Track topics on Twitter Track topics that are important to you
After millions of years of evolution, fishes have been endowed with agile swimming ability to accomplish various behaviourally relevant tasks. In comparison, robotic fish are still quite poor swimmers. One of the unique challenges facing robotic fish is the difficulty in tuning the motion control parameters on the robot directly. This is mainly due to the complex fluid environment robotic fish need to contend with and endurance limitations. To overcome these limitations, we propose a computational fluid dynamics (CFD) simulation platform to first tune the motion control parameters for the computational robotic fish and then refine the parameters by experiments on robotic fish. Within the simulation platform, the body morphology and gait control of the computational robotic fish are designed according to a robotic fish. The gait control is implemented by a central pattern generator (CPG); The CFD simulation is on the basis of a technique called dynamic grid generation. We tested our simulation platform with three basic tasks under active disturbance rejection control (ADRC) and try-and-error-based parameter tuning. Trajectory comparisons between the computational robotic fish and robotic fish verify the effectiveness of our simulation platform. Moreover, power costs and swimming efficiency during the motion control are also analyzed based on the outputs from the simulation platform. Our results indicate that the CFD based simulation platform is powerful and robust, and shed new light on the efficient design and parameter optimization of the motion control of robotic fish.
This article was published in the following journal.
Name: Bioinspiration & biomimetics
In this study, the direct wavefront gradient algorithm is used to calculate the control voltage of the deflection mirror. Considering the control voltage as the input of the fuzzy controller, the fuzz...
Synchronous control is a fundamental and significant problem for controlling a multi-joint robot. In this article, by applying two coupled Rayleigh oscillators as the referred central pattern generato...
The momentum dependence of the nematic order parameter is an important ingredient in the microscopic description of iron-based high-temperature superconductors. While recent reports on FeSe indicate t...
Sea lions swim using primarily their foreflippers, which is uncommon among aquatic mammals. While a significant body of literature exists which investigates the hydrodynamics of body-caudal swimming, ...
Robotic technology has become increasingly prevalent throughout modern surgical practice as surgical training programs are determining how to best include this robotic training in their curricula. In ...
Designed as a single arm multi-center prospective phase II trial, which evaluates the number of dissected lymph nodes in the N2-area as a surrogate parameter for adequate D2 lymphadenectom...
The primary objective of this trial is to determine the safety and efficacy of IV fish oil doses of 0.20 g/kg and 0.50 g/kg, compared to a control group, in critically ill patients with se...
The study is to investigate the effect of a soft robotic glove approach providing continuous passive motion of fingers (flexion and extension) on degenerative arthritis patients. The appro...
The overall aim of this prospective, randomised, single-blinded, controlled trial is to compare clinical outcomes and accuracy of implant positioning in Mako robotic UKA versus jig-based O...
This is a phase IIb clinical trial to investigate the efficacy and safety of subcutaneous immunotherapy with a modified parvalbumin called mCyp c 1 for the treatment of fish allergy to sub...
Fish of the genera ONCORHYNCHUS and Salmo in the family SALMONIDAE. They are anadromous game fish, frequenting the coastal waters of both the North Atlantic and Pacific. They are known for their gameness as a sport fish and for the quality of their flesh as a table fish. (Webster, 3d ed).
Food products manufactured from fish (e.g., FISH FLOUR, fish meal).
The most diversified of all fish orders and the largest vertebrate order. It includes many of the commonly known fish such as porgies, croakers, sunfishes, dolphin fish, mackerels, TUNA, etc.
A flour made of pulverized, dried fish or fish parts.
Disorder caused by motion, as sea sickness, train sickness, car sickness, air sickness, or SPACE MOTION SICKNESS. It may include nausea, vomiting and dizziness.