Design and implementation of a robotic dolphin for water quality monitoring
This paper presents a novel mechanical design and multimodal locomotion control of a bio-inspired robotic dolphin for water quality monitoring. In order to obtain a better hydrodynamic performance, a robotic dolphin modeled after a killer whale is developed. Depending on its powerful propulsive post...
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ftchiacadsccasia:oai:ir.ia.ac.cn:173211/22358 2024-06-23T07:54:22+00:00 Design and implementation of a robotic dolphin for water quality monitoring Liu JC(刘金存) Wu ZX(吴正兴) Yu JZ(喻俊志) 2016-12 http://ir.ia.ac.cn/handle/173211/22358 英语 eng 2016 IEEE International Conference on Robotics and Biomimetics, ROBIO 2016 http://ir.ia.ac.cn/handle/173211/22358 Robotic dolphin motion control CPGs water quality monitoring 会议论文 2016 ftchiacadsccasia 2024-06-03T23:56:38Z This paper presents a novel mechanical design and multimodal locomotion control of a bio-inspired robotic dolphin for water quality monitoring. In order to obtain a better hydrodynamic performance, a robotic dolphin modeled after a killer whale is developed. Depending on its powerful propulsive posterior body and fluke, the robotic dolphin can realize fast and flexible dolphin-like swimming. Moreover, a pair of pectoral fins with a separate degree of freedom and an awing dorsal fin are designed for turning maneuvers. Besides, many onboard sensors including an inertial navigation system, GPS, a depth sensor, infrared sensors, and a replaceable water quality multiprobe are employed to implement autonomous water monitoring task. As for the control level, a Central Pattern Generators (CPGs) -based controller is utilized to realize multimodal locomotion including forward swimming, turning, diving and surfacing. Finally, both extensive experiments and field testing demonstrate the feasibility of the proposed bio-inspired water quality monitoring system. Other/Unknown Material Killer Whale Killer whale Institute of Automation: CASIA OpenIR (Chinese Academy of Sciences) |
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Institute of Automation: CASIA OpenIR (Chinese Academy of Sciences) |
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ftchiacadsccasia |
language |
English |
topic |
Robotic dolphin motion control CPGs water quality monitoring |
spellingShingle |
Robotic dolphin motion control CPGs water quality monitoring Liu JC(刘金存) Wu ZX(吴正兴) Yu JZ(喻俊志) Design and implementation of a robotic dolphin for water quality monitoring |
topic_facet |
Robotic dolphin motion control CPGs water quality monitoring |
description |
This paper presents a novel mechanical design and multimodal locomotion control of a bio-inspired robotic dolphin for water quality monitoring. In order to obtain a better hydrodynamic performance, a robotic dolphin modeled after a killer whale is developed. Depending on its powerful propulsive posterior body and fluke, the robotic dolphin can realize fast and flexible dolphin-like swimming. Moreover, a pair of pectoral fins with a separate degree of freedom and an awing dorsal fin are designed for turning maneuvers. Besides, many onboard sensors including an inertial navigation system, GPS, a depth sensor, infrared sensors, and a replaceable water quality multiprobe are employed to implement autonomous water monitoring task. As for the control level, a Central Pattern Generators (CPGs) -based controller is utilized to realize multimodal locomotion including forward swimming, turning, diving and surfacing. Finally, both extensive experiments and field testing demonstrate the feasibility of the proposed bio-inspired water quality monitoring system. |
format |
Other/Unknown Material |
author |
Liu JC(刘金存) Wu ZX(吴正兴) Yu JZ(喻俊志) |
author_facet |
Liu JC(刘金存) Wu ZX(吴正兴) Yu JZ(喻俊志) |
author_sort |
Liu JC(刘金存) |
title |
Design and implementation of a robotic dolphin for water quality monitoring |
title_short |
Design and implementation of a robotic dolphin for water quality monitoring |
title_full |
Design and implementation of a robotic dolphin for water quality monitoring |
title_fullStr |
Design and implementation of a robotic dolphin for water quality monitoring |
title_full_unstemmed |
Design and implementation of a robotic dolphin for water quality monitoring |
title_sort |
design and implementation of a robotic dolphin for water quality monitoring |
publishDate |
2016 |
url |
http://ir.ia.ac.cn/handle/173211/22358 |
genre |
Killer Whale Killer whale |
genre_facet |
Killer Whale Killer whale |
op_relation |
2016 IEEE International Conference on Robotics and Biomimetics, ROBIO 2016 http://ir.ia.ac.cn/handle/173211/22358 |
_version_ |
1802646506461724672 |