026,"cited_by_count":26},{"year":2025,"cited_by_count":76},{"year":2024,"cited_by_count":67},{"year":2023,"cited_by_count":56},{"year":2022,"cited_by_count":49},{"year":2021,"cited_by_count":48},{"year":2020,"cited_by_count":25},{"year":2019,"cited_by_count":2}],"updated_date":"2026-07-02T09:51:11.867554","created_date":"2025-10-10T00:00:00"}
