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Guidance And Control Of Ocean Vehicles

Advancements in the field of autonomous underwater vehicle

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.

https://iopscience.iop.org/article/10.1088/1748-3190/11/3/031001/pdf

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

Motion Control and Motion Coordination of Bionic Robotic Fish: A Review

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.

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

The fish robot is a new type of biomimetic underwater robot. Because it moves silently, saves energy, and is flexible in its operation in comparison to other kinds of underwater robot such as ROVs (Remotely Operated Vehicles) or AUVs (Autonomous Underwater Vechicles) or UUV (Unmanned Underwater Vehicle) and etc, the fish robot can be applied to many underwater research projects in recent years. In this paper, a model of 3-joint (4 links) Carangiform fish robot type is presented at initial. Then, the dynamic model of fish robot is developed which is based on Lagrange's method. This dynamic model also includes the heading motion of fish robot which is not covered much in other researches. Then, the Sliding Mode Controller (SMC) and the Fuzzy Sliding Mode Controller (FSMC) are proposed to control the straight motion and turning motion of fish robot. Finally, some numerical simulations are conducted to show the feasibility and the merit of the proposed controllers.

A study on turning motion control of a 3-joint fish robot using sliding mode based controllers

Pectoral fins play an essential role in generating the locomotion and balance for fishes and especially for fish robots. The adaptation to shapes and mechanism structure of pectoral fin types helps to improve the swimming motion of the main body effectively, that results in the high flexibility and maneuverability of locomotion. This paper proposes a hydrodynamic model of a fish robot using a pair of flexible pectoral fins, which can be used to increase the robotic fish motion efficient and reduce the consumed energy. The pectoral fin has the symmetrical shape and varying thickness along the symmetrical axis. The body motion is considered as a rigid body motion. Based on the Lagrange energetic method, Assumed Mode Method (AMM), and Kirchhoff’s equation, the mathematical model of the pectoral fin’s deformation and robot body is described explicitly, where the natural frequency and mode shape of pectoral fins are derived by the Rayleigh-Ritz method. The effect of inertia and damping factors are modeled by the Morison force. The numerical simulations of the fins motion and the main body are conducted to show the effectiveness of the proposed model. This model and the analyses processes are expected to support in optimal issue and controller design for biomimetic robotic fish effectively.

Modeling and Evaluating Motion Performance of Robotic Fish with a Pair of Non-uniform Pectoral Fins

Recently, the robotics research has been developed very fast in some kinds of robot such as: mobile robot, vision robot, humanoid robot and especially underwater robot. In the field of underwater robot, most of the researches focus mainly on ROV (Remotely Operated Vehicle), AUV (Autonomous Underwater Vehicle) or UUV (Unmanned Underwater Vehicle). In this field, the research about one kind of autonomous robot called fish robot still remain at low level of technology and there are many thing need to be done in this type of robot. In this paper, we present a model of 4-link (3 joints) fish robot. This fish robot's maximum velocity is then optimized by using the combination of Hill Climbing Algorithm (HCA) and Genetic Algorithm (GA). We use HCA to generate the good initial population for GA and then use GA to find the optimal parameters that give maximum propulsion power in order to make fish robot swim at the fastest velocity. Finally, some simulation results are presented to prove this application.

Optimizing maximum velocity of fish robot using Hill Climbing Algorithm and Genetic Algorithm

This paper proposes a dynamic analysis to control a 3-joint Carangiform fish robot to swim to the 3D environment by using Newton-Euler and Euler-Lagrange concepts. The fish robot is designed into two parts: the head of fish robot and the tail of fish robot. The tail of fish robot will be analyzed which is quite similar to the analysis of the dynamic model of the manipulator. By controlling the tail of fish robot with respect to the desired profiles and controlling the changing central system, the fish robot can be controlled in the 3D environment. To simplify, the motions of fish robot are assumed to consist of two main motions: the movement of fish robot on the horizontal plane and movement of fish robot to the desired depth. The Fuzzy controller is designed to control the centroid displacements system. The Adaptive Back Stepping controller is developed to control the tail of fish robot.

A Study on Controllers Design of a 3-Joint Carangiform Fish Robot in 3D Environment

Recently, the underwater robotics research field has been developed quickly in some kinds of robot such as: ROV (remotely operated vehicle), AUV (autonomous underwater vehicle) or UUV (unmanned underwater vehicle) and etc These types of underwater robot mostly use propeller or thruster to generate the propulsion force in order to create the movement for robot However, the research about one kind of autonomous robot called fish robot still remain at low level of technology and there are many thing need to be done in this robot type Fish robot usually uses its bodypsilas oscillation or its finspsila oscillation to create the movement for it self in underwater environment In this paper, a model of 3-joint (4 links) fish robot type is presented This fish robotpsilas smooth gait or smooth motion is optimized by using the combination of hill climbing algorithm (HCA) and genetic algorithm (GA) HCA is used to generate the good initial population for GA and then GA is used to find the optimal parameters set that make fish robot has a smooth gait or smooth motion Finally, some simulation results are presented to prove this application

Tuong Quan Vo

Papers

A study on turning motion control of a 3-joint fish robot using sliding mode based controllers

Modeling and Evaluating Motion Performance of Robotic Fish with a Pair of Non-uniform Pectoral Fins

Optimizing maximum velocity of fish robot using Hill Climbing Algorithm and Genetic Algorithm

A Study on Controllers Design of a 3-Joint Carangiform Fish Robot in 3D Environment

Parameter optimization of fish robot’s smooth gaiting using Hill Climbing - Genetic Algorithm