Design, control, and experimental performance of a teleoperated robotic fish

Author

Papadopoulos, Evangelos ; Apostolopoulos, Efthymios ; Tsigkourakos, Petros

Author_Institution

Dept. of Mech. Eng., Nat. Tech. Univ. of Athens, Athens, Greece

fYear

2009

fDate

24-26 June 2009

Firstpage

766

Lastpage

771

Abstract

Fish-like propulsion is a challenging alternative to propellers in small underwater vehicles. This paper presents the analysis, the design stages, the development and the experimental evaluation of a small low-cost teleoperated underwater robotic fish, driven by an oscillating foil. The main principles for the development of efficient thrust by oscillating foils are presented, and implemented. Essential mechatronic subsystems of the robot, including the tail´s motion control system, the wireless communication system, and the autonomous power system are described. Design equations are provided, evaluation experiments are executed and performance results are presented.

Keywords

control system synthesis; foils; motion control; propulsion; telerobotics; underwater vehicles; autonomous power system; design equations; fish-like propulsion; mechatronic subsystems; motion control system; oscillating foil; propellers; teleoperated robotic fish; teleoperated underwater robotic fish; underwater vehicles; wireless communication system; Marine animals; Mechatronics; Motion control; Power system control; Propellers; Propulsion; Robots; Tail; Underwater vehicles; Wireless communication; Fish propulsion; oscillating foil; robotic fish design; underwater robot analysis;

fLanguage

English

Publisher

ieee

Conference_Titel

Control and Automation, 2009. MED '09. 17th Mediterranean Conference on

Conference_Location

Thessaloniki

Print_ISBN

978-1-4244-4684-1

Electronic_ISBN

978-1-4244-4685-8

Type

conf

DOI

10.1109/MED.2009.5164636

Filename

5164636