scholarly journals Bio-Inspired Design of An Underwater Robot Exploiting Fin Undulation Propulsion

2021 ◽  
Vol 11 (6) ◽  
pp. 2556
Author(s):  
Giovanni Bianchi ◽  
Simone Cinquemani ◽  
Ferruccio Resta
Keyword(s):  
Control Algorithm ◽  
Autonomous Underwater Vehicles ◽  
Fish Swimming ◽  
Underwater Robots ◽  
Cownose Ray ◽  
Thrust Generation ◽  
Robot Behavior ◽  
Batoid Fishes ◽  
Underwater Exploration ◽  
Promising Source

Interest in autonomous underwater vehicles is constantly increasing following the emerging needs of underwater exploration and military purposes. Thus, several new propulsion mechanisms are studied and developed. Fish swimming is a promising source of inspiration because they outperform conventional propellers in terms of energy efficiency and maneuvrability. Their advantages are not only due to the streamlined shape and their low-drag skin but also, above all, due to the particular fin motion, which makes thrust generation possible with small energy dissipation. This paper analyses the motion of batoid fishes that are considered highly efficient by biologists. Their motion is reproduced by different linkage mechanisms optimized to fit underwater robots. A bioinspired robot mimicking cownose ray locomotion is, then, designed and built. Numerical analysis of its dynamics allows us to measure the size of actuators and to estimate the robot behavior. Finally, the control algorithm that maintains the mechanism synchronization according to different strategies is described and some experimental results are presented.

scholarly journals A Numerical Model for the Analysis of the Locomotion of a Cownose Ray

2021 ◽  
Author(s):  
Giovanni Bianchi ◽  
Simone Cinquemani ◽  
Paolo Schito ◽  
Ferruccio Resta
Keyword(s):  
Energy Efficiency ◽  
Autonomous Underwater Vehicles ◽  
Fluid Velocity ◽  
High Energy ◽  
Momentum Conservation ◽  
Pectoral Fins ◽  
Cownose Ray ◽  
Swimming Motion ◽  
Batoid Fishes ◽  
Promising Source

Abstract Among all aquatic species, mantas and rays swim by flapping their pectoral fins; this motion is similar to other fishes in terms of efficiency, but it gives better maneuverability and agility in turning. The fin motion is featured by a traveling wave going opposite to the forward motion, producing a force thanks to momentum conservation. This article aims at understanding the swimming dynamics of rays, focusing on energy efficiency. A CFD model of the swimming motion of a cownose ray has been implemented in OpenFOAM, simulating the acceleration of the fish from still to the steady-state velocity using an overset mesh. In this analysis, the 1-DOF dynamics of forward swimming is solved together with the fluid velocity and pressure. The effect of frequency and wavelength of fin motion on thrust, power, and velocity has been investigated and an analysis of the vortices in the wake showed has been performed. The energy efficiency of a self-propelled body has been defined in a novel way and it has been calculated for different motion conditions. The results showed that batoid fishes swim with high energy efficiency and that they are a promising source of inspiration for biomimetic autonomous underwater vehicles.

scholarly journals An Underwater Vector Propulsion Device Based on the RS+2PRS Parallel Mechanism and Its Attitude Control Algorithm

2019 ◽  
Vol 9 (23) ◽  
pp. 5210 ◽  
Author(s):  
Wang ◽  
Guo ◽  
Zhong
Keyword(s):  
Attitude Control ◽  
Parallel Mechanism ◽  
Control Algorithm ◽  
Simulation Analysis ◽  
Autonomous Underwater Vehicles ◽  
Propulsion System ◽  
Precession Angle ◽  
Nutation Angle ◽  
Prismatic Joints ◽  
Spherical Parallel Mechanism

In order to overcome the disadvantages of some existing autonomous underwater vehicles (AUVs), such as actuator extraposition and degree-of-freedom (DOF) redundancy, a 2-DOF vector propeller propulsion system with built-in actuator based on the deficient DOF parallel mechanism is proposed. The RS+2PRS (Revolute-Spherical+ Prismatic-Revolute-Spherical) parallel mechanism is used as the main structure, and the driving parts are placed in the interior of the AUV cabin, which is beneficial to the sealing and protection of the propulsion system. In addition, the motion parameters decoupling shows that the two independent parameters are the precession angle and the nutation angle of the propeller installation platform. Therefore, the attitude control algorithm uses two prismatic joints as driving units to establish the nonlinear mapping model with the two Euler attitude angles. In the end, the simulation analysis and the real device are used to verify the feasibility of the attitude control algorithm and the in situ adjustment function of the propeller, which lays the theoretical foundation for engineering applications in the future.

