{"id":"https://openalex.org/W7167631828","doi":"https://doi.org/10.48550/arxiv.2607.03216","title":"Strouhal-Aware Model Predictive Control for Efficient Multi-Fin Flapping Locomotion","display_name":"Strouhal-Aware Model Predictive Control for Efficient Multi-Fin Flapping Locomotion","publication_year":2026,"publication_date":"2026-07-03","ids":{"openalex":"https://openalex.org/W7167631828","doi":"https://doi.org/10.48550/arxiv.2607.03216"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2607.03216","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2607.03216","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"type":"preprint","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://doi.org/10.48550/arxiv.2607.03216","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5059090322","display_name":"Yuya Hamamatsu","orcid":"https://orcid.org/0000-0001-8589-0628"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Hamamatsu, Yuya","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5140200660","display_name":"Zixi Chen","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Chen, Zixi","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5140201392","display_name":"Maarja Kruusmaa","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Kruusmaa, Maarja","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5034240581","display_name":"Asko Ristolainen","orcid":"https://orcid.org/0000-0003-3029-9667"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Ristolainen, Asko","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":0,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"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":0.9843999743461609,"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":0.9843999743461609,"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/T11486","display_name":"Micro and Nano Robotics","score":0.008899999782443047,"subfield":{"id":"https://openalex.org/subfields/3104","display_name":"Condensed Matter Physics"},"field":{"id":"https://openalex.org/fields/31","display_name":"Physics and Astronomy"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11096","display_name":"Aeroelasticity and Vibration Control","score":0.000699999975040555,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/strouhal-number","display_name":"Strouhal number","score":0.8341000080108643},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.7457000017166138},{"id":"https://openalex.org/keywords/model-predictive-control","display_name":"Model predictive control","score":0.5548999905586243},{"id":"https://openalex.org/keywords/flapping","display_name":"Flapping","score":0.5313000082969666},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.5185999870300293},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.43220001459121704},{"id":"https://openalex.org/keywords/optimal-control","display_name":"Optimal control","score":0.40799999237060547},{"id":"https://openalex.org/keywords/propulsion","display_name":"Propulsion","score":0.40450000762939453},{"id":"https://openalex.org/keywords/lift","display_name":"Lift (data mining)","score":0.40230000019073486},{"id":"https://openalex.org/keywords/inverse-dynamics","display_name":"Inverse dynamics","score":0.3869999945163727}],"concepts":[{"id":"https://openalex.org/C143575951","wikidata":"https://www.wikidata.org/wiki/Q646627","display_name":"Strouhal number","level":4,"score":0.8341000080108643},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7457000017166138},{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.5548999905586243},{"id":"https://openalex.org/C2780444116","wikidata":"https://www.wikidata.org/wiki/Q6057443","display_name":"Flapping","level":3,"score":0.5313000082969666},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5185999870300293},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4410000145435333},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.43220001459121704},{"id":"https://openalex.org/C91575142","wikidata":"https://www.wikidata.org/wiki/Q1971426","display_name":"Optimal control","level":2,"score":0.40799999237060547},{"id":"https://openalex.org/C1034443","wikidata":"https://www.wikidata.org/wiki/Q2583685","display_name":"Propulsion","level":2,"score":0.40450000762939453},{"id":"https://openalex.org/C139002025","wikidata":"https://www.wikidata.org/wiki/Q3001212","display_name":"Lift (data mining)","level":2,"score":0.40230000019073486},{"id":"https://openalex.org/C187523126","wikidata":"https://www.wikidata.org/wiki/Q17098330","display_name":"Inverse dynamics","level":3,"score":0.3869999945163727},{"id":"https://openalex.org/C88337583","wikidata":"https://www.wikidata.org/wiki/Q7883433","display_name":"Underactuation","level":3,"score":0.3792000114917755},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3711000084877014},{"id":"https://openalex.org/C204323151","wikidata":"https://www.wikidata.org/wiki/Q905424","display_name":"Range (aeronautics)","level":2,"score":0.36480000615119934},{"id":"https://openalex.org/C111335779","wikidata":"https://www.wikidata.org/wiki/Q3454686","display_name":"Reduction (mathematics)","level":2,"score":0.34850001335144043},{"id":"https://openalex.org/C79420006","wikidata":"https://www.wikidata.org/wiki/Q533668","display_name":"Thrust","level":2,"score":0.3357999920845032},{"id":"https://openalex.org/C41608201","wikidata":"https://www.wikidata.org/wiki/Q980509","display_name":"Embedding","level":2,"score":0.33149999380111694},{"id":"https://openalex.org/C207467116","wikidata":"https://www.wikidata.org/wiki/Q4385666","display_name":"Inverse","level":2,"score":0.3116999864578247},{"id":"https://openalex.org/C147764199","wikidata":"https://www.wikidata.org/wiki/Q6865248","display_name":"Minification","level":2,"score":0.3102000057697296},{"id":"https://openalex.org/C45374587","wikidata":"https://www.wikidata.org/wiki/Q12525525","display_name":"Computation","level":2,"score":0.3043000102043152},{"id":"https://openalex.org/C140779682","wikidata":"https://www.wikidata.org/wiki/Q210868","display_name":"Sampling (signal processing)","level":3,"score":0.3037000000476837},{"id":"https://openalex.org/C91721477","wikidata":"https://www.wikidata.org/wiki/Q778612","display_name":"Fin","level":2,"score":0.302700012922287},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.29989999532699585},{"id":"https://openalex.org/C42021957","wikidata":"https://www.wikidata.org/wiki/Q7250457","display_name":"Propulsive efficiency","level":3,"score":0.2969000041484833},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.2962999939918518},{"id":"https://openalex.org/C38349280","wikidata":"https://www.wikidata.org/wiki/Q1434290","display_name":"Flow (mathematics)","level":2,"score":0.29010000824928284},{"id":"https://openalex.org/C163258240","wikidata":"https://www.wikidata.org/wiki/Q25342","display_name":"Power (physics)","level":2,"score":0.2824000120162964},{"id":"https://openalex.org/C79487989","wikidata":"https://www.wikidata.org/wiki/Q934680","display_name":"Vehicle dynamics","level":2,"score":0.27950000762939453},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.26739999651908875},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.2671000063419342},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.25850000977516174},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.25619998574256897},{"id":"https://openalex.org/C9652623","wikidata":"https://www.wikidata.org/wiki/Q190109","display_name":"Field (mathematics)","level":2,"score":0.2547000050544739},{"id":"https://openalex.org/C115051666","wikidata":"https://www.wikidata.org/wiki/Q6522493","display_name":"Ranging","level":2,"score":0.2547000050544739},{"id":"https://openalex.org/C183356978","wikidata":"https://www.wikidata.org/wiki/Q1779213","display_name":"Tracking error","level":3,"score":0.25270000100135803}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2607.03216","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2607.03216","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"Preprint"}],"best_oa_location":{"id":"doi:10.48550/arxiv.2607.03216","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2607.03216","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Efficient":[0],"flapping":[1],"propulsion":[2],"hinges":[3],"on":[4,33],"operating":[5],"within":[6,91],"a":[7,12,51,68,105,130,139,166],"narrow":[8],"Strouhal":[9,60,94],"number":[10],"window,":[11],"principle":[13],"nature":[14],"has":[15],"converged":[16],"upon":[17],"for":[18,59,129,138],"maximum":[19],"thrust-to-power":[20],"ratio.":[21],"We":[22],"translate":[23],"this":[24],"bioinspired":[25],"empirical":[26],"rule":[27],"into":[28,154],"real-time":[29],"control,":[30],"demonstrating":[31],"it":[32],"an":[34,56,155],"autonomous":[35],"underwater":[36],"vehicle":[37],"driven":[38],"by":[39],"four":[40],"soft":[41],"fins.":[42],"The":[43,124,146],"proposed":[44,125],"Strouhal-aware":[45],"Model":[46],"Predictive":[47],"Control":[48],"(MPC)":[49],"enhances":[50],"quasi-steady":[52],"hydrodynamic":[53],"model":[54],"with":[55],"explicit":[57],"penalty":[58],"deviation,":[61],"solving":[62],"the":[63,86,92,116,142],"resulting":[64],"nonconvex":[65],"problem":[66],"via":[67],"two-stage":[69],"sampling":[70],"and":[71,81],"gradient":[72],"optimization":[73],"that":[74,85,149],"runs":[75],"onboard":[76],"at":[77],"25":[78],"Hz.":[79],"Pool":[80],"field":[82],"trials":[83],"show":[84],"controller":[87],"keeps":[88],"each":[89],"fin":[90],"optimal":[93],"corridor":[95],"(0.25-0.35)":[96],"while":[97],"precisely":[98],"tracking":[99],"commanded":[100],"forces.":[101],"This":[102],"results":[103,147],"in":[104,108,172],"mean":[106],"reduction":[107],"mechanical":[109],"power":[110],"of":[111,119,132,141],"8.8\\%":[112],"to":[113,121,169],"32\\%":[114],"throughout":[115],"cruising":[117],"range":[118],"0.1":[120],"0.3":[122],"m/s.":[123],"method":[126],"also":[127],"allows":[128],"velocity":[131],"0.4":[133],"m/s,":[134],"which":[135],"is":[136],"unattainable":[137],"baseline":[140],"conventional":[143],"inverse":[144],"model.":[145],"confirm":[148],"embedding":[150],"first-principle":[151],"flow":[152],"physics":[153],"MPC":[156],"objective":[157],"yields":[158],"tangible":[159],"endurance":[160],"gains":[161],"without":[162],"sacrificing":[163],"agility,":[164],"offering":[165],"generic":[167],"pathway":[168],"energy-aware":[170],"locomotion":[171],"next-generation":[173],"multifin":[174],"robots.":[175]},"counts_by_year":[],"updated_date":"2026-07-28T07:46:37.118299","created_date":"2026-07-08T00:00:00"}