Download or read book Bionic Gliding Underwater Robots written by Junzhi Yu and published by CRC Press. This book was released on 2022-12-08 with total page 314 pages. Available in PDF, EPUB and Kindle. Book excerpt: Underwater robots play a significant role in ocean exploration. This book provides full coverage of the theoretical and practical aspects of bionic gliding underwater robots, including system design, modeling control, and motion planning. To overcome the inherent shortcomings of traditional underwater robots that can simultaneously lack maneuverability and endurance, a new type of robot, the bionic gliding underwater robot, has attracted much attention from scientists and engineers. On the one hand, by imitating the appearance and swimming mechanisms of natural creatures, bionic gliding underwater robots achieve high maneuverability, swimming efficiency, and strong concealment. On the other hand, borrowing from the buoyancy adjustment systems of underwater gliders, bionic gliding underwater robots can obtain strong endurance, which is significant in practical applications. Taking gliding robotic dolphin and fish as examples, the designed prototypes and proposed methods are discussed, offering valuable insights into the development of next-generation underwater robots that are well suited for various oceanic applications. This book will be of great interest to students and professionals alike in the field of robotics or intelligent control. It will also be a great reference for engineers or technicians who deal with the development of underwater robots.

Download or read book Bionic Sensing with Artificial Lateral Line Systems for Fish Like Underwater Robots written by Guangming Xie and published by CRC Press. This book was released on 2022-08-23 with total page 198 pages. Available in PDF, EPUB and Kindle. Book excerpt: In this book, the authors first introduce two fish-like underwater robots, including a multiple fins-actuated robotic fish and a caudal fin-actuated robotic fish with a barycenter regulating mechanism. They study how a robotic fish uses its onboard pressure sensor arrays based-ALLS to estimate its trajectory in multiple locomotions, including rectilinear motion, turning motion, ascending motion, and spiral motion. In addition, they also explore the ALLS-based relative position and attitude perception between two robotic fish in a leader-follower formation. Four regression methods—multiple linear regression methods, support vector regressions, back propagation neural networks, and random forest methods—are used to evaluate the relative positions or attitudes using the ALLS data. The research on ALLS-based local sensing between two adjacent fish robots extends current research from one individual underwater robot to two robots in formation, and will attract increasing attention from scholars of robotics, underwater technology, biomechanics and systems, and control engineering.

Download or read book Robot Fish written by Ruxu Du and published by Springer. This book was released on 2015-05-06 with total page 380 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book provides a comprehensive coverage on robot fish including design, modeling and optimization, control, autonomous control and applications. It gathers contributions by the leading researchers in the area. Readers will find the book very useful for designing and building robot fish, not only in theory but also in practice. Moreover, the book discusses various important issues for future research and development, including design methodology, control methodology, and autonomous control strategy. This book is intended for researchers and graduate students in the fields of robotics, ocean engineering and related areas.

Download or read book Underwater Robots written by Daniel R. Faust and published by The Rosen Publishing Group, Inc. This book was released on 2016-07-15 with total page 32 pages. Available in PDF, EPUB and Kindle. Book excerpt: Robots can be sent to the most extreme environments in the world. This book takes readers on a deep-sea dive to find out all about underwater robots. Readers will learn about the history of robot technology, as well as the latest uses for underwater robots. The accessible language describes how robots work, while color photographs bring readers into the underwater environments where some robots do their job. What’s the future of underwater robots? What can we find out by using them? This book answers these questions and many more, as readers follow robots under the sea.

Download or read book Motion Control of Biomimetic Swimming Robots written by Junzhi Yu and published by Springer. This book was released on 2019-06-19 with total page 203 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book reports on the latest advances in the study of motion control in biomimetic swimming robots with high speed and high manoeuvrability. It presents state-of-the-art studies on various swimming robots including robotic fish, dolphins and jellyfish in a unified framework, and discusses the potential benefits of applying biomimetic underwater propulsion to autonomous underwater vehicle design, such as: speed, energy economy, enhanced manoeuvrability, and reduced detectability. Given its scope, the book will be of interest to researchers, engineers and graduate students in robotics and ocean engineering who wish to learn about the core principles, methods, algorithms, and applications of biomimetic underwater robots.

