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Fish swimming demonstrates impressive speeds and exceptional characteristics in the fluid environment. The objective of this paper is to mimic undulatory swimming behaviour and its control in a body caudal fin (BCF) carangiform fish in a robotic counterpart. Based on fish biology a 2-level behavior based control scheme is proposed. High level control is modeled by robotic fish swimming behavior. It...
A 2-joint, 3-link multibody vehicle model biologically inspired by a Body Caudal Fin (BCF) carangiform fish propulsion mechanism in fluid environment is presented in this paper. Under the Lighthill (LH) mathematical slender body theory different mathematical propulsive waveforms are developed to generate robotic fish locomotion. LH Cubic function is found to be 16.32 % efficient than a non-LH function...
The objective of this paper is to mimic the propulsion mechanism of the BCF mode carangiform swimming style to show the fish behavior navigating efficiently over large distances at impressive speeds and its exceptional characteristics in the fluid environment. The robofish model (kinematics and dynamics) is integrated with the Lighthill(LH) mathematical model framework. Comparative studies are undertaken...
In this paper, a new type of Lyapunov function based load voltage tracking controller is proposed for series connected PV inverter for grid voltage disturbances compensation. The inverter operates during the day time as an active power compensator as well as load voltage regulator under grid voltage sag, swell or even under normal condition. The compensating voltage provided by the inverter is added...
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