Supporting Data for Cost of Transport is not the whole story - A Review

<pre>This dataset supports the work done for the paper:<br><br>Michael Coe, Stefanie Gutschmidt, Cost of Transport is not the whole story — A review, Ocean Engineering,Volume 313, Part 1,2024<br>https://doi.org/10.1016/j.oceaneng.2024.119332.<br><br>Robotic systems are one of the primary tools used in the exploration of the world’s oceans. These technologies have limitations related to speed, efficiency, maneuverability, and prolonged operation in ocean environments. To address and overcome these limitations, systems are being developed utilizing bio-inspired features and different swim modes. This leads to an issue where there is not a consistent measure with which can accurately predict the performance of platforms across many different swim modes. One widely used metric is the Cost of Transport over Reynolds number and displacements, in the form of a scaling law, which is a measure of the energy used for any given operation, but is highly dependent on the swimming mode and geometry of the platform. More recently, the Swim number was introduced that unifies the kinematics and fluid properties of many different aquatic animals and swim modes under a single scaling law. In this work, we introduce a Swim number for propeller driven autonomous swimmers as a unified performance metric. We review the Cost of Transport and Swim number for biological, bio-inspired, and conventional swimmers and provide new scaling laws. The analysis shows that both performance metrics taken together, Cost of Transport and Swim Number, are convenient when designing and comparing natural and artificial swimmers.<br>Keywords: Bio-inspired underwater vehicles; Cost of Transport; Swim number; Unmanned underwater vehicles; Energetics<br></pre><br>

本数据集支撑下述论文的相关研究工作：
Michael Coe、Stefanie Gutschmidt，《运输成本并非全部——综述》，《海洋工程》（Ocean Engineering），2024年，第313卷第1部分
DOI：https://doi.org/10.1016/j.oceaneng.2024.119332

机器人系统是全球海洋探索的核心工具之一，这类技术在海洋环境中存在速度、作业效率、机动性与长时作业等方面的局限。为克服上述局限，研究人员正开发融合仿生特征与多种游动模式的水下系统。由此衍生出一项核心难题：目前尚无统一的评测标准，可精准预测不同游动模式下水下平台的性能。
当前学界广泛采用的一项性能指标为基于雷诺数（Reynolds number）与位移量的运输成本（Cost of Transport）缩放定律，该指标可量化特定作业的能耗，但高度依赖平台的游动模式与几何构型。近年来，研究者提出了游动数（Swim number），可将多种水生生物与游动模式的运动学特性及流体属性统一纳入单一缩放定律框架。
本研究针对螺旋桨驱动的自主水下游动装置，提出了适配其场景的游动数作为统一性能评测指标。本文综述了生物、仿生与传统游动平台的运输成本与游动数，并推导了全新的缩放定律。分析结果表明，将运输成本与游动数两项性能指标结合使用，可为自然与人工游动平台的设计与性能对比提供便捷有效的参考。

关键词：仿生水下航行器（Bio-inspired underwater vehicles）、运输成本（Cost of Transport）、游动数（Swim number）、无人水下航行器（Unmanned underwater vehicles）、能量学（Energetics）