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This paper addresses the problem of path following for a biomimetic underwater vehicle (BUV) propelled by undulatory fins with uncertain model and unknown disturbance. The mechanical structure of the BUV is briefly described. Moreover, the general kinematics and dynamics models of the vehicle are presented and the path following problem is formulated. The controller combining line-of-sight (LOS) guidance...
Vehicle equipment remote fault diagnosis and maintenance are advanced equipment maintenance and support technology emerging with development of computer network communication technology. Operation and maintenance support personnel is closely linked up on-site, by the computer network, with maintenance and support specialist at the base, through which experts at the base provide timely and accurate...
This paper proposes a fuzzy logic PID based control method for a biomimetic underwater vehicle on swimming speed and yaw angle. The vehicle has a pair of long-fins installed symmetrically on its body. A set of inertial sensors are applied for collecting its velocity and pose information. And an embedded control system and a driving system based on FPGA are designed for generating and switching motion...
Motion control for one kind of underwater robotic fish is presented in this paper. Here our robotic fish prototype has two long-fins installed symmetrically on its both sides. And one long-fin is made up by springiness membrane covered on ten ray-fins. Ten servo-motors are used to control the motions of the ten ray-fins on one side. Due to the special structure of the prototype, swimming motion modes...
The swimming backward method for biomimetic carangiform robotic fish is analyzed in this paper based on the dynamic/kinematic model. The equation of Lagrange of multi-link carangiform robotic fish and simplified fluid force are inducted to calculate the dynamic and kinematic characteristics of the motions. A specific gait is calculated to make the profile of the carangiform robotic fishpsilas undulation...
In this paper, a novel biomimetic robot fish FAC-I with 3-D locomotion is designed for underwater exploration and surveillance. It is equipped with CCD camera, infrared and pressure sensors to acquire the outside information. The robot fish has a tail thruster imitating the dolphin motion, a pair of pectoral fins and a buoyancy-adjusting mechanical structure BAMS. The tail thruster provides the main...
This paper proposes a kinematic modeling method for a bio-inspired robotic fish based on single joint. Lagrangian function of freely swimming robotic fish is built based on a simplified geometric model. In order to build the kinematic model, the fluid force acting on the robotic fish is divided into three parts: the pressure on links, the approach stream pressure and the frictional force. By solving...
In this paper, a networked control system based on Simulink's s-function is presented for remote control of a biomimetic robot fish. The whole system consists of a network camera, a remote controller, a local controller and a robot fish. The remote controller obtains real-time images from the network camera, processes these images, generates control instructions, and sends the control instructions...
As a novel unmanned underwater vehicle (UUV), biomimetic robot fish is able to carry out underwater missions, and more recent interest among scientists in describing it. In this paper, three modes for velocity control of carangiform robot fish are induced, which are velocity control based on oscillation frequency, velocity control based on oscillation amplitude, and velocity control based on the length...
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