The Research of Maneuverability Modeling and Environmental Monitoring Based on a Robotic Dolphin

Table 1

Influence of beat frequency.

Frequency (Hz)	0.5	1	1.5	2
Propulsion speed ()	1.901	3.957	3.241	1.962
Propulsion force ()	0.67363	2.46768	3.13389	1.63397