Phase controller for a robotic fish to follow an oscillating source

Yen, Wei-Kuo; Guo, Jenhwa

doi:10.1016/j.oceaneng.2018.04.082

Cited by 15 publications

(10 citation statements)

References 15 publications

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“…In another instance, Tian reported the integration of PVDF films into a multilayer sensor in which the piezoelectric active layer facilitates the smart‐manipulation of different object types when mounted into a traditional hard‐robotics gripping chassis 144. In 2018, Yen and Guo reported a PVDF sensor that is applied to an oscillating robotic fish to monitor pressure fluctuations as it locomotes 145. Soft robotics with complex motion profiles utilizing PVDF/Silicone multilayers have also recently been demonstrated by Wu et al146 In these robots, Pd/Au electrodes sandwich the piezoelectric PVDF film that is then mounted to a silicone/PET bilayer in order to mimic cockroach locomotion (Figure 7f).…”

Section: Piezoelectric Ceramics Polymers and Compositesmentioning

confidence: 99%

Materials as Machines

2020

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of responsive materials as machines is in robotics. The vision, leadership, and research of Bar-Cohen is seminal in both invigorating and focusing current-day research activities to develop responsive materials [2] and implement [3] them as lightweight, dexterous, and gentle (e.g., soft) robotic elements. In this spirit, this review exhaustively details the materials, the nature of their stimuli-response, and discusses considerations for their implementation in robotic systems and subsystems.Robotics is a well-established but growing field of research. Sustained progress in both performance and functionality continue to be realized in commercial robotic systems largely based on conventional materials and their integration with mechanisms. A recent example is the Atlas robot from Boston Dynamics [4] (Figure 1a). The incorporation of stimuli-responsive materials in robotics has largely focused on component-level demonstrations to extend the performance of a subsystem (such as a hand or gripper).Stimuli-responsive materials, spanning nearly all classes of materials and size scales, are currently subject to widespread examination in corporate, government, and academic research laboratories (Figure 1b-d). [5][6][7] In some cases, these materials have already found widespread commercial implementation in end use and are comparatively mature. The materials and fundamentals of their responses are summarized in Figure 2. Shape memory alloys (SMAs) and ceramic piezoelectric materials are distinctive in that they are hard, stimuli-responsive materials. Deformation of these materials can produce large energy densities due to their inherent stiffness. Electroactive polymers (EAPs) remain a topic of considerable interest, particularly dielectric elastomer actuators (DEAs). Engineered systems are rapidly emerging and enabling performance gains in robotics, largely based on pneumatic or fluidic (such as HASEL [8] actuators) transport processes that localize deformation to generate force or produce motion. Soft materials, such as shape memory polymers (SMPs), hydrogels, and liquid crystalline polymer networks (LCNs) and elastomers (LCEs) may offer distinctive functional performance to robotic systems in allowing local control of deformation without the need for complex interfacing with mechanisms. As will be evident, each of these materials has inherent advantages and performance tradeoffs that must be considered in functional implementations. However, responsive material systems have a common obstacle to widespread use: the performance and Machines are systems that harness input power to extend or advance function. Fundamentally, machines are based on the integration of materials with mechanisms to accomplish tasks-such as generating motion or lifting an object. An emerging research paradigm is the design, synthesis, and integration of responsive materials within or as machines. Herein, a particular focus is the integration of responsive materials to enable robotic (machine) functions such as gripping, lifting, or motility (walk...

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Section: Piezoelectric Ceramics Polymers and Compositesmentioning

confidence: 99%

Materials as Machines

2020

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“…(h) Robotic fish with the PVDF sensor along with the oscillating sphere in Ref. [67]. (i) Sensor layout and lateral line carrier physical map in Ref.…”

Section: Vortex Street Properties Detectionmentioning

confidence: 99%

“…generated by the source. Based on this, the robotic fish was able to adjust the amplitude, frequency, offset according to the phase difference [67] . Furthermore, this method lays a solid foundation for controlling the robotic fish to swim in a school.…”

Section: Vortex Street Properties Detectionmentioning

confidence: 99%

“…Liu et al 2018 [68] 25 high precision pressure sensors Euler equation, plane potential flow theory and neural network Yen et al 2018 [67] A PVDF sensor Potential flow theory Dagamseh et al 2009 [71,72] , Dagamseh et al 2010 [73,74] , Dagamseh et al 2013 [75] An array of hair flow-sensors Detecting the parallel and the perpendicular velocity components, beamforming techniques…”

Section: Vortex Street Properties Detectionmentioning

confidence: 99%

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Fish Lateral Line Inspired Flow Sensors and Flow-aided Control: A Review

2021

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Any phenomenon in nature is potential to be an inspiration for us to propose new ideas. Lateral line is a typical example which has attracted more interest in recent years. With the aid of lateral line, fish is capable of acquiring fluid information around, which is of great significance for them to survive, communicate and hunt underwater. In this paper, we briefly introduce the morphology and mechanism of the lateral line first. Then we focus on the development of artificial lateral line which typically consists of an array of sensors and can be installed on underwater robots. A series of sensors inspired by the lateral line with different sensing principles have been summarized. And then the applications of artificial lateral line systems in hydrodynamic environment sensing and vortices detection, dipole oscillation source detection, and autonomous control of underwater robots have been reviewed. In addition, the existing problems and future foci in this field have been further discussed in detail. The current works and future foci have demonstrated that artificial lateral line has great potentials of applications and contributes to the development of underwater robots.

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“…Guo et al have implemented the estimation of angular acceleration and rectilinear speed of a robotic fish using the ALLS-measured HPVs. They have also realized wall following of the robotic fish by using the ALLS-measured flow variations to estimate the relative distance and angle to the wall [19], [20]. Kottapalli et al have investigated flow-related trajectory control of a robotic stingray and realized ALLS based obstacle avoidance and navigation of an underwater vehicle [18], [22], [23].…”

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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Phase controller for a robotic fish to follow an oscillating source

Cited by 15 publications

References 15 publications

Materials as Machines

Materials as Machines

Fish Lateral Line Inspired Flow Sensors and Flow-aided Control: A Review

Artificial lateral line based local sensing between two adjacent robotic fish

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