Download or read book Underwater Robots written by Junku Yuh and published by Springer Science & Business Media. This book was released on 2012-12-06 with total page 251 pages. Available in PDF, EPUB and Kindle. Book excerpt: All life came from sea but all robots were born on land. The vast majority of both industrial and mobile robots operate on land, since the technology to allow them to operate in and under the ocean has only become available in recent years. A number of complex issues due to the unstructured, hazardous undersea environment, makes it difficult to travel in the ocean while today's technologies allow humans to land on the moon and robots to travel to Mars . . Clearly, the obstacles to allowing robots to operate in a saline, aqueous, and pressurized environment are formidable. Mobile robots operating on land work under nearly constant atmospheric pressure; their legs (or wheels or tracks) can operate on a firm footing; their bearings are not subjected to moisture and corrosion; they can use simple visual sensing and be observed by their creators working in simple environments. In contrast, consider the environment where undersea robots must operate. The pressure they are subjected to can be enormous, thus requiring extremely rugged designs. The deep oceans range between 19,000 to 36,000 ft. At a mere 33-foot depth, the pressure will be twice the normal one atmosphere pressure of 29. 4 psi. The chemical environment of the sea is highly corrosive, thus requiring the use of special materials. Lubrication of moving parts in water is also difficult, and may require special sealed, waterproof joints.

Download or read book Visual Perception and Control of Underwater Robots written by Junzhi Yu and published by CRC Press. This book was released on 2021-02-28 with total page 251 pages. Available in PDF, EPUB and Kindle. Book excerpt: Visual Perception and Control of Underwater Robots covers theories and applications from aquatic visual perception and underwater robotics. Within the framework of visual perception for underwater operations, image restoration, binocular measurement, and object detection are addressed. More specifically, the book includes adversarial critic learning for visual restoration, NSGA-II-based calibration for binocular measurement, prior knowledge refinement for object detection, analysis of temporal detection performance, as well as the effect of the aquatic data domain on object detection. With the aid of visual perception technologies, two up-to-date underwater robot systems are demonstrated. The first system focuses on underwater robotic operation for the task of object collection in the sea. The second is an untethered biomimetic robotic fish with a camera stabilizer, its control methods based on visual tracking. The authors provide a self-contained and comprehensive guide to understand underwater visual perception and control. Bridging the gap between theory and practice in underwater vision, the book features implementable algorithms, numerical examples, and tests, where codes are publicly available. Additionally, the mainstream technologies covered in the book include deep learning, adversarial learning, evolutionary computation, robust control, and underwater bionics. Researchers, senior undergraduate and graduate students, and engineers dealing with underwater visual perception and control will benefit from this work.

Download or read book Underwater Labriform swimming Robot written by Farah Abbas Naser and published by World Scientific. This book was released on 2021-10-22 with total page 208 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book provides a simplified description of how to design an underwater swimming robot, inspired by the mechanism of the Labriform mode of fish. This style of swimming depends on the pectoral fins only as a main locomotor for movement. A unique model with fins having a concave shape allows the highest thrust force to be achieved during the power period and the lowest drag force during the recovery period, especially if the velocity values between the powering and recovery periods are manipulated.Besides the ability to swim quickly, the proposed model was also inspired by a method of maneuvering based on the principle of differential drive for two-wheel mobile robot, achieving the minimum turning radius by controlling the speed of the rowing fins.Also, by applying the technique of the diving model used by gliders, the robot achieves underwater gliding by changing the center of the body's mass. Thus, the robot obtains the ability to dive and float in a manner similar to the Sawtooth wave.All the mentioned tasks were conducted via laboratory experiments and proven to be both effective and efficient.

Download or read book Underwater Robots written by Gianluca Antonelli and published by Springer. This book was released on 2018-04-05 with total page 350 pages. Available in PDF, EPUB and Kindle. Book excerpt: A classic in underwater robotics. One of the first volumes in the “Springer Tracts in Advanced Robotics” series, it has been a bestseller through the previous three editions. Fifteen years after the publication of the first edition, the fourth edition comes to print. The book addresses the main control aspects in underwater manipulation tasks. With respect to the third edition, it has been revised, extended and some concepts better clustered. The mathematical model with significant impact on the control strategy is discussed. The problem of controlling a 6-degrees-of-freedoms autonomous underwater vehicle is investigated and a survey of fault detection/tolerant strategies for unmanned underwater vehicles is provided. Inverse kinematics, dynamic and interaction control for underwater vehicle-manipulator systems are then discussed. The code used to generate most of the numerical simulations is made available and briefly discussed.

