Knowledge Commons of Institute of Automation,CAS
Design and Fabrication of a Miniature Underwater Angle of Attack Sensor for Robotic Fish | |
Tianzhu Wang1,2; Zhengxing Wu1; Junzhi Yu1; Min Tan1 | |
2017 | |
会议名称 | 2017 IEEE International Conference on Robotics and Biomimetics |
会议日期 | 05-08 December 2017 |
会议地点 | Macau, China |
会议录编者/会议主办者 | Beijing Institute of Technology ; City University of Hong Kong ; IEEE Robotics and Automation Society ; Shenzhen Academy of Robotics ; University of Hong Kong ; University of Macau |
出版者 | Institute of Electrical and Electronics Engineers Inc. |
摘要 | This paper presents the design and implementation of a miniature underwater angle of attack (AOA) sensor, enabling real-time measurement of AOA relative to the incoming flow. To the best of the author’s knowledge, previous literature has not reported such kind of sensors for AOA measurement. Based on the Hall effect, a separated structure between a rotor with a vane and a circuit module is developed to improve the dynamic response of the sensor. Further, the utilization of an aluminum alloys hull, a 3D-printed resinous vane and ceramic bearings endow the sensor with remarkable performance while keep it a tiny volume simultaneously. In addition, waterproofness and anti-corrosion are also taken into account. Finally, the angle data acquired from the AOA sensor attached to the caudal fin of a free-swimming multi-joint robotic fish, is compared with the referenced angle obtained off-line through a global visual motion measurement system. Experiment results demonstrate the built sensor entirely meets the requirements of accurate and realtime control, which is beneficial in improving flow control and hydrodynamic optimization. |
学科门类 | 工学 ; 工学::控制科学与工程 |
DOI | https://doi.org/10.1109/ROBIO.2017.8324498 |
URL | 查看原文 |
收录类别 | EI |
语种 | 英语 |
是否为代表性论文 | 是 |
七大方向——子方向分类 | 智能机器人 |
国重实验室规划方向分类 | 水下仿生机器人 |
是否有论文关联数据集需要存交 | 否 |
引用统计 | |
文献类型 | 会议论文 |
条目标识符 | http://ir.ia.ac.cn/handle/173211/52418 |
专题 | 复杂系统认知与决策实验室_先进机器人 |
通讯作者 | Tianzhu Wang |
作者单位 | 1.State Key Laboratory of Management and Control for Complex Systems, Institute of Automation Chinese Academy of Sciences, Beijing 100190, China 2.University of Chinese Academy of Sciences, Beijing 100049, 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 | Tianzhu Wang,Zhengxing Wu,Junzhi Yu,et al. Design and Fabrication of a Miniature Underwater Angle of Attack Sensor for Robotic Fish[C]//Beijing Institute of Technology, City University of Hong Kong, IEEE Robotics and Automation Society, Shenzhen Academy of Robotics, University of Hong Kong, University of Macau:Institute of Electrical and Electronics Engineers Inc.,2017. |
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文件名称/大小 | 文献类型 | 版本类型 | 开放类型 | 使用许可 | ||
2017-Wang-Design and(1197KB) | 会议论文 | 开放获取 | CC BY-NC-SA | 浏览 下载 |
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