Precision maneuvering of underwater robot by mechanical pectoral fins

2004 International Symposium on Underwater Technology, UT'04 - Proceedings

Volumn , Issue , 2004, Pages 303-310

  Kato, Naomi ^a   Ando, Yoshito ^a   Shigetomi, Toshihide ^a  

^a OSAKA UNIVERSITY   (Japan)

Author keywords

Fuzzy control; Guidance and control; Mechanical pectoral fin; Underwater robot; Waves; water currents

Indexed keywords

CYLINDERS (SHAPES); OSCILLATIONS; PORTS AND HARBORS; UNDERWATER EQUIPMENT;

OSCILLATING FINS; UNDERWATER ROBOTS; WATER CURRENTS;

ACOUSTICS;

EID: 28244460293     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: None     Document Type: Conference Paper

References (13)

1. Barrett, D. S., Triantafyllou, M. S., Yue, D. K. P., Grosenbaugh, M. A. and Wolfgang, M. J., "Drag reduction in fish-like locomotion," Journal of Fluid Mechanics Vol.392, pp. 183-212, 1999
2. th International Symposium on Unmanned, Untethered Submersible Technology, pp.439-445,1999
3. Anderson, J.M. and Kerrebrock, P.A., The vorticity control of an unmanned undersea robot(VCUUV) performance results," Proc. 11th International Symposium on Unmanned, Untethered Submersible Technology,pp.360-369,1999
4. Triantafyllou, M.S., Triantafyllou, G.S. and Yue, D.K.P., Hydrodynamics of fishlike swimming, Annual Review of Fluid Mechanics 32, pp.33-53,2000
5. Nakashima, M. and Ono, K., "Development of a Two-Joint Dolphin Robot," in "Neurotechnology for Biomimetic Robots," edited by J. Ayers, J.J. Davis and A. Rudolph, The MIT Press, pp.309-324, 2002
6. Lindsey.C.C., "Form, Function and Locomotory Habits in Fish, In "Fish Physiology VII Locomotion," edited by W.S.Hoar and D.J.Randall, Academic Press, pp.239-313,1978
7. Bandyopadhyay,P.R., J.M. Castano, J.Q. Rice, R.B. Philips, W.H. Nedderman, and W.K. Macy, "Low-Speed Maneuvering Hydrodynamics of Fish and Small Underwater Vehicles," Journal of Fluids Engineering, Transactions of the ASME, Vol.119, pp. 136-144, 1997
8. Hobson, B., Murray, M. & Pell, C., "Pilotfish: Maximizing agility in an unmanned-underwater vehicle," Proceedings of the Eleventh International Symposium on Unmanned Untethered Submersible Technology, pp.41-51, 1999
9. Kato,N., "Control Performance of Fish Robot with Mechanical Pectoral Fins in Horizontal Plane", Journal of Oceanic Engineering, Transactions of the IEEE, Vol.25, No. 1, 2000
10. Kato,N., Bugi,W.W. and Suzuki, Y., "Development of Biology-Inspired Autonomous Underwater Vehicle "BASS-III" with High Maneuverability," Proceedings of the 2000 International Symposium on Underwater Technology(IEEE), pp.84-89, 2000
11. Kato,N., Liu, H. and Morikawa, H., "Biology-Inspired Precision Maneuvering of Underwater Vehicles," Proceedings of Twelfth International Offshore and Polar Engineering Conference, pp.269-276, 2002
12. Kato,N., Liu, H. and Morikawa, H. "Biology-Inspired Precision Maneuvering of Underwater Vehicles," Proceedings of Thirteenth International Offshore and Polar Engineering Conference, pp. 178-185, 2003
13. Kato,N. and Liu, H., "Optimization of Motion of a Mechanical Pectoral Fin," JSME International Journal, Vol.46, No.4, pp.1356-1362, 2003