Download or read book Bioinspired Sensing Actuation and Control in Underwater Soft Robotic Systems written by Derek A. Paley and published by Springer Nature. This book was released on 2020-11-06 with total page 301 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book includes representative research from the state‐of‐the‐art in the emerging field of soft robotics, with a special focus on bioinspired soft robotics for underwater applications. Topics include novel materials, sensors, actuators, and system design for distributed estimation and control of soft robotic appendages inspired by the octopus and seastar. It summarizes the latest findings in an emerging field of bioinspired soft robotics for the underwater domain, primarily drawing from (but not limited to) an ongoing research program in bioinspired autonomous systems sponsored by the Office of Naval Research. The program has stimulated cross‐disciplinary research in biology, material science, computational mechanics, and systems and control for the purpose of creating novel robotic appendages for maritime applications. The book collects recent results in this area.

Download or read book AI Technology for Underwater Robots written by Frank Kirchner and published by Springer Nature. This book was released on 2019-10-23 with total page 193 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book provides exclusive insight into the development of a new generation of robotic underwater technologies. Deploying and using even the most simple and robust mechanical tools is presenting a challenge, and is often associated with an enormous amount of preparation, continuous monitoring, and maintenance. Therefore, all disciplinary aspects (e.g. system design, communication, machine learning, mapping and coordination, adaptive mission planning) are examined in detail and together this gives an extensive overview on research areas influencing next generation underwater robots. These robotic underwater systems will operate autonomously with the help of the most modern artificial intelligence procedures and perform environmental monitoring as well as inspection and maintenance of underwater structures. The systems are designed as modular and reconfigurable systems for long term autonomy to remain at the site for longer periods of time. New communication methods using AI enable missions of hybrid teams of humans and heterogeneous robots. Thus this volume will be an important reference for scientists on every qualification level in ​the field of underwater technologies, industrial maritime applications, and maritime science.

Download or read book Underwater Biomimetic Vehicle Manipulator System written by Shuo Wang and published by Springer Nature. This book was released on 2023-04-27 with total page 181 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book is about the design and control of biomimetic underwater robots. It explains the six aspects of the underwater biomimetic vehicle- manipulator system in detail and provides practical examples. This book is the authors’ long-term exploration of the theoretical and technical issues in the development of the underwater biomimetic vehicle-manipulator system and is written based on more than 15 years of scientific research and practical experience. This book is a helpful reference for the researchers, engineers, master and Ph.D. students in the field of biomimetic underwater robots.

Download or read book Underwater Robots written by Gianluca Antonelli and published by . This book was released on 2006-06-13 with total page 312 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book deals with the main control aspects in underwater manipulation tasks. The mathematical model with significant impact on the control strategy is discussed. The problem of controlling a 6-degrees-of-freedoms autonomous underwater vehicle is deeply investigated and a survey of fault detection/tolerant strategies for unmanned underwater vehicles is provided; experimental results obtained with the vehicle ODIN are presented. The presence of a manipulator is further studied in the aspects of kinematic, dynamic and interaction control. The purpose of this second edition is to add material n.

