Design of a Bio-Inspired Autonomous Underwater Robot View Full Text


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Article Info

DATE

2018-08

AUTHORS

Daniele Costa, Giacomo Palmieri, Matteo-Claudio Palpacelli, Luca Panebianco, David Scaradozzi

ABSTRACT

The following paper presents the design and fabrication of an ostraciiform swimming robot and its navigation control and guidance system. Compared to other biomimetic vehicles, the chosen architecture has a lower propulsive efficiency but is easier to waterproof and capable to withstand greater pressures. To generate the alternating motion of the robot bio-inspired thruster, namely a plane fin, a transmission system was designed to replace the direct drive widely adopted in underwater biomimetic vehicles. The mechanical efficiency of two alternative mechanisms capable to actuate the fin were computed according to a preliminary sizing of the robot and its targeted swimming performances. Therefore, the more suitable solution was manufactured and installed aboard. At the same time, a proper navigation, guidance and control architecture (NGC) was designed and then integrated in the robot main controller. The proposed solution allows the vehicle to perform different missions autonomously once their profiles are received from the base station. Preliminary tests results and future works are discussed in the final conclusions. More... »

PAGES

181-192

References to SciGraph publications

  • 1995-03. An Efficient Swimming Machine in SCIENTIFIC AMERICAN
  • 2009. Multi-Agent System Theory for Modelling a Home Automation System in BIO-INSPIRED SYSTEMS: COMPUTATIONAL AND AMBIENT INTELLIGENCE
  • 2010-03. Biological inspiration: From carangiform fish to multi-joint robotic fish in JOURNAL OF BIONIC ENGINEERING
  • 2009-12. Swimming performance of a biomimetic compliant fish-like robot in EXPERIMENTS IN FLUIDS
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    URI

    http://scigraph.springernature.com/pub.10.1007/s10846-017-0678-3

    DOI

    http://dx.doi.org/10.1007/s10846-017-0678-3

    DIMENSIONS

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