Conception of Research on Bionic Underwater Vehicle with Undulating Propulsion

Abstract

Fish-like swimming has been attracting scientists and engineers attention since many years resulting in attempts of mathematical description of fish movement and its implementation in many interesting prototypes of underwater vehicles. In this paper, conception of research on simulation, implementation and control of bionic underwater vehicle BUV with undulating propulsion is presented. In the next sections, introduction and mathematical model of bionic underwater vehicle motion are included. Then, the last implementation of the robotic fish called CyberFish, which movement is based on the presented mathematic description is presented and shortly described. In the last sections, conception of research on control system of BUV and conclusions are presented.

Using Neuro–Evolutionary Techniques to Tune Odometric Navigational System of Small Biomimetic Autonomous Underwater Vehicle – Preliminary Report

“…It is calculated at the very start of BAUV mission and taken into account by the ONS in its calculations. [14,26] The ONS, meant as EKF combined with the estimators supplying the filter, has a number of parameters. To determine them, a neuro-evolutionary technique called Assembler Encoding with Evolvable Operations (AEEO) was used [20,21].…”

Dynamic Analysis of the Tubular Linear Actuator With Permanent Magnets

“…The linear electromagnetic motors are commonly used in many robotic and automatic systems [6,7,9]. The main advantages are the simple design structure, fast response for the input signal, lack of any mechanical transmission from the rotation movement to the linear one [8].…”

Report on Research with Biomimetic Autonomous Underwater Vehicle — Navigation and Autonomous Operation

“…The AUV with the abilities outlined above was constructed within the framework of the project No. DOBR-BIO4/033/13015/2013, entitled 'Autonomous underwater vehicles with silent undulating propulsion for underwater reconnaissance' financed by National Center of Research and Development [7] (see fig. 1).…”

“…1). All the effort necessary to build the AUV, which due to a modern undulating propulsion was called biomimetic AUV, or in short BAUV [1,7,8], was divided into many stages. First, conceptual works were done focused on both the hardware and the software [2,4].…”