Controller design for a fish robot to follow an oscillating source

Yen, Wei-Kuo; Martinez, Sebastian; Guo, Jenhwa

doi:10.1109/cyber.2015.7288074

Cited by 2 publications

(3 citation statements)

References 5 publications

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“…They tried to detect a vibrating sphere based on potential flow theory and adjusted the oscillation frequency and phase of the robot fish's caudal fin simultaneously. Thus, the phase of the target was tracked by the robot fish equipped with the ALLS [18]. Xie et al proposed a robot box fish equipped with an ALLS to detect the Karman vortex street generated by the oscillating tail fin of another upstream robot fish.…”

Section: Artificial Lateral Line System (Alls)mentioning

confidence: 99%

An underwater moving dipole tracking method of artificial lateral line based on intelligent optimization and recursive filter

Liu

Yang

et al. 2022

Meas. Sci. Technol.

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Inspired by the lateral line system of fish, the artificial lateral line system (ALLS) was proposed for underwater target detection. The dipole was treated as a standard and simplified target and most researchers focused on the dipole at a fixed position. The trajectory tracking of moving dipole was barely considered. In this paper, a new trajectory tracking method of moving dipole was proposed. Firstly, based on the instant pressure amplitude and loss function, the dipole trajectory was tracked by particle swarm optimization (PSO). Then, the PSO tracked trajectory was optimized by the recursive filter such as Kalman filter (KF) and particle filter (PF) to reduce the tracking error. The experiment result showed that when the trajectory of the dipole was rectangle, the target tracking accuracy of PSO was competitive compared with the Gauss-Newton method. The mean error distance (MED) of PSO was 12.51mm. The PF showed better optimization performance than KF in this paper, and the corresponding MED of PF was 7.064mm. The main factor that caused the tracking error was the pressure mismatch. In the simulation, when the pressure mismatch was not considered, the performance of the proposed dipole tracking method was highly improved.

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Section: Artificial Lateral Line System (Alls)mentioning

confidence: 99%

An underwater moving dipole tracking method of artificial lateral line based on intelligent optimization and recursive filter

Liu

Yang

et al. 2022

Meas. Sci. Technol.

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“…Different kinds of artificial lateral line systems (ALLSs) which are composed of varieties of sensors have been developed and put into application [9]. The existing research on ALLSs has mainly focused on the localization of dipole source [10][11][12][13][14][15][16][17], the estimation of flow characteristics [18][19][20][21][22] and flow-aided control of underwater robots and vehicles [23][24][25][26][27][28][29][30][31][32]. Specifically, Yang et al have developed an ALLS composed of multiple microfabricated, outof-plane hot wire anemometry sensors [10].…”

Section: Introductionmentioning

confidence: 99%

“…Based on the hydrodynamic force, they designed a feedback controller for realizing trajectory tracking of the vehicle [23]. Guo's group has investigated how to make a robotic fish track the motion of an oscillating source by using an ALLS which was composed of multiple polyvinylidene fluoride based pressure sensors [24]. Furthermore, they have realized wallfollowing control of a robotic fish with onboard ALLS [25].…”

Section: Introductionmentioning

confidence: 99%

Artificial lateral line based local sensing between two adjacent robotic fish

et al. 2017

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The lateral line system (LLS) is a mechanoreceptive organ system with which fish and aquatic amphibians can effectively sense the surrounding flow field. The reverse Kármán vortex street (KVS), known to be a typical thrust-producing wake, is commonly observed in fish-like locomotion and is known to be generated by fish's tails. The vortex street generally reflects the motion information of the fish. A fish can use LLS to detect such vortex streets generated by its neighboring fish, thus sensing its own state and the states of its neighbors in a school of fish. Inspired by this typical biological phenomenon, we design a robotic fish with an onboard artificial lateral line system (ALLS) composed of pressure sensor arrays and use it to detect the reverse KVS-like vortex wake generated by its adjacent robotic fish. Specifically, the vortex wake results in hydrodynamic pressure variations (HPVs) in the flow field. By measuring the HPV using the ALLS and extracting meaningful information from the pressure sensor readings, the oscillating frequency/amplitude/offset of the adjacent robotic fish, the relative vertical distance and the relative yaw/pitch/roll angle between the robotic fish and its neighbor are sensed efficiently. This work investigates the hydrodynamic characteristics of the reverse KVS-like vortex wake using an ALLS. Furthermore, this work demonstrates the effectiveness and practicability of an artificial lateral line in local sensing for adjacent underwater robots, indicating the potential to improve close-range interaction and cooperation within a group of underwater vehicles through the application of ALLSs in the near future.

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Controller design for a fish robot to follow an oscillating source

Cited by 2 publications

References 5 publications

An underwater moving dipole tracking method of artificial lateral line based on intelligent optimization and recursive filter

An underwater moving dipole tracking method of artificial lateral line based on intelligent optimization and recursive filter

Artificial lateral line based local sensing between two adjacent robotic fish

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