Open-Loop Control of a Multifin Biorobotic Rigid Underwater Vehicle

Menozzi, A.; Leinhos, H.A.; Beal, David; Bandyopadhyay, Promode R.

doi:10.1109/joe.2008.918687

Cited by 61 publications

(38 citation statements)

References 12 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…Thus, the fins implement the same high-lift principle as do swimming animals and flying insects. The result is that BAUV has animal-like maneuvering abilities (Menozzi et al, 2008). For the present work, our biosonar system has been attached axially to the front of the BAUV (Fig.…”

Section: Methodsmentioning

confidence: 99%

“…Müller and Kuc (2007) have reviewed bat-based engineering sonar systems. The present authors have developed a biorobotic vehicle that implements the high-lift hydrodynamic principle of swimming and flying animals (Ellington, 1984), which confers extreme maneuverability; they have also developed appropriate controllers to demonstrate these capabilities (Menozzi et al, 2008). This vehicle has low self-noise, which allows experimentation in an acoustic test facility.…”

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Dolphin-inspired combined maneuvering and pinging for short-distance echolocation

Forsythe

Leinhos

Bandyopadhyay

2008

The Journal of the Acoustical Society of America

View full text Add to dashboard Cite

The biorobotic emulation of swimming and flying animals carrying out short-distance echolocation while maneuvering is considered. A simple and lightweight sonar for use on a small, maneuverable underwater vehicle for short-distance echolocation is explored. This sonar has four sensors and uses broadband, high-frequency signals to echolocate. The frequency-time characteristics of these signals are compared to those of bats and dolphins. The biosonar is paired with a biologically inspired, maneuverable, underwater vehicle, the combined use of sensors and maneuverability being analogous to animal behavior. Homing experiments have been carried out in an acoustic test facility where identification and localization of multiple targets is based on fusion of acoustic returns from multiple pings.

show abstract

Section: Methodsmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Dolphin-inspired combined maneuvering and pinging for short-distance echolocation

Forsythe

Leinhos

Bandyopadhyay

2008

The Journal of the Acoustical Society of America

View full text Add to dashboard Cite

show abstract

“…Menozzi et al [10] have proposed an open loop control for a cylindrical hull shaped robot with with penguin-wing inspired fins placed in the front and the back. Each of the fins have two DoF, compared to a single DoF needed for Aqua.…”

Section: Previous Workmentioning

confidence: 99%

Wide-Speed Autopilot System for a Swimming Hexapod Robot

Giguère

Girdhar

Dudek

2013

2013 International Conference on Computer and Robot Vision

View full text Add to dashboard Cite

Abstract-For underwater swimming robots, which use the unconventional method of oscillating flippers for propulsion and control, being able to move stably at various velocities is challenging. This stable motion facilitates navigation, avoids blurring the images taken by a camera motion, and enables longterm observations of specific locations. Previous experiments with our swimming robot Aqua have shown that its autopilot system must adapt the control parameters as a function of speed. The reason is that the dynamics of both the robot and the thrusting system vary widely as a function of the overall velocity of the robot. In this paper, we present the results of manually tuning a stable autopilot system for this Aqua swimming robot. We employed a well-known technique called gain scheduling to allow for stable operation for velocities ranging from 0 to 40 cm/s, in real open sea conditions. Thus, our platform is now suitable for vision-based navigation in low light conditions as well as for extended observation through station-keeping. The results presented here are also a proof-of-concept that agile and reactive autonomous hovering is possible for flipper-based propulsion system.

show abstract

“…Additionally, IPMC actuators can play a critical role in the development of innovative highly-maneuverable biorobotic vehicles, e.g., [11]. The application of IPMC actuators for propulsion and maneuvering in underwater systems often require the actuator to exhibit oscillatory motion.…”

Section: Introductionmentioning

confidence: 99%

Tracking control of oscillatory motion in IPMC actuators for underwater applications

Song

Shan

Leang

2010

2010 IEEE/ASME International Conference on Advanced Intelligent Mechatronics

View full text Add to dashboard Cite

Ionic polymer-metal composite (IPMC) actuators have many advantages; for instance, they (1) can be driven with low voltages (<5 V); (2) are soft, flexible and easily shaped; and (3) can operate in an aqueous environment (such as water). Important applications for IPMCs include active catheter devices for minimally invasive surgery, artificial muscle, and sensors and actuators for biorobotics. For applications such as endoscopy and flapping-based propulsion systems in aquatic robots, the IPMC actuator is required to precisely track a periodic reference trajectory. However, due to dynamic effects, nonlinear behavior, and external disturbances, uncompensated open-loop control yields excessively-large tracking error. This paper focuses on precision tracking of oscillatory motion in IPMC actuators. A feedback controller based on the repetitive control concept is proposed to improve tracking performance from one operating period to the next. The stability of the controller is analyzed in the discrete-time domain, and design considerations are discussed. The method is applied to a newly fabricated Perfluorinated Ion Exchange Membrane based IPMC actuator with lithium as its counter-ion. The tip displacement of the IPMC actuator is measured by a strain gage sensor. This newly proposed sensing scheme is low cost, practical, effective, and importantly, compact. Experimental results show the combined control and sensing scheme can minimize the tracking error by approximately 50% compared to PID control for tracking of periodic signals including sinusoidal and triangular wave forms.

show abstract

Open-Loop Control of a Multifin Biorobotic Rigid Underwater Vehicle

Cited by 61 publications

References 12 publications

Dolphin-inspired combined maneuvering and pinging for short-distance echolocation

Dolphin-inspired combined maneuvering and pinging for short-distance echolocation

Wide-Speed Autopilot System for a Swimming Hexapod Robot

Tracking control of oscillatory motion in IPMC actuators for underwater applications

Contact Info

Product

Resources

About