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 Intelligent Robotics and Applications written by Haibin Yu and published by Springer. This book was released on 2019-08-02 with total page 780 pages. Available in PDF, EPUB and Kindle. Book excerpt: The volume set LNAI 11740 until LNAI 11745 constitutes the proceedings of the 12th International Conference on Intelligent Robotics and Applications, ICIRA 2019, held in Shenyang, China, in August 2019. The total of 378 full and 25 short papers presented in these proceedings was carefully reviewed and selected from 522 submissions. The papers are organized in topical sections as follows: Part I: collective and social robots; human biomechanics and human-centered robotics; robotics for cell manipulation and characterization; field robots; compliant mechanisms; robotic grasping and manipulation with incomplete information and strong disturbance; human-centered robotics; development of high-performance joint drive for robots; modular robots and other mechatronic systems; compliant manipulation learning and control for lightweight robot. Part II: power-assisted system and control; bio-inspired wall climbing robot; underwater acoustic and optical signal processing for environmental cognition; piezoelectric actuators and micro-nano manipulations; robot vision and scene understanding; visual and motional learning in robotics; signal processing and underwater bionic robots; soft locomotion robot; teleoperation robot; autonomous control of unmanned aircraft systems. Part III: marine bio-inspired robotics and soft robotics: materials, mechanisms, modelling, and control; robot intelligence technologies and system integration; continuum mechanisms and robots; unmanned underwater vehicles; intelligent robots for environment detection or fine manipulation; parallel robotics; human-robot collaboration; swarm intelligence and multi-robot cooperation; adaptive and learning control system; wearable and assistive devices and robots for healthcare; nonlinear systems and control. Part IV: swarm intelligence unmanned system; computational intelligence inspired robot navigation and SLAM; fuzzy modelling for automation, control, and robotics; development of ultra-thin-film, flexible sensors, and tactile sensation; robotic technology for deep space exploration; wearable sensing based limb motor function rehabilitation; pattern recognition and machine learning; navigation/localization. Part V: robot legged locomotion; advanced measurement and machine vision system; man-machine interactions; fault detection, testing and diagnosis; estimation and identification; mobile robots and intelligent autonomous systems; robotic vision, recognition and reconstruction; robot mechanism and design. Part VI: robot motion analysis and planning; robot design, development and control; medical robot; robot intelligence, learning and linguistics; motion control; computer integrated manufacturing; robot cooperation; virtual and augmented reality; education in mechatronics engineering; robotic drilling and sampling technology; automotive systems; mechatronics in energy systems; human-robot interaction.
Download or read book Artificial Lateral Line Systems for Feedback Control of Underwater Robots written by Ahmad AbdulSadda and published by . This book was released on 2012 with total page 178 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Intelligent Marine Robotics Modelling Simulation and Applications written by Cheng Siong Chin and published by MDPI. This book was released on 2020-04-24 with total page 242 pages. Available in PDF, EPUB and Kindle. Book excerpt: The biennial Congress of the Italian Society of Oral Pathology and Medicine (SIPMO) is an International meeting dedicated to the growing diagnostic challenges in the oral pathology and medicine field. The III International and XV National edition will be a chance to discuss clinical conditions which are unusual, rare, or difficult to define. Many consolidated national and international research groups will be involved in the debate and discussion through special guest lecturers, academic dissertations, single clinical case presentations, posters, and degree thesis discussions. The SIPMO Congress took place from the 17th to the 19th of October 2019 in Bari (Italy), and the enclosed copy of Proceedings is a non-exhaustive collection of abstracts from the SIPMO 2019 contributions.
Download or read book Artificial Lateral Line Canal System for Underwater Disturbance Sensing written by Nannan Chen and published by ProQuest. This book was released on 2008 with total page 110 pages. Available in PDF, EPUB and Kindle. Book excerpt: The lateral line is a primitive sensory organ commonly found in fish. It plays a vital role in the normal activities of fish including schooling, station holding, prey capture and predator avoidance. The lateral line is a good source of information when visibility is limited or impossible. For instance, a blind cave fish can "see" by imaging the distortion of a self-generated flow field with 1 mm resolution. Functionality of the lateral line has been actively studied by biologists. A type of canal-like lateral line is of particular interest. It consists of flow sensing neuromasts embedded in a canal structure that contains pores. Outside disturbances cause pressure differences between pores and hence induce flow inside the canal. Studies show that fish use this type of canal structure as a mechanical filter to enhance disturbance sensing under noisy flow conditions, such as in running water.
