Title :
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
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;
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
DOI :
10.1109/MED.2009.5164636