Motion Analysis of a Manta Robot for Underwater Exploration by Propulsive Experiments and the Design of Central Pattern Generator

2014 ◽  
Vol 8 (2) ◽  
pp. 231-237 ◽  
Author(s):  
Masaaki Ikeda ◽  
◽  
Shigeki Hikasa ◽  
Keigo Watanabe ◽  
Isaku Nagai
Keyword(s):  
Autonomous Underwater Vehicles ◽  
Central Pattern Generators ◽  
Underwater Vehicles ◽  
Loud Noise ◽  
Motion Generation ◽  
Pectoral Fins ◽  
Underwater Propulsion ◽  
Pattern Generators ◽  
Underwater Exploration ◽  
Manta Ray

Although, Autonomous Underwater Vehicles (AUVs) used for investigating underwater ecology have attracted the attention of underwater researchers, conventional AUVs moved underwater by screw propellers generate loud noise thatmay disturb the underwater environments and inhabitants to be observed. This paper discusses the development of an AUV that mimics the manta ray. Central Pattern Generators (CPGs) are also proposed to generate the motion of pectoral fins for Manta robot. The practicality of the robot is checked in underwater propulsion experiments, and the effectiveness of the proposed motion generation method is demonstrated in numerical simulations.

scholarly journals Turning control of a 3- Joint carangiform fish robot using sliding mode based controllers

2015 ◽  
Vol 18 (1) ◽  
pp. 14-26
Author(s):  
Tuong Quan Vo
Keyword(s):  
Dynamic Model ◽  
Sliding Mode ◽  
Autonomous Underwater Vehicles ◽  
Sliding Mode Controller ◽  
Underwater Robots ◽  
Fish Robot ◽  
Turning Motion ◽  
New Type ◽  
Fuzzy Sliding Mode ◽  
Turning Control

The fish robot is a new type of biomimetic underwater robot which is developing very fast in recent years by many researchers. Because it moves silently, saves energy, and is flexible in its operation in comparison to other kinds of underwater robots, such as Remotely Operated Vehicles (ROVs) or Autonomous Underwater Vehicles (AUVs). In this paper, we propose an efficient advanced controller that runs well in controlling the motion for our fish robot. First, we derive a new dynamic model of a 3-joint (4 links) Carangiform fish robot. The dynamic model also addresses the heading angle of a fish robot, which is not often covered in other research. Second, we present a Sliding Mode Controller (SMC) and a Fuzzy Sliding Mode Controller (FSMC) to the straight motion and turning motion of a fish robot. Then, in order to prove the effectiveness of the SMC and FSMC, we conduct some numerical simulations to show the feasibility or the advantage of these proposed controllers.

Underwater Robots: From Remotely Operated Vehicles to Intervention-Autonomous Underwater Vehicles

2019 ◽  
Vol 26 (2) ◽  
pp. 94-101 ◽  
Author(s):  
Yvan R. Petillot ◽  
Gianluca Antonelli ◽  
Giuseppe Casalino ◽  
Fausto Ferreira
Keyword(s):  
Autonomous Underwater Vehicles ◽  
Underwater Vehicles ◽  
Remotely Operated Vehicles ◽  
Underwater Robots

Lyapunov-Based Formation Control of Underwater Robots

Robotica ◽  
2019 ◽  
Vol 38 (6) ◽  
pp. 1105-1122 ◽  
Author(s):  
Ali Keymasi Khalaji ◽  
Rasoul Zahedifar
Keyword(s):  
Feedback Linearization ◽  
Formation Control ◽  
Control Algorithm ◽  
Kinematic Model ◽  
Lyapunov Theory ◽  
Control Law ◽  
Underwater Robots ◽  
Oceanographic Research ◽  
Inspection And Maintenance ◽  
Reliability And Robustness

