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Development of a novel robotic dolphin and its application to water quality monitoring | |
Wu ZX(吴正兴)1; Liu JC(刘金存)1,2; Yu JZ(喻俊志)1; Fang H(方浩)3 | |
发表期刊 | IEEE/ASME Transactions on Mechatronics |
2017-10-01 | |
卷号 | 22期号:5页码:2130-2140 |
摘要 | This paper presents the mechatronic design and hydrodynamic analysis of a novel bioinspired robotic dolphin used for mobile water quality monitoring. 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 for motion 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 |
收录类别 | SCI |
语种 | 英语 |
文献类型 | 期刊论文 |
条目标识符 | http://ir.ia.ac.cn/handle/173211/22355 |
专题 | 复杂系统认知与决策实验室_先进机器人 |
通讯作者 | Yu JZ(喻俊志) |
作者单位 | 1.中国科学院自动化研究所 2.中国科学院大学 3.北京理工大学 |
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 ZX,Liu JC,Yu JZ,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 ZX,Liu JC,Yu JZ,&Fang H.(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 ZX,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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