Robotic Fish and Its Application

Author

Terada, Yuuzi ; Yamamoto, Ikuo

Author_Institution

Fukui Univ. of Technol., Fukui

Volume

4

fYear

2006

fDate

9-13 July 2006

Firstpage

3062

Lastpage

3065

Abstract

The purpose of this paper is to describe the feasibility research of marine vehicles with oscillating fin propulsion control system. The oscillating fin propulsion system was designed and constructed to be combined with a ship model. The system´s feasibility has been confirmed by tank tests using the ship model. As a result, several advantages of the oscillating fin system have been found out. A neural network was successfully applied for an identification of the ship model dynamics with the oscillating fin, and its effectiveness was confirmed. Robotic fish, intended as an amusement attraction for aquariums, using the oscillating fin propulsion system have been developed. Its capability of untethered 3-dimensional movement was confirmed. Also, an application to underwater vehicle is mentioned.

Keywords

mobile robots; neurocontrollers; propulsion; remotely operated vehicles; robot dynamics; ships; underwater vehicles; vehicle dynamics; marine vehicles; neural network; oscillating fin propulsion control system; robotic fish; ship model dynamics; underwater vehicle; Computer networks; Control systems; Deformable models; Marine animals; Marine technology; Marine vehicles; Neural networks; Propulsion; Robots; System testing; Robotic fish; fish-like swimming control; neural network; oscillating fin propulsion; underwater radio wave;

fLanguage

English

Publisher

ieee

Conference_Titel

Industrial Electronics, 2006 IEEE International Symposium on

Conference_Location

Montreal, Que.

Print_ISBN

1-4244-0496-7

Electronic_ISBN

1-4244-0497-5

Type

conf

DOI

10.1109/ISIE.2006.296104

Filename

4078880