SUMMARYToday, automatic diving robots are used for research, inspection, and maintenance, extensively. Control of autonomous underwater robots (AUVs) is challenging due to their nonlinear dynamics, uncertain models, and the system underactuation. Data collection using underwater robots is increasing within the oceanographic research community. Also, the ability to navigate and cooperate in a group of robots has many advantages compared with individual navigations. Among them, the effectiveness of using resources, the possibility of robots’ collaboration, increasing reliability, and robustness to defects can be pointed out. In this paper, the formation control of underwater robots has been studied. First, the kinematic model of the AUV is presented. Next, a novel Lyapunov-based tracking control algorithm is investigated for the leader robot. Subsequently, a control law is designed using Lyapunov theory and feedback linearization techniques to navigate a group of follower robots in a desired formation associated with the leader and follow it simultaneously. In the obtained results for different reference paths and various formations, the effectiveness of the proposed algorithm is represented.

scholarly journals Advances in Reconfigurable Vectorial Thrusters for Adaptive Underwater Robots

2021 ◽  
Vol 9 (2) ◽  
pp. 170
Author(s):  
Henrique Fagundes Gasparoto ◽  
Olivier Chocron ◽  
Mohamed Benbouzid ◽  
Pablo Siqueira Meirelles
Keyword(s):  
Degrees Of Freedom ◽  
Autonomous Underwater Vehicles ◽  
Magnetic Coupling ◽  
Underwater Vehicles ◽  
Water Jet ◽  
Present Review ◽  
Underwater Robots ◽  
Enabling Technologies ◽  
New Generation ◽  
Water Tightness

Manoeuvrability is one of the essential keys in the development of improved autonomous underwater vehicles for challenging missions. In the last years, more researches were dedicated to the development of new hulls shapes and thrusters to assure more manoeuvrability. The present review explores various enabling technologies used to implement the vectorial thrusters (VT), based on water-jet or propellers. The proposals are analysed in terms of added degrees of freedom, mechanisms, number of necessary actuators, water-tightness, electromagnetomechanical complexity, feasibility, etc. The usage of magnetic coupling thrusters (conventional or reconfigurable) is analysed in details since they can assure the development of competitive full waterproof reconfigurable thrusters, which is a frictionless, flexible, safe, and low-maintenance solution. The current limitations (as for instance the use of non conductive hull) are discussed and ideas are proposed for the improvement of this new generation of underwater thrusters, as extending the magnetic coupling usage to obtain a fully contactless vector thrust transmission.

scholarly journals On AUV Control with the Aid of Position Estimation Algorithms Based on Acoustic Seabed Sensing and DOA Measurements

Sensors ◽  
2019 ◽  
Vol 19 (24) ◽  
pp. 5520 ◽  
Author(s):  
Alexander Miller ◽  
Boris Miller ◽  
Gregory Miller
Keyword(s):  
Nonlinear Filtering ◽  
Control Algorithm ◽  
Autonomous Underwater Vehicles ◽  
Position Estimation ◽  
Velocity Estimation ◽  
Estimation Algorithms ◽  
Underwater Navigation ◽  
High Level ◽  
Nonlinear Observation ◽  
Available Information

This article discusses various approaches to the control of autonomous underwater vehicles (AUVs) with the aid of different velocity-position estimation algorithms. Traditionally this field is considered as the area of the extended Kalman filter (EKF) application: It became a universal tool for nonlinear observation models and its use is ubiquitous. Meanwhile, the specific characteristics of underwater navigation, such as an incomplete sets of measurements, constraints on the range metering or even impossibility of range measurements, observations provided by rather specific acoustic beacons, sonar observations, and other features seriously narrow the applicability of common instruments due to a high level of uncertainty and nonlinearity. The AUV navigation system, not being able to rely on a single source of position estimation, has to take into account all available information. This leads to the necessity of various complex estimation and data fusion algorithms, which are the matter of the present article. Here we discuss some approaches to the AUV position estimation such as conditionally minimax nonlinear filtering (CMNF) and unbiased pseudo-measurement filters (UPMFs) in conjunction with velocity estimation based on the seabed profile acoustic sensing. The presented estimation algorithms serve as a basis for a locally optimal AUV motion control algorithm, which is also presented.

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