Study of artificial fish bladder system for robot fish

Minh-Thuan, Le; Nguyen, Thin; Ngoc-Phuong, Nguyen

doi:10.1109/robio.2011.6181606

Cited by 4 publications

(3 citation statements)

References 2 publications

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“…The third design selection of controlling the buoyancy by axially moving the front and aft domes is similar to the design by recent researchers [ 19 , 20 , 22 ], but implemented inside of the robotic eel body and tested in the tow tank setting. During the tests, the design with the expanding head/tail provided excellent results for depth and trim control.…”

Section: Discussionmentioning

confidence: 99%

“…Sumantr et al [ 19 ] proposed a simulation model to fill a water ballasting tank by the battery operating movement of a flat plate. Minh-Thuan et al [ 20 ] experimented a lead screw system that can convert a pure rotation to a pure translation of a piston that is controlled by a servo motor via gearbox and transmission actuator. Inoue et al [ 21 ] used the spermaceti oil hypothesis to implement a buoyancy control system that can heat and cool paraffin wax by the use of a Peltier element and a nichrome wire.…”

Section: Introductionmentioning

confidence: 99%

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Design of a Depth Control Mechanism for an Anguilliform Swimming Robot

Islam

Taravella

2021

Biomimetics

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This paper discusses the design and implementation of a depth control mechanism for an anguilliform swimming robot. Researchers analyzed three different methods of controlling the depth of the robot, including out-of-plane thrust direction, use of foil on the head and buoyancy control at the head and tail. It was determined that buoyancy control at the head and tail was the best method for controlling depth and pitch, given typical forward speeds of the robot. Details are given into the design of this mechanism, including a stress analysis on a critical part, as well as the impacts that these modifications have on the required torque of the drive servos.

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Section: Discussionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Design of a Depth Control Mechanism for an Anguilliform Swimming Robot

Islam

Taravella

2021

Biomimetics

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“…The capacity of the cylinder is 12 ml, which is 9.6% of the vehicle's volume. Other experimental research (Minh-Thuan et al, 2011) present results of robot diving rates for different amounts of water in the ballast tank (different piston positions) as well as different additional weights attached to the vehicle's hull (increased negative buoyancy) although no depth controller was described. Buoyancy tanks of a similar design were https://doi.org/10.37705/TechTrans/e2021024 implemented in a small free-swimming robotic fish with a soft tail described by Katzschmann et al (Katzschmann et al, 2018).…”

Section: Static and Dynamic Depth Controlmentioning

confidence: 99%

Depth control for biomimetic and hybrid unmanned underwater vehicles

Morawski

Malec

2021

Tech.Trans.

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Unmanned underwater vehicles which use biomimetic mechanisms are becoming increasingly useful in the realisation of tasks requiring silent and efficient propulsion. Complex fish kinematics are simplified to some extent and implemented in such vehicles. One of the essential fish behaviours is their ability to adjust their buoyancy using a swim bladder. This paper covers the issues concerning the implementation of artificial swim bladders as well as depth regulators in two underwater vehicles: biomimetic and hybrid. The control of vehicle depth through buoyancy change was examined in the computer simulation and in the experiment. Two types of artificial swim bladder were tested – a rigid cylinder with a piston and an elastic container with a water pump.

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