Development of a Novel Robotic Dolphin and Its Application to Water Quality Monitoring

doi:10.1109/TMECH.2017.2722009

	Development of a Novel Robotic Dolphin and Its Application to Water Quality Monitoring
	Wu, Zhengxing1 ; Liu, Jincun1,2 ; Yu, Junzhi1,3 ; Fang, Hao 3
发表期刊	IEEE-ASME TRANSACTIONS ON MECHATRONICS
	2017-10-01
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
DOI	10.1109/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：50[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	复杂系统认知与决策实验室_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
第一作者单位	中国科学院自动化研究所
通讯作者单位	中国科学院自动化研究所
推荐引用方式 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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