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 2021-03-01 with total page 166 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 Intelligent Robotics and Applications written by YongAn Huang and published by Springer. This book was released on 2017-08-04 with total page 912 pages. Available in PDF, EPUB and Kindle. Book excerpt: The three volume set LNAI 10462, LNAI 10463, and LNAI 10464 constitutes the refereed proceedings of the 10th International Conference on Intelligent Robotics and Applications, ICIRA 2017, held in Wuhan, China, in August 2017. The 235 papers presented in the three volumes were carefully reviewed and selected from 310 submissions. The papers in this first volume of the set are organized in topical sections on soft, micro-nano, bio-inspired robotics; human-machine interaction; swarm robotics; underwater robotics.
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 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 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 The Lateral Line System written by Sheryl Coombs and published by Springer Science & Business Media. This book was released on 2013-10-23 with total page 360 pages. Available in PDF, EPUB and Kindle. Book excerpt: The Lateral Line System provides an overview of the key concepts and issues surrounding the development, evolution, neurobiology, and function of the lateral line, a fascinating yet somewhat enigmatic flow-sensing system. The book examines the historical precedence for linking the auditory and lateral line systems, its structure and development, use of the lateral line system of zebrafish as a model system, physical principles governing the response properties of the lateral line, the behavioral relevance of this sensory system to the lives of fish, and an examination of how this information is shaped and encoded by the peripheral and central nervous systems. Contents The Gems of the Past: A Brief History of Lateral Line Research in the Context of the Hearing Sciences - Sheryl Coombs and Horst Bleckmann Morphological Diversity, Development, and Evolution of the Mechanosensory Lateral Line System - Jacqueline F. Webb The Hydrodynamic of Flow Stimuli - Matthew J. McHenry and James C. Liao The Biophysics of the Fish Lateral Line - Sietse M. van Netten and Matthew J. McHenry Sensory Ecology and Neuroethology of the Lateral Line - John Montgomery, Horst Bleckmann, and Sheryl Coombs Information Encoding and Processing by the Peripheral Lateral Line System - Boris Philippe Chagnaud and Sheryl Coombs The Central Nervous Organization of the Lateral Line System - Mario F. Wullimann and Benedikt Grothe Central Processing of Lateral Line Information - Horst Bleckmann and Joachim Mogdans Functional Overlap and Nonoverlap Between Lateral Line and Auditory Systems - Christopher B. Braun and Olav Sand The Hearing Loss, Protection, and Regeneration in the Larval Zebrafish Lateral Line - Allison B. Coffin, Heather Brignull, David W. Raible, and Edwin W Rubel
Download or read book A LATERAL LINE INSPIRED APPROACH TO UNDERWATER SENSING WITH A PRESSURE SENSOR ARRAY written by Ryan Christopher Andes and published by . This book was released on 2019 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt: Autonomous underwater vehicles (AUVs) are taking on more industry missions due to their ability to travel to remote environments, present low-risk to human operators, and operate continuously with low-power consumption. These vehicles require low-volume, integrated, robust sensory systems that can sense the surrounding flow field and detect underwater objects. Murky and cluttered environments present significant resolution challenges to traditional sonar and optical sensing methods, whose high energy consumption, bulkiness, and active sensing methods are ill-suited for the design and mission requirements of AUVs. Fish possess lateral line sensory systems that allow them to navigate environments, avoid obstacles, and detect prey and predators through an array of surface and sub-surface sensors that perceive fluid motion and pressure gradients. In this experiment, a functional array of pressure sensors was used to extract information from the fluid flow. Information encoded in the unique unsteady wake patterns produced by traversing objects produced a time-dependent pressure distribution acting on the surface of the array. Sequential data from the sensor excitation profiles, derived from these wake disturbances, were inputted into a Long Short Term Memory Recurrent Neural Network capable of learning long-term dependencies in sequential non-linear patterns. The network was then trained to classify an underwater stimulus of unknown geometry. The results indicate that the classification scheme of the LSTM is successful in converting the information encoded in the stimulus wake into a prediction of the stimulus geometry. Sizing the hidden layer around 10 units is shown to result in a high classification accuracy. To verify the classification scheme, a set of test data will need to be created to verify the results.
