Development of a Novel Robotic Dolphin and Its Application to Water Quality Monitoring
Wu, Zhengxing1; Liu, Jincun1,2; Yu, Junzhi1,3; Fang, Hao3
2017-10-01
发表期刊IEEE-ASME TRANSACTIONS ON MECHATRONICS
卷号22期号:5页码:2130-2140
文章类型Article
摘要This paper presents the mechatronic design and hydrodynamic analysis of a novel bioinspired robotic dolphin used formobile water qualitymonitoring. A complementary configuration for mimicry of dolphin-like propulsion is first presented, involving a waist-fluke propulsive unit for dorsoventral oscillations and a pair of flippers with separate degree of freedom for three-dimensional (3-D) maneuvers. A host of onboard sensors is equipped to strengthen the capability of environment perception and mission execution on a near real-time basis. Considering the dynamic requirement formotion transition in water quality monitoring, a central pattern generator based controller is then built to govern the multimodal locomotion of the robotic dolphin. Moreover, a 3-D dynamic model based on the Lagrange method is employed to predict the propulsive performance, followed by simulations of continuous diving and surfacing motions. Finally, both laboratory and field experiments are conducted to demonstrate the effectiveness of the presented mechatronic design and control methods. The results further show that the robotic dolphin with 3-D maneuverability offers a feasible solution to aquatic mobile sensing.
关键词Bioinspired Mobile Sensing Motion Control Robotic Dolphin Water Quality Monitoring
WOS标题词Science & Technology ; Technology
DOI10.1109/TMECH.2017.2722009
关键词[WOS]FISH ; IMPLEMENTATION ; LOCOMOTION ; SYSTEM ; SPEED
收录类别SCI
语种英语
项目资助者National Natural Science Foundation of China(61633020 ; Natural Science Foundation(4164103 ; Key Research and Development and Transformation Project of Qinghai Province(2017-GX-103) ; Beijing Advanced Innovation Center for Intelligent Robots and Systems(2016IRS02) ; 61633017 ; 4161002) ; 61603388 ; 61633004)
WOS研究方向Automation & Control Systems ; Engineering
WOS类目Automation & Control Systems ; Engineering, Manufacturing ; Engineering, Electrical & Electronic ; Engineering, Mechanical
WOS记录号WOS:000413042700021
引用统计
被引频次:3[WOS]   [WOS记录]     [WOS相关记录]
文献类型期刊论文
条目标识符http://ir.ia.ac.cn/handle/173211/20343
专题复杂系统管理与控制国家重点实验室_先进机器人
通讯作者Yu, Junzhi
作者单位1.Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100190, Peoples R China
2.Univ Chinese Acad Sci, Beijing 100049, Peoples R China
3.Beijing Inst Technol, Beijing Adv Innovat Ctr Intelligent Robots & Syst, Beijing 100081, Peoples R China
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Wu, Zhengxing,Liu, Jincun,Yu, Junzhi,et al. Development of a Novel Robotic Dolphin and Its Application to Water Quality Monitoring[J]. IEEE-ASME TRANSACTIONS ON MECHATRONICS,2017,22(5):2130-2140.
APA Wu, Zhengxing,Liu, Jincun,Yu, Junzhi,&Fang, Hao.(2017).Development of a Novel Robotic Dolphin and Its Application to Water Quality Monitoring.IEEE-ASME TRANSACTIONS ON MECHATRONICS,22(5),2130-2140.
MLA Wu, Zhengxing,et al."Development of a Novel Robotic Dolphin and Its Application to Water Quality Monitoring".IEEE-ASME TRANSACTIONS ON MECHATRONICS 22.5(2017):2130-2140.
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