CASIA OpenIR  > 复杂系统管理与控制国家重点实验室  > 先进机器人
Development of a Novel Robotic Dolphin and Its Application to Water Quality Monitoring
Wu, Zhengxing1; Liu, Jincun1,2; Yu, Junzhi1,3; Fang, Hao3
Source PublicationIEEE-ASME TRANSACTIONS ON MECHATRONICS
2017-10-01
Volume22Issue:5Pages:2130-2140
SubtypeArticle
AbstractThis 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.
KeywordBioinspired Mobile Sensing Motion Control Robotic Dolphin Water Quality Monitoring
WOS HeadingsScience & Technology ; Technology
DOI10.1109/TMECH.2017.2722009
WOS KeywordFISH ; IMPLEMENTATION ; LOCOMOTION ; SYSTEM ; SPEED
Indexed BySCI
Language英语
Funding OrganizationNational 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 Research AreaAutomation & Control Systems ; Engineering
WOS SubjectAutomation & Control Systems ; Engineering, Manufacturing ; Engineering, Electrical & Electronic ; Engineering, Mechanical
WOS IDWOS:000413042700021
Citation statistics
Cited Times:7[WOS]   [WOS Record]     [Related Records in WOS]
Document Type期刊论文
Identifierhttp://ir.ia.ac.cn/handle/173211/20343
Collection复杂系统管理与控制国家重点实验室_先进机器人
Corresponding AuthorYu, Junzhi
Affiliation1.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
First Author AffilicationChinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100190, Peoples R China
Corresponding Author AffilicationChinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100190, Peoples R China
Recommended Citation
GB/T 7714
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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