Synchronizing a biomimetic autonomous underwater vehicle with human cardiovascular system

In this study, a nonlinear model is developed to connect a biomimetic autonomous underwater vehicle (BAUV) with human cardiovascular system. The BAUV with sensors and a compliant tail is capable to perform Carangiform locomotion. To make the tail of the BAUV perform rhythmic motion, a nonlinear feedback torque is applied to the tail equation to construct a self-excited oscillator. Besides, a system consists of five coupled nonlinear oscillators is used to describe the cardiovascular system. Then the fin oscillator is connected with the cardiac oscillator through one-way coupling. Simulation results present the phase synchronization between the fin motion and the human heartbeat can be achieved with a strong enough coupling gain.