Design and development of an autonomous underwater vehicle – robot dolphin

This paper aims to describe the design of a robot dolphin with a voluntary movement function. First, a motion mechanism is described based on 3D motion analysis to determine the length of each link and the swing angle of each joint in the robot dolphin. Two microchips are used to control the swing angle of the actuator in each joint. In order to understand the motion characteristics of the robot dolphin, a microcomputer is installed in order to obtain various motion data. The experimental data for three-axis accelerations and three-axis angles are found to be the same as the oscillatory frequency of the robot dolphin in the swing forward motion. The robot dolphin is designed to possess an avoidable collision function and artificial intelligence, artificial intelligence consists of the preprocessing image and back-propagation learning to implement specific motion identification.

[1]  Soo-Chang Pei,et al.  Image normalization for pattern recognition , 1995, Image Vis. Comput..

[2]  Jie Yang,et al.  Development of an underwater oscillatory propulsion system using shape memory alloy , 2005, IEEE International Conference Mechatronics and Automation, 2005.

[3]  G. Awcock,et al.  Applied Image Processing , 1995 .

[4]  Michael Sfakiotakis,et al.  Review of fish swimming modes for aquatic locomotion , 1999 .

[5]  David M. Skapura,et al.  Neural networks - algorithms, applications, and programming techniques , 1991, Computation and neural systems series.

[6]  Mohsen Shahinpoor,et al.  Biomimetic robotic propulsion using polymeric artificial muscles , 1997, Proceedings of International Conference on Robotics and Automation.

[7]  Eunjeong Lee.  Design of a soft and autonomous biomimetic micro-robotic fish , 2010, 2010 5th IEEE Conference on Industrial Electronics and Applications.

[8]  Domenici,et al.  The kinematics and performance of fish fast-start swimming , 1997, The Journal of experimental biology.

[9]  Ruxu Du,et al.  Mechanical design, kinematic modeling and simulation of a robotic dolphin , 2011, 2011 IEEE International Conference on Information and Automation.

[10]  Junzhi Yu,et al.  A simplified propulsive model of bio-mimetic robot fish and its realization , 2005, Robotica.

[11]  Long Wang,et al.  Construction and control of biomimetic robotic dolphin , 2006, Proceedings 2006 IEEE International Conference on Robotics and Automation, 2006. ICRA 2006..

[12]  P. Webb.  Form and Function in Fish Swimming , 1984 .

[13]  K. H. Low,et al.  Modelling and parametric study of modular undulating fin rays for fish robots , 2009 .