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 ZX(吴正兴)1; Liu JC(刘金存)1,2; Yu JZ(喻俊志)1; Fang H(方浩)3
Source PublicationIEEE/ASME Transactions on Mechatronics
2017-10-01
Volume22Issue:5Pages:2130-2140
Abstract

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.

KeywordBioinspired mobile sensing motion control robotic dolphin water quality monitoring
Indexed BySCI
Language英语
Document Type期刊论文
Identifierhttp://ir.ia.ac.cn/handle/173211/22355
Collection复杂系统管理与控制国家重点实验室_先进机器人
Corresponding AuthorYu JZ(喻俊志)
Affiliation1.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
First Author Affilication中国科学院自动化研究所
Corresponding Author Affilication中国科学院自动化研究所
Recommended Citation
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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