Download or read book Journal of Biomimetics Biomaterials and Biomedical Engineering written by Trans Tech Publications, Limited and published by Trans Tech Publications Ltd. This book was released on 2014-06-06 with total page 96 pages. Available in PDF, EPUB and Kindle. Book excerpt: This volume of the "Journal of Biomimetics, Biomaterials and Biomedical Engineering" covers topical issue of biomimetic approach to the development of modern means of a wide range of industrial applications, the new solutions in the field of biomedical engineering and of pharmacological practice and also illuminates the results of the latest solutions in the field of development of biomaterials and their application.
Download or read book Sensing and Control for Fishlike Propulsion in Unsteady Environments written by Amy Ruiming Gao and published by . This book was released on 2018 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt: Fish are equipped with a unique and elaborate flow sensing system, the lateral line, that enables them to reconstruct the near-field three-dimensional flow around their bodies, and hence effect precise control for optimal propulsion and to achieve energy recovery from vortical flows. This is a capability that is not available to engineered underwater systems today. A paradigm example lies in the ability of fish to save energy when swimming in schools, through extracting energy from vortices generated by other fish. For a single fish modeled as an undulating, foil-shaped body at Reynolds number Re=5000, swimming directly behind another fish results in energy savings of 15-20%, compared with swimming alone. This is achieved by properly timing the interaction with vortices generated from the upstream fish, as they travel along its body and tail. Fish that have evolved for sustained fast swimming, such as tunas and dolphins, possess a stiff tail that is morphologically separate from their body. For such fish, the phasing of tail motion is known to be important, and we demonstrate that independent and precise control of the tail is even more critical for flow control in the presence of external vortices. With an independently pitching caudal fin, small variations in phase can alter the energy savings by 15% or more, and precise timing can allow the fish to swim behind another fish with less than 50% of the energy required in quiescent water. We explore the flow mechanisms that lead to this remarkable performance and provide detailed flow visualization documenting the vorticity control effected by the independently pitching tail. We also show that the precise feedback control required to achieve this remarkable swimming performance is feasible using the distributed flow sensing provided by the lateral line. A model-based observer is shown to be capable of extracting the positions of near-field vortices using distributed surface pressure measurements, within an error of less than 1% of the body length. With this precise feedback, we show that the fish can lock in to the frequency of an upstream wake at the correct phase, and fine-tune its tail motion to optimally exploit the wake. This demonstrates that, together, distributed flow sensing and vorticity control provide a powerful tool to control the flow for enhanced swimming performance.
Download or read book Design of Pressure Sensing Elements for Artificial Lateral Line System of a Biomimetic Underwater Vehicle written by 謝宗穎 and published by . This book was released on 2011 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Touch at a Distance written by Audrey Paulette Solange Maertens and published by . This book was released on 2011 with total page 112 pages. Available in PDF, EPUB and Kindle. Book excerpt: While the vast majority of underwater vehicles rely exclusively on sonar and vision to detect obstacles and maneuver, live fish also use their lateral line organ. The role played by the canal lateral line system is particularly important for hypogean fish, such as blind Mexican cave fish, who use it to avoid obstacles and navigate dexterously in complex environments. Similarly, pressure sensors could be used on underwater vehicles to expand their range of operability by filling the gap left by sonar and vision systems in turbid cluttered environments. To understand how much information can be extracted from the artificial lateral line of an underwater vehicle exploring an unknown environment, the case of a foil passing a static object in still water is analyzed. A two-dimensional potential flow approach based on a source panels method is used to characterize the spatio-temporal pressure signature of the object as sensed by the vehicle. Simulations are used to estimate the sensing range of an artificial lateral line and the appropriate density of pressure sensors. To emulate the object-detection and shape-recognition capabilities of the lateral line, an adapted unscented Kalman filter is combined with the hydrodynamic model. The method developed is experimentally tested in a water tank, using a hydrofoil instrumented with pressure sensors passing a static cylinder. The results show that location and shape informations of an elliptical cylinder can be successfully inferred from experimental pressure measurements. Performance of the proposed method for object identification using pressure sensors are discussed and ways to improve it are suggested.
