Design and Fuzzy Control of the Shark Robot-Fish Dorsal Fin Using SMA

Abstract

This contribution presents the experimental investigations on design and fabrication of the dorsal fin of the shark robot-fish mechanism which is controlled using NiTi Shape Memory Alloy (SMA) actuators by a Fuzzy controller. The dorsal fin helps the shark not only to turn around, but also it helps shark to roll. This fin contains two main parts, a rigid part; is connected to the shark’s body and another part is mounted on the latter one which can be rotated. The rotation angle of the second part is controlled by two parallel SMA wires. The subtlety of this installation is the tension of the right wire, when the left one is actuated. In addition, a fuzzy controller was determined by considering the characteristics of the SMA wires and designated mechanism which has hysteresis response characteristics against heating and cooling.

Hydrodynamics of Biomimetic Marine Propulsion and Trends in Computational Simulations

“…At Istanbul Technical University, Dogangil et al also constructed a robotic dolphin [78] and analyzed the hydrodynamics and kinematics [79]. To a lesser extent, shark also inspired biomimetic propulsion mechanisms [81,82].…”

“…Table 1 summarizes the BCF swimming mechanisms mentioned, including the authors, institution, propulsion mode, and source of inspiration. [70]; Nakashima et al [71] Tokyo Institute of Technology, Japan Thunniform Dolphin Yu et al [72]; Yu et al [73]; Yu et al [74]; Shen et al [75]; Shen et al [76]; Liu et al [77] Chinese Academy of Sciences, China Thunniform Dolphin Dogangil et al [78]; Dogangil et al [79] Istanbul Technical University, Turkey Thunniform Dolphin Ho and Lee [80] Konkuk University, South Korea Thunniform Dolphin Aghbali et al [81] College of Engineering, Iran Thunniform Shark Long et al [82] Vassar College, USA Thunniform Shark Kodati et al [83]; Kodati et al [84] University of Delaware, USA Ostraciiform Boxfish Gordon et al [85] University of California, USA Ostraciiform Boxfish Hu et al [86] Peking University, China Ostraciiform Boxfish Anderson et al [87] Massachussets Institute of Technology, USA Ostraciiform Flapping foil Read et al [88] Massachussets Institute of Technology, USA Ostraciiform Flapping foil Yamamoto et al [89] Mitsubishi Heavy Industries, Japan Ostraciiform Flapping foil Streitlien and Triantafyllou [90] City College of New York, USA Ostraciiform Flapping foil Paterson and Stern [91,92] University of Lowa, USA Ostraciiform Flapping foil Karpouzian et al [93] Univ of Southern California, USA Ostraciiform Flapping foil Yamaguchi and Bose [94] University of Tokyo, Japan Ostraciiform Flapping foil Saimek and Li [95] University of Minnesota, USA Ostraciiform Flapping foil Herr and Dennis [96] MA Institute of Technology, USA Ostraciiform Flapping foil Guo [97] Kagawa University, Japan Ostraciiform Flapping foil Belibassakis and Politis [98]; Belibassakis and Filippas [99]; Filippas et al [100];…”