Tuong Quan Vo

Bio: Tuong Quan Vo is an academic researcher from University of Ulsan. The author has contributed to research in topics: Robot & Remotely operated underwater vehicle. The author has an hindex of 4, co-authored 10 publications receiving 62 citations.

Dynamic Analysis of a Robotic Fish Propelled by Flexible Folding Pectoral Fins

Abstract: Biological fish can create high forward swimming speed due to change of thrust/drag area of pectoral fins between power stroke and recovery stroke in rowing mode. In this paper, we proposed a novel type of folding pectoral fins for the fish robot, which provides a simple approach in generating effective thrust only through one degree of freedom of fin actuator. Its structure consists of two elemental fin panels for each pectoral fin that connects to a hinge base through the flexible joints. The Morison force model is adopted to discover the relationship of the dynamic interaction between fin panels and surrounding fluid. An experimental platform for the robot motion using the pectoral fin with different flexible joints was built to validate the proposed design. The results express that the performance of swimming velocity and turning radius of the robot are enhanced effectively. The forward swimming velocity can reach 0.231 m/s (0.58 BL/s) at the frequency near 0.75 Hz. By comparison, we found an accord between the proposed dynamic model and the experimental behavior of the robot. The attained results can be used to design controllers and optimize performances of the robot propelled by the folding pectoral fins.

A study on optimization of fish robot maximum velocity using the combination of genetic - Hill Climbing Algorithm

Abstract: Underwater robot is a new trend of researched field which is developing quickly in recent years. Some of the first researches on this field are ROV (Remotely Operated Vehicle), AUV (Autonomous Underwater Vehicle). Lately, a new type of underwater robot which is biomechanical robot is mostly concerned. One of the typical types of this one is fish robot. In this paper, firstly a dynamic model of 3-joint (4 links) Carangiform fish robot type is presented. Secondly, the surveys about the influences of input torque functions' parameters such as: phase angle, frequency and amplitude to the velocity of fish robot by simulation method are introduced. Lastly, fish robot's maximum velocity is optimized by using the combination of Genetic Algorithm (GA) and Hill Climbing Algorithm (HCA). GA is used to create the initial optimal parameters set for the input functions of the system. Then, this set will be optimized one more time by using HCA to be sure that the final parameters set are the “near” global optimization result for the system. Finally, some simulation results are presented to prove the effectiveness of the proposed algorithm.

Smooth gait optimization of a fish robot using the genetic-hill climbing algorithm

Abstract: This paper presents a model of a three-joint (four links) carangiform fish robot. The smooth gait or smooth motion of a fish robot is optimized by using a combination of the Genetic Algorithm (GA) and the Hill Climbing Algorithm (HCA) with respect to its dynamic system. Genetic algorithm is used to create an initial set of optimal parameters for the two input torque functions of the system. This set is then optimized by using HCA to ensure that the final set of optimal parameters is a "near" global optimization result. Finally, the simulation results are presented in order to demonstrate that the proposed method is effective.

A study on the propulsive motion characteristics of 3-joint fish robot

Abstract: We derived a dynamic motion equation of fish robot with 3-joints to analyze the propulsive motion characteristics according to the parameters variation of input torque function. Then, the parameters of input torque function are optimized by Genetic Algorithm (GA). And a fish robot with 1.2m length, 0.18m width and 0.18m height is developed for experiments. Finally, the dynamic motion equation of fish robot is verified by comparing the responses of simulation and experimental results for the input torque functions.

Guidance And Control Of Ocean Vehicles

Abstract: By searching the title, publisher, or authors of guide you in reality want, you can discover them rapidly. In the house, workplace, or perhaps in your method can be all best place within net connections. If you objective to download and install the guidance and control of ocean vehicles, it is utterly easy then, past currently we extend the colleague to buy and make bargains to download and install guidance and control of ocean vehicles therefore simple!

Fish-inspired robots: design, sensing, actuation, and autonomy--a review of research.

Abstract: Underwater robot designs inspired by the behavior, physiology, and anatomy of fishes can provide enhanced maneuverability, stealth, and energy efficiency. Over the last two decades, robotics researchers have developed and reported a large variety of fish-inspired robot designs. The purpose of this review is to report different types of fish-inspired robot designs based upon their intended locomotion patterns. We present a detailed comparison of various design features like sensing, actuation, autonomy, waterproofing, and morphological structure of fish-inspired robots reported in the past decade. We believe that by studying the existing robots, future designers will be able to create new designs by adopting features from the successful robots. The review also summarizes the open research issues that need to be taken up for the further advancement of the field and also for the deployment of fish-inspired robots in practice.

Tunabot Flex: a tuna-inspired robot with body flexibility improves high-performance swimming

Abstract: Tunas are flexible, high-performance open ocean swimmers that operate at high frequencies to achieve high swimming speeds. Most fish-like robotic systems operate at low frequencies (≤ 3 Hz) resulting in low swim speeds (≤ 1.5 body lengths per second), and the cost of transport (COT) is often one to four orders of magnitude higher than that of tunas. Furthermore, the impact of body flexibility on high-performance fish swimming remains unknown. Here we design and test a research platform based on yellowfin tuna (Thunnus albacares) to investigate the role of body flexibility and to close the performance gap between robotic and biological systems. This single-motor platform, termed Tunabot Flex, measures 25.5 centimeters in length. Flexibility is varied through joints in the tail to produce three tested configurations. We find that increasing body flexibility improves self-propelled swimming speeds on average by 0.5 body lengths per second while reducing the minimum COT by 53%. The most flexible configuration swims 4.60 body lengths per second with a tail beat frequency of 8.0 Hz and a COT measuring 18.4 joules/kg/m. We then compare these results in addition to the midline kinematics, stride length, and Strouhal number with yellowfin tuna data. The COT of Tunabot Flex's most flexible configuration is less than a half-order of magnitude greater than that of yellowfin tuna across all tested speeds. Tunabot Flex provides a new baseline for the development of future bio-inspired underwater vehicles that aim to explore a fish-like, high-performance space and close the gap between engineered robotic systems and fish swimming ability.