Title :
Synchronizing a biomimetic autonomous underwater vehicle with human cardiovascular system
Author :
Yen, Wei-Kuo ; Guo, Jenhwa
Author_Institution :
Dept. of Eng. Sci. & Ocean Eng., Nat. Taiwan Univ., Taipei, Taiwan
Abstract :
In this study, a nonlinear model is developed to connect a biomimetic autonomous underwater vehicle (BAUV) with human cardiovascular system. The BAUV with sensors and a compliant tail is capable to perform Carangiform locomotion. To make the tail of the BAUV perform rhythmic motion, a nonlinear feedback torque is applied to the tail equation to construct a self-excited oscillator. Besides, a system consists of five coupled nonlinear oscillators is used to describe the cardiovascular system. Then the fin oscillator is connected with the cardiac oscillator through one-way coupling. Simulation results present the phase synchronization between the fin motion and the human heartbeat can be achieved with a strong enough coupling gain.
Keywords :
biomimetics; cardiovascular system; human-robot interaction; oscillators; remotely operated vehicles; synchronisation; underwater vehicles; biomimetic autonomous underwater vehicle; carangiform locomotion; cardiac oscillator; compliant tail; coupled nonlinear oscillators; fin motion; fin oscillator; human cardiovascular system; human heartbeat; nonlinear feedback torque; nonlinear model; phase synchronization; rhythmic motion; self excited oscillator; sensors; tail equation; Couplings; Marine animals; Mathematical model; Oscillators; Robot sensing systems; Synchronization;
Conference_Titel :
Underwater Technology (UT), 2011 IEEE Symposium on and 2011 Workshop on Scientific Use of Submarine Cables and Related Technologies (SSC)
Conference_Location :
Tokyo
Print_ISBN :
978-1-4577-0165-8
DOI :
10.1109/UT.2011.5774094