Download or read book Gliding Robotic Fish written by Osama Nasr Ennasr and published by . This book was released on 2020 with total page 133 pages. Available in PDF, EPUB and Kindle. Book excerpt: Autonomous underwater robots have received significant attention over the past two decades due to the increasing demand for environmental sustainability. Recently, gliding robotic fish has emerged as a promising mobile sensing platform in versatile aquatic environments. Such robots, inspired by underwater gliders and robotic fish, combine buoyancy-driven gliding and fin-actuated swimming to realize both energy-efficient locomotion and high maneuverability. In this dissertation, we first discuss the design improvements for the second-generation gliding robotic fish "Grace 2". These improvements have transformed the robots to underwater sensing platforms that can be modified to fit the requirements of a specific application with relative ease.We focus on the application of detecting and tracking live fish underwater, which is an important part of fishery research, as it helps scientists understands habitat use, migratory patterns, and spawning behavior of fishes. The gliding robotic fish has demonstrated its ability to detect special acoustic signals emulating tagged fish through a series of trials in Higgins Lake, Michigan. These tests have also validated a gliding-based strategy for navigating to a GPS waypoint, and offered insight into the limitations of the current design. Additional improvements are proposed to allow these robots to glide at larger depths and perform more interesting working patterns underwater.Motivated by the problem of tracking real fish, we consider the case where multiple robots localize and track a moving target without the need for a centralized node. We present theoretical treatment on how a network of robots can infer the location of an emitter (or target), and then track it, through a time-difference-of-arrival (TDOA) localization scheme in a fully distributed manner. In particular, we utilize a networked extended Kalman filter to estimate the target's location in a distributed manner, and establish that successful localization can be achieved under fixed and time-varying undirected communication topologies if every agent is part of a network with a minimum of 4 connected, non-coplanar agents. We further propose a movement control strategy based on the norm of the estimation covariance matrices, with a tuning parameter to balance the trade-off between estimation performance and the total distance traveled by the robots.Finally, motivated by the distributed localization problem, we investigate a more general problem of distributed estimation by a network of sensors. Specifically, we consider the class of consensus-based distributed linear filters (CBDLF) where each sensor updates its estimate in two steps: a consensus step dictated by a weighted and directed communication graph, followed by a local Luenberger filtering step. We show that the sub-optimal filtering gains that minimize an upper bound of a quadratic filtering cost are related to the convergence of a set of coupled Riccati equations. Then we show that the convergence of these coupled Riccati equations depends on the notion of squared detectability for the networked system, and proceed to provide necessary conditions that link the convergence of the coupled Riccati equations to the network topology and consensus weights of the communication graph.

Download or read book Build Your Own Underwater Robot and Other Wet Projects written by Harry Bohm and published by . This book was released on 1997 with total page 156 pages. Available in PDF, EPUB and Kindle. Book excerpt: Includes index.

Download or read book Between Sea and Sky Aerial Aquatic Locomotion in Miniature Robots written by Raphael Zufferey and published by Springer Nature. This book was released on 2022-01-03 with total page 253 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book reports on the state of the art in the field of aerial-aquatic locomotion, focusing on the main challenges concerning the translation of this important ability from nature to synthetic systems, and describing innovative engineering solutions that have been applied in practice by the authors at the Aerial Robotics Lab of Imperial College London. After a general introduction to aerial-aquatic locomotion in nature, and a summary of the most important engineering achievements, the book introduces readers to important physical and mathematical aspects of the multimodal locomotion problem. Besides the basic physics involved in aerial-aquatic locomotion, the role of different phenomena happening in fluids, or those due to structural mechanics effects or to power provision, are presented in depth, across a large dimension range, from millimeters to hundreds of meters. In turn, a practice-oriented discussion on the obstacles and opportunities of miniaturization, for both robots and animals is carried out. This is followed by applied engineering considerations, which describe relevant hardware considerations involved in propulsion, control, communication and fabrication. Different case studies are analyzed in detail, reporting on the latest research carried out by the authors, and covering topics such as propulsive aquatic escape, the challenging mechanics of water impact, and a hybrid sailing and flying aircraft. Offering extensive and timely information on the design, construction and operation of small-scale robots, and on multimodal locomotion, this book provides researchers, students and professionals with a comprehensive and timely reference guide to the topic of aerial-aquatic locomotion, and the relevant bioinspired approaches. It is also expected to inspire future research and foster a stronger multidisciplinary discussion in the field.

Download or read book Underwater Robots That Hover and Glide written by and published by . This book was released on with total page pages. Available in PDF, EPUB and Kindle. Book excerpt: Some of the most exciting robots on the planet are found underwater. Here, learn how today's roboticists have developed unique solutions to creating autonomous underwater vehicles (AUVs), like Wave Glider, that have overcome critical challenges involving sensors, power supply, and design to do things like circumnavigate the globe or travel to great depths.