Design and Realization of a Novel Hybrid-Drive Robotic Fish for Aquaculture Water Quality Monitoring

Ji, Yiting; Wei, Yaoguang; Liu, Jincun; An, Dong

doi:10.1007/s42235-022-00282-1

Cited by 11 publications

(3 citation statements)

References 24 publications

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“…The hybrid-driven biomimetic robotic fish incorporates the traditional propeller-driven method into the bionic design of the robotic fish, allowing for compatibility and synergy between the two approaches. The detailed proof-of-concept prototype can be referenced from our earlier research (Ji, Wei, Liu, & An, 2023). Figure 1 illustrates the designed untethered robotic fish, consists of a well streamlined tuna-like body, waist and tail swinging joints with a tail fin, a pair of 2 degree of freedom (DOF) mechanical fins, a fixed doral fin, and a replaceable propeller.…”

Section: Robotic Fish Prototypementioning

confidence: 99%

Development and application of the coverage path planning based on a biomimetic robotic fish

Liu,

Zhao,

Liu

et al. 2024

Preprint

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This paper studies the coverage path planning and path following problems for an underwater biomimetic robotic fish to finish the deep-sea net cage water quality monitoring. Firstly, with a focus on minimizing total path length, repetition rate, and turning occurrences to enhance path coverage efficiency and reduce energy consumption, we propose a novel coverage path planning strategy. This strategy incorporates DQN, a reward function, and a rewrite strategy inspired by RRT*. Secondly, a high-performance path-following method, which takes into account robot performance, is designed to cope with adverse conditions in net cages. Finally, the simulation and field experiments demonstrate significant improvements over existing methods and the effectiveness in practical applications, showcasing its applicability in aquaculture management. The proposed algorithm offers valuable insights into optimizing coverage path planning for underwater robots in practical scenarios.

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Section: Robotic Fish Prototypementioning

confidence: 99%

Development and application of the coverage path planning based on a biomimetic robotic fish

Liu,

Zhao,

Liu

et al. 2024

Preprint

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“…When performing steering locomotion, the servo motor outputs a periodic motion principle with the offset angle. Due to the limited driving frequency of the servo motor, the flapping frequency of the bionic underwater vehicle is low [18][19][20]. The asymmetric periodic flapping of the pectoral fins can also achieve steering locomotion of the bionic underwater vehicle.…”

Section: Introductionmentioning

confidence: 99%

Steering characteristics and path following control of a bionic underwater vehicle with multiple locomotion modes

Wang,

Zhou,

Wang

et al. 2024

Preprint

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The research on the path following control of the bionic underwater vehicle with high maneuverability and propulsive performance is a crucial issue. This paper investigates the planer path following control task of a bionic underwater vehicle with superior maneuverability. The steering characteristics of the sinusoidal offset and unilateral asymmetric steering signals are analyzed. The experimental results demonstrate that the two signals separately have smaller steering radius and power consumption in the low-frequency and relatively high-frequency range, and are consequently suitable for distinct scenarios. Furthermore, a switching nonlinear model predictive control strategy is proposed, which regulates the state error weighting values according to the real-time yaw angle error. The control strategy realizes autonomous switching of multiple locomotion modes to enhance the swimming speed of the bionic underwater vehicle and fulfills the purpose of improving the task-completing efficiency. The simulation and experimental results indicate that the bionic underwater vehicle achieved 3.49 and 2.92 times enhancement in swimming speed performance at straight and steering target path following control tasks, respectively. The proposed methods as well as obtained results can provide universal inspiration for the multiple motion-based path following control of autonomous underwater vehicles.

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“…The traditional autonomous underwater robots are commonly driven by propellers during underwater operations. They are prone to entanglement with aquatic vegetation and suffer from disadvantages such as low propulsion efficiency and high noise, which cause significant disturbance to aquatic organisms [ 6 ]. In contrast, fish species have evolved physiological structures and functional characteristics adapted to their survival environment through long-term natural evolution.…”

Section: Introductionmentioning

confidence: 99%

Design and Realization of a Novel Robotic Manta Ray for Sea Cucumber Recognition, Location, and Approach

Liu

Liu²,

Yang

et al. 2023

Biomimetics

Self Cite

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Sea cucumber manual monitoring and fishing present various issues, including high expense and high risk. Meanwhile, compared to underwater bionic robots, employing autonomous underwater robots for sea cucumber monitoring and capture also has drawbacks, including low propulsion efficiency and significant noise. Therefore, this paper is concerned with the design of a robotic manta ray for sea cucumber recognition, localization, and approach. First, the developed robotic manta ray prototype and the system framework applied to real-time target search are elaborated. Second, by improved YOLOv5 object detection and binocular stereo-matching algorithms, precise recognition and localization of sea cucumbers are achieved. Thirdly, the motion controller is proposed for autonomous 3D monitoring tasks such as depth control, direction control, and target approach motion. Finally, the capabilities of the robot are validated through a series of measurements. Experimental results demonstrate that the improved YOLOv5 object detection algorithm achieves detection accuracies (mAP@0.5) of 88.4% and 94.5% on the URPC public dataset and self-collected dataset, respectively, effectively recognizing and localizing sea cucumbers. Control experiments were conducted, validating the effectiveness of the robotic manta ray’s motion toward sea cucumbers. These results highlight the robot’s capabilities in visual perception, target localization, and approach and lay the foundation to explore a novel solution for intelligent monitoring and harvesting in the aquaculture industry.

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Design and Realization of a Novel Hybrid-Drive Robotic Fish for Aquaculture Water Quality Monitoring

Cited by 11 publications

References 24 publications

Development and application of the coverage path planning based on a biomimetic robotic fish

Development and application of the coverage path planning based on a biomimetic robotic fish

Steering characteristics and path following control of a bionic underwater vehicle with multiple locomotion modes

Design and Realization of a Novel Robotic Manta Ray for Sea Cucumber Recognition, Location, and Approach

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