Papers by Keyword: Robotic Fish

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Authors: Qin Yan, Wen Shang, Jun Zhong, Qi Xin Zhu
Abstract: Inspired by the astonishing ability of the fish, more and more researchers devote themselves to improving the performance of the underwater robotic propeller. In this paper, a novel design and a preliminary performance study of a lightweight robofish are presented. Firstly, the principle of the actuator by magnetomotive force is introduced. Secondly, the implementation of the biomimetic robofish is investigated. Finally, several expriments are conducted to explore the energy consumption of the magnetomoive force actuator and the affection of the kinematic parameters on the velocity. The experimental results reveal that the novel biomimetic robofish driven by magnetomotive force has a low energy consumption and shows good performance in swimming.
Authors: Zi Yi Zhao, Zhi Hu Hong, Yan Song Deng
Abstract: In water polo competition of robotic fish, due to the influence of factors like ripple disturbance, target point drift and image acquisition delay, the angle between robotic fish and water polo that competition platform return has great error. To improve the shortage, this article put forward an optimal angle estimation algorithm based on Kalman filter. Let the angle go through Kalman filter to eliminate error interference in process and measurement. So that output angle approach truth value. Results of experiment prove that this method can effectively get the better angle between robotic fish and water polo.
Authors: Tian Lin Song, Ya Ping Lu, Hai Qing Liu
Abstract: It adopts the Arduino controller and control system of the extension circuit to complete all kinds of motions for the more joints’ bionic robotic fish of the different structures. Adding different kinds of sensors, it can also achieve many functions, such as obstacle avoidance, trace, color discrimination, etc.
Authors: Yang Wei Wang, Jin Bo Tan, Bao Tong Gu, Peng Fei Sang, Dong Biao Zhao
Abstract: Freshwater stingrays employ enlarged undulating pectoral fins as their routine propulsion means. Their remarkable flexibility and maneuverability have provided many new inspirations for engineers. In this paper, a biomimetic stingray-like underwater robot was introduced. In order to investigate the mechanism of the undulatory propulsion, kinematic analysis and hydromechanics analysis were conducted. Lastly, underwater experiments were carried out to study the swimming performance of the robotic fish.
Authors: Qing Song Hu, Juan Chen, Hua Zhou
Abstract: This paper proposes a physics-based cruising speed model for biomimetic robotic fish propelled by the passive plastic foil actuator. Inspired by biological body and fins, a plastic foil with suitable rigidity and innovative structure are designed to acquire better propelling effect. The model captures the speed based on the analysis of the interaction between the tail and the water which considers the hydrodynamics. Experimental results have shown that the proposed model is able to predict the steady-state cruising speed of the robotic fish under a periodic actuation input. Since most of the model parameters are expressed in terms of fundamental physical properties and geometric dimensions, the model is expected to be beneficial in optimal design of the robotic fish.
Authors: Yang Wei Wang, Bao Tong Gu, Jin Bo Tan, Peng Fei Sang
Abstract: Stingrays have expanded and highly flexible pectoral fins that extend over the entire length of their body. Locomotion is controlled by modulations of the undulating fin surface which produce steady swimming, acceleration, or complex maneuvers. In this paper, a robotic fish inspired by stingray was presented. Structure of the biomimetic prototype and layout of the control system were illustrated. In order to mimic the undulations, parameters of the biomimetic pectoral fin need to be accurately controlled including frequency, amplitude, wavelength, and undulatory mode. Several control strategies were proposed to realize different kinds of locomotion. Lastly, swimming experiments were carried out in the water tank according to the control methods. Experiment results demonstrate the viability of our methods.
Authors: Hai Hua Shi, Wei Xiang
Abstract: This Paper Investigates an Improved Meanshift Algorithm Combined with Kalman Filter Aiming at Failure of a Target Tracking in Complex Environment for the Independent Visual Robotic Fish. First,we Need to Establish Kalman Filter Model of Moving Target. then,the Prediction and Renewal Process of Kalman Filter are Applied into the Meanshift Tracking Algorithm. Experimental Results Show that Improved Algorithm can Effectively Improve the Performance of Single Target Tracking in Complex Environment, and Realize Continuous Tracking of a Target. also, it can Obtain more Reliable Tracking Effect, and can be Used for more Complicated Scenes.
Authors: Zu Song Gu, Ikuo Yamamoto, Naohiro Inagawa
Abstract: In the surgical operation, the research and development of the surgical robot that has both safety and effectiveness is needed in consideration of the physical mental strain decrease of the surgeon and the patient. Through the observation of the motion of fish, it has been found that fish swim efficiently using flexibility of pliable fins, giving the actuator the name of flexible oscillating fin propulsion system. The author proposed the application to the realm of healing the elastic vibration wing promotion system. The flexible forceps robot for the surgical operation of a vibrating flexible fin promotion system application was developed.
Authors: Ikuo Yamamoto
Abstract: The author has developed many kinds of robotic fishes based on elastic oscillating fin propulsion system from 1989. The presentation describes past, present, and future robotic fish technologies, and applications of robotic fish technologies to various fields. Firstly, the history of the developed life-like robotic fish, such as sea bream in 1995, coelacanth in 1997, carp in 2000, shark ray in 2004 etc. is mentioned. The developed robotic fishes are basically propelled by vertical tail fin and operated by servo motors. Secondly, the life-like robotic dolphin was newly developed in 2013. The author developed tethered whale robot with horizontal tail fin propelled by hydraulic actuator in 1990s, however, the robotic dolphin is untethered and higher length, that is more than 1m, and has characteristic of fast cruising and higher maneuverability with horizontal tail fin propelled by servo motors. Thirdly, new application fields of robotic fish technologies, such as medical forceps and extractors, space robots which went to International Space Station and swam in the space, and current power plant using oscillating fin propulsion system for new offshore sustainable energy are described. Finally, robotic fish technologies for the next generation underwater vehicle are summarized.
Authors: Huan Wang, Yu Lian Jiang
Abstract: Applying the global path planning to traditional A* algorithm in a complex environment and a lot of obstacles will result in an infinite loop because there are too many search data. To resolve this problem, this paper provides a new divide-and-rule path planning method which is based on improved A* algorithm. It uses several transition points to divide the entire grid map areas into several sub-regions. We set different speeds in each sub-region for local path planning. Thus the complex global path planning is turned into some simple local path planning. It reduces the search data of A* algorithm and avoids falling into the infinite loop. By this method, this paper designs the path planning of heading the ball, and smoothes the orbit. The simulation results show that the improved A* algorithm is better and more effective than the traditional one.
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