Development of CyberFish – Polish Biomimetic Unmanned Underwater Vehicle BUUV

Abstract:

Paper presents gradual progress in the development of biomimetic mobile underwater robot with undulating propulsion starting from the rugged but functional first version of CyberFish through very agile and manoeuvrable second and third version till fifth one – accurately imitating real fish. Trends in BUUV technology is briefly described in the introduction. The second and third sections describe previous, and actual state of CyberFish project successfully carried out at Cracow University of Technology and focusing on the succeeding robots design and construction. Paper is summarized with problems of the BUUV technology development yet to be solved.

• Periodical: Applied Mechanics and Materials (Volume 613)
• Pages: 76-82
• DOI: https://doi.org/10.4028/www.scientific.net/AMM.613.76
• Online since: August 2014
• Authors: Marcin Morawski, Marcin Malec, Jerzy Zajac*
• Keywords: Artificial Fish, Biomimetic Robotic Fish, BUUV Technology, Cyberfish

References

[1] Information on http: /en. wikipedia. org/wiki/Robot#Dirty. 2C_dangerous. 2C_dull_or_inaccessible_tasks.

[2] S. Krenich, M. Urbanczyk, Six-legged walking robot for inspection tasks, Solid State Phenomena, Vol. 180, 2012, pp.137-147.

DOI: 10.4028/www.scientific.net/ssp.180.137

[3] M. Sfakiotakis, D. M. Lane, J. Bruce, C. Davies, Review of Fish Swimming Modes for Aquatic Locomotion, IEEE Journal of Oceanic Engineering, vol. 24, no. 2, 1999, pp.237-252.

DOI: 10.1109/48.757275

[4] J. Yu, M. Tan, J. Zhang, Fish-Inspired Swimming Simulation and Robotic Implementation, Robotics (ISR), 41st International Symposium on 6th German Conference on Robotics (ROBOTIK), 2010, pp.1158-1163.

[5] W. Wang, J. Yu, M. Wang, R. Ding, Mechanical Design and Preliminary Realization of Robotic Fish with Multiple Control Surfaces, Proceedings of the 29th Chinese Control Conference, 2010, Beijing, China, pp.3758-3762.

[6] D. Korkmaz, U. Budak, C. Bal, G. Ozmen Koca, Z. H. Akpolat, Modeling and Implementation of a Biomimetic Robotic Fish, International Symposium on Power Electronics, Electrical Drives, Automation and Motion, Sorrento 2012, pp.1187-1192.

DOI: 10.1109/speedam.2012.6264510

[7] A. Roy Chowdhury, B. Prasad, V. Vishwanathan, R. Kumar,S. K. Panda, Implementation of a BCF Mode Bio-mimetic Robotic-Fish Underwater Vehicle based on Lighthill Mathematical Model, 12th International Conference on Control, Automation and Systems, Jeju Island, Korea, 2012, pp.437-442.

DOI: 10.1109/auv.2012.6380721

[8] J. Yu, R. Ding, Q. Yang, M. Tan, W. Wang, J. Zhang, On a Bio-inspired Amphibious Robot Capable of Multimodal Motion, IEEE/ASME Transactions On Mechatronics, vol. 17, no. 5, 2012, pp.847-856.

DOI: 10.1109/tmech.2011.2132732

[9] L. Wen, T. Wang, G. Wu, J. Liang, C. Wang, Novel Method for the Modeling and Control Investigation of Efficient Swimming for Robotic Fish, IEEE Transactions On Industrial Electronics, vol. 59, no. 8, 2012, pp.3176-3188.

DOI: 10.1109/tie.2011.2151812

[10] Z. Li, R. Du, Design and Analysis of a Biomimetic Wire-Driven Flapping Propeller, The Fourth IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics, Roma, 2012, pp.276-281.

DOI: 10.1109/biorob.2012.6290774

[11] T. Salumae, I. Ranó, O. Akanyeti, M. Kruusmaa, Against the Flow: A Braitenberg Controller for a Fish Robot, 2012 IEEE International Conference on Robotics and Automation RiverCentre, Saint Paul, Minnesota, USA, 2012, pp.4210-4215.

DOI: 10.1109/icra.2012.6225023

[12] K. H. Low, Current and Future Trends of Biologically Inspired Underwater Vehicles, Defense Science Research Conference and Expo (DSR), Singapore, 2011, pp.1-8.

DOI: 10.1109/dsr.2011.6026887

[13] M. Malec, M. Morawski, J. Zając: Fish – Like Swimming Prototype of Mobile Underwater Robot, Journal of Automation, Mobile Robotics & Intelligent Systems, vol. 4, no. 3, 2010, pp.25-30.

[14] M. Malec, M. Morawski, J. Zając: Biomimetic Drives of Underwater Mobile Robots in Context of Development of the CyberFish (in polish), PAR, Pomiary, Automatyka, Robotyka, no2, 2011, pp.402-410.

[15] M. Malec, M. Morawski, P. Szymak, Measurement of the Movement of the Underwater Vehicle with Undulating Propulsion Using Inertial Measurement Unit (in polish), Zeszyty Naukowe Akademii Marynarki Wojennej, no. 185A, Gdynia, 2011, pp.275-284.

DOI: 10.2478/sjpna-2018-0014

[16] M. Malec, M. Morawski, Influence of Control Parameters of Biomimetic Underwater Mobile Robot on its Thrust for Different Variants of Caudal Fin, (in polish), Elektronika - Konstrukcje, Technlogie, Zastosowania, no. 12, 2013, pp.99-102.

[17] M. Morawski, M. Malec, P. Szymak, A. Trzmiel, Analysis of Parameters of Traveling Wave Impact on the Speed of Biomimetic Underwater Vehicle, Solid State Phenomena, Vol. 210, 2014, pp.273-279.

DOI: 10.4028/www.scientific.net/ssp.210.273

[18] A. Osyczka, S. Krenich, Evolutionary Algorithms for Global Optimization, Chapter in J. Pinter (Ed. ) Global Optimization – Scientific and Engineering Case Studies. Springer, 2006, pp.267-300.