Gliding robotic fish for mobile sampling of aquatic environments

Zhang, Feitian; Wang, Jianxun; Thon, John; Thon, Cody; Litchman, Elena; Tan, Xiaobo

doi:10.1109/icnsc.2014.6819619

Cited by 13 publications

(7 citation statements)

References 21 publications

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“…An experimental prototype of GRACE, previously used to sample crude oil and harmful algae [20,22], was modified to serve as a mobile platform for a receiver for detecting acoustic tags. The new robot design featured a carbon fiber shell with removable front section, and aluminum wings and tail.…”

Section: Gliding Robotic Fishmentioning

confidence: 99%

“…In this paper, we describe detection efficiency of an acoustic telemetry receiver mounted on a gliding robotic fish, a novel type of underwater AUV [19][20][21], during a series of field trials in a freshwater lake conducted principally to evaluate hardware and software changes during development. Like underwater gliders, gliding robotic fish (dubbed GRACE, for Gliding-Robot-ACE) achieve locomotion primarily through buoyancy-driven gliding or spiraling.…”

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confidence: 99%

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Characterization of acoustic detection efficiency using a gliding robotic fish as a mobile receiver platform

et al. 2020

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Background Autonomous underwater vehicles (AUVs) and animal telemetry have become important tools for understanding the relationships between aquatic organisms and their environment, but more information is needed to guide the development and use of AUVs as effective animal tracking platforms. A forward-facing acoustic telemetry receiver (VR2Tx 69 kHz; VEMCO, Bedford, Nova Scotia) attached to a novel AUV (gliding robotic fish) was tested in a freshwater lake to (1) compare its detection efficiency (i.e., the probability of detecting an acoustic signal emitted by a tag) of acoustic tags (VEMCO model V8-4H 69 kHz) to stationary receivers and (2) determine if detection efficiency was related to distance between tag and receiver, direction of movement (toward or away from transmitter), depth, or pitch. Results Detection efficiency for mobile (robot-mounted) and stationary receivers were similar at ranges less than 300 m, on average across all tests, but detection efficiency for the mobile receiver decreased faster than for stationary receivers at distances greater than 300 m. Detection efficiency was higher when the robot was moving toward the transmitter than when moving away from the transmitter. Detection efficiency decreased with depth (surface to 4 m) when the robot was moving away from the transmitter, but depth had no significant effect on detection efficiency when the robot was moving toward the transmitter. Detection efficiency was higher when the robot was descending (pitched downward) than ascending (pitched upward) when moving toward the transmitter, but pitch had no significant effect when moving away from the transmitter. Conclusion Results suggested that much of the observed variation in detection efficiency is related to shielding of the acoustic signal by the robot body depending on the positions and orientation of the hydrophone relative to the transmitter. Results are expected to inform hardware, software, and operational changes to gliding robotic fish that will improve detection efficiency. Regardless, data on the size and shape of detection efficiency curves for gliding robotic fish will be useful for planning future missions and should be relevant to other AUVs for telemetry. With refinements, gliding robotic fish could be a useful platform for active tracking of acoustic tags in certain environments.

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Section: Gliding Robotic Fishmentioning

confidence: 99%

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confidence: 99%

Characterization of acoustic detection efficiency using a gliding robotic fish as a mobile receiver platform

et al. 2020

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Section: Introductionmentioning

confidence: 99%

“…1 Compared with conventional underwater vehicles powered by screw propellors, robotic fish can overcome their shortcomings, such as large scale, low energy efficiency, and disturbance to the environment, and it has great superiority in propulsive efficiency, maneuverability, and stealth. 2,3 With the development of mechatronic technologies and computer science, robotic fish plays a huge role in underwater exploration, [4][5][6] samplings, 7,8 rescues, 9 and water quality monitoring. 10 The earliest research on fish can be traced back to 1926; Breder 11 categorized the swimming modes of fishes into the body and/or caudal fin (BCF) propulsion and median and/or paired fin (MPF) propulsion according to the body part utilized for propulsion.…”

Section: Introductionmentioning

confidence: 99%

A comprehensive review on fish-inspired robots

et al. 2022

International Journal of Advanced Robotic Systems

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Recently, the increasing interest in underwater exploration motivates the development of aquatic unmanned vehicles. To execute hazardous tasks in an unknown or even hostile environment, researchers have directed on developing biomimetic robots inspired by the extraordinary maneuverability, cruising speed, and propulsion efficiency of fish. Nevertheless, the performance of current prototypes still has gaps compared with that of real fishes. In this review, recent approaches in structure designs, actuators, and sensors are presented. In addition, the theoretical methods for modeling the robotic fishes are consolidated, and the control strategies are offered. Finally, the current challenges are summarized, and possible future directions are deeply discussed. It is expected that the emergence of new engineering and biological technologies will enhance the field of robotic fish for further advancement.

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“…in situ or manual measurements) is to use mobile sensors that are moved to multiple measurement locations by autonomous vehicles. Autonomous surface vehicles (ASVs, i.e., "robot boats") and autonomous underwater vehicles (AUVs, i.e., "robot submarines") have growing applications in thermal mapping [29][30][31][32][33]. These systems are mobile, do not need a human operator and can be deployed for long periods of time, allowing researchers to generate high spatio-temporal resolution maps of the full 3D thermal structure of the water.…”

Section: Introductionmentioning

confidence: 99%

Obtaining the Thermal Structure of Lakes from the Air

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et al. 2015

Water

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The significance of thermal heterogeneities in small surface water bodies as drivers of mixing and for habitat provision is increasingly recognized, yet obtaining three-dimensionally-resolved observations of the thermal structure of lakes and rivers remains challenging. Remote observations of water temperature from aerial platforms are attractive: such platforms do not require shoreline access; they can be quickly and easily deployed and redeployed to facilitate repeated sampling and can rapidly move between target locations, allowing multiple measurements to be made during a single flight. However, they are also subject to well-known limitations, including payload, operability and a tradeoff between the extent and density over which measurements can be made within restricted flight times. This paper introduces a novel aerial thermal sensing platform that lowers a temperature sensor into the water to record temperature measurements throughout a shallow water column and presents results from initial field experiments comparing in situ temperature observations to those made from the UAS platform. These experiments show that with minor improvements, UASs have the potential to enable high-resolution 3D thermal mapping of a ∼1-ha lake in 2-3 flights (circa 2 h), sufficient to resolve diurnal variations. This paper identifies operational constraints and key areas for further development, including Water 2015, 7 6468 the need for the integration of a faster temperature sensor with the aerial vehicle and better control of the sensor depth, especially when near the water surface.

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Gliding robotic fish for mobile sampling of aquatic environments

Cited by 13 publications

References 21 publications

Characterization of acoustic detection efficiency using a gliding robotic fish as a mobile receiver platform

Characterization of acoustic detection efficiency using a gliding robotic fish as a mobile receiver platform

A comprehensive review on fish-inspired robots

Obtaining the Thermal Structure of Lakes from the Air

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