Speed evaluation of a freely swimming robotic fish with an artificial lateral line

Wang, Wei; Li, Yuan; Zhang, Xingxing; Wang, Chen; Chen, Shiming; Xie, Guangming

doi:10.1109/icra.2016.7487675

Cited by 29 publications

(11 citation statements)

References 26 publications

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“…The speed estimation formula is derived from Bernoulli principle and corrected by local filter from ALL and IMU [82] . Furthermore, in 2016, they put forward a nonlinear prediction model including distributed pressure and angular velocity to estimate the speed of robotic fish [94] .…”

Section: Motion Parameters (Speed and Direction) Estimation And Controlmentioning

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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Section: Motion Parameters (Speed and Direction) Estimation And Controlmentioning

confidence: 99%

“…Wang et al 2015 [82] , Wang et al 2016 [94] 11 pressure sensors (Consensic CPS131) Laboratory experiment…”

Section: Speed Estimationmentioning

confidence: 99%

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

2021

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“…Physically and geometrically, the movement of the body in a fluid may result in displacement of a portion of the fluid within the movement of the body and results in moving that displaced fluid with the body, producing an effect of added mass. 15,29 Servomotor joint was designed very precisely to match the servo's shaft. Two joints were attached to each servomotor to satisfy the motion dictated by the servomotor such that the pectoral fin maintains the highest speed during the power stroke and the lowest speed during the recovery stroke.…”

Section: Design Of Pectoral Finsmentioning

confidence: 99%

Design, modeling, and experimental validation of a concave‐shape pectoral fin of labriform‐mode swimming robot

Naser

Rashid

2019

Engineering Reports

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The pectoral fin shape, size, and speed are the three main parameters for the proposed design. The influence of the geometrical shape of pectoral fin in labriform‐mode swimming mechanism is evaluated with the aid of computational fluid dynamics (CFD) method, which could be considered as a first step before building the complete robot prototype. The simulated results obtained are then validated experimentally. Two concave‐shape fins were designed with high precision, and each one of them is attached to a servomotor arm, which is, in turn, connected to a servomotor that is sliding on a pair of parallel shafts fixed at the center of a pool. The mathematical model of the proposed design is derived and then simulated by SolidWorks software. A different number of fin oscillating angles are tested with different power‐to‐recovery ratios. The generated thrust and drag force components under different working conditions are investigated, and hence, the drag coefficient is obtained experimentally. Body velocity and motor torque are calculated and compared with theoretical analysis. The results indicate that for each angle of rotation, there exists an optimal ratio that produces a maximum thrust during power stroke and maintains a minimum drag during recovery stroke.

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“…Yen et al [22] controlled the movement of a fish robot with necessary flow information provided by an ALLS. Wang et al [23] mounted an ALLS on the surface of a robotic fish to predict the robot velocity. Zheng et al [24] equipped an ALLS to a fish robot to detect the reverse Karman street vortex wake produced by its adjacent robotic fish.…”

Section: Introductionmentioning

confidence: 99%

Flow Field Perception of a Moving Carrier Based on an Artificial Lateral Line System

Liu

Hao

Yang

et al. 2020

Sensors

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At present, autonomous underwater vehicles (AUVs) cannot perceive local environments in complex marine environments, where fish can obtain hydrodynamic information about the surrounding environment through a lateral line. Inspired by this biological function, an artificial lateral line system (ALLS) was built on a moving bionic carrier using the pressure sensor in this paper. When the carrier operated with different speeds in the flow field, the pressure distribution characteristics surrounding the carrier were analyzed by numerical simulation, where the effect of the flow angle between the fluid velocity direction and the carrier navigation direction was considered. The flume experiment was carried out in accordance with the simulation conditions, and the analysis results of the experiment were consistent with those in the simulation. The relationship between pressure and fluid velocity was established by a fitting method. Subsequently, the pressure difference method was investigated to establish a relationship model between the pressure difference on both sides of the carrier and the flow angle. Finally, a back propagation neural network model was used to predict the fluid velocity, flow angle, and carrier speed successfully in the unknown fluid environment. The local fluid environment perception by moving carrier carrying ALLS was studied which may promote the engineering application of the artificial lateral line in the local perception, positioning, and navigation on AUVs.

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Speed evaluation of a freely swimming robotic fish with an artificial lateral line

Cited by 29 publications

References 26 publications

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

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

Design, modeling, and experimental validation of a concave‐shape pectoral fin of labriform‐mode swimming robot

Flow Field Perception of a Moving Carrier Based on an Artificial Lateral Line System

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