Global ETD Search
Search theses and dissertations gathered from participating repositories worldwide. Every result links back to the library that holds it. No account is needed.
Results
Showing 1 to 15 of 15 for “"Robotic fish"”.
-
MOTION CONTROL AND LOCALISATION OF ROBOTIC FISH
Biological fishes are efficient swimmers, exhibiting many desirable features such as high power efficiency while minimal noise to the surroundings. Such characteristics are highly desirable in underwater robots and hence, learning from nature, robotic fishes have been invented. Prior to mimicking …
-
Hydrodynamics of magnet-coil actuated robotic fish
The hydrodynamics of two robotic fish were analyzed: a low cost toy robotic fish for developing live fish experimental techniques, HEXBUG(TM) Aquabot, and a low cost robotic fish for swarm robotics experiments, Scuba Fish. Both of these robotic fish use a magnet-coil actuation method in order to …
-
Guidance, navigation and control of a robotic fish
Thesis (S.B. and M.Eng.)--Massachusetts Institute of Technology, Dept. of Electrical Engineering and Computer Science, 1998.
-
Electronic subsystems of a free-swimming robotic fish
Thesis (M. Eng.)--Massachusetts Institute of Technology, Dept. of Electrical Engineering and Computer Science, 1998.
-
MIT SoFi: A Study in Fabrication, Target Tracking, and Control of Soft Robotic Fish
… increase the consistency and quality of silicone fish tails using advance silicone molding techniques was explored and included material selection, process redefinition, fabrication, and testing. Two different silicone materials were used and evaluated using video analysis in Logger Pro. A target …
-
Developing High Performance Linear Carangiform Swimming
… the linear swimming motion of Carangiform fish, and investigates how to improve the swimming performance of robotic fish within the fields of kinematic modeling and mechanical engineering, in a successful attempt to replicate the high performance of real fish. Intensive research was …
-
Building and controlling fluidically actuated soft robots : from open loop to model-based control
… soft fluidic actuators into self-contained soft robotic systems, such as fish for underwater exploration or soft arms for dynamic manipulation. We present models describing the physical characteristics of these continuously deformable and fully soft robots, and then leverage these models for …
-
Robust control of a flexible-hull propulsion system
… Laboratory is continuing the research done on fish-like propulsion systems with the Vorticity Control Unmanned Underwater Vehicle (VCUUV) project. The VCUUV is a fully autonomous robotic fish, which employs a flexible tail structure for propulsion and maneuvering. This paper describes the …
-
Optimization of biomimetic propulsion in a fish like robot
… of the construction of a biomimetic carangiform robotic fish as a functional experimental apparatus, the prediction of propulsive forces based on mechanical fish tail linkage kinematics using a lift based theory, an experimental process to obtain fish swimming velocity data for a number of …
-
Modeling and control of a fish-like vehicle
… the extremely complex hydrodynamics of fish swimming, it is desirable to build a mechanical prototype. This allows better cooperation of the "vehicle" under study than would be allowed with a live specimen. Draper Laboratory has undertaken the design and construction of a free-swimming …
-
Computational Design and Control of Autonomous Underwater Vehicles
… and software for SoFi, an autonomous soft robotic fish platform originally developed at MIT. Throughout our development process, we encountered a number of hardware-related obstacles concerning SoFi’s many custom components, which considerably slowed down our design iteration cycle. Using …
-
Experimental visualization of the near-boundary hydrodynamics about fish-like swimming bodies
… takes a look at the near boundary flow about fish-like swimming bodies. Experiments were performed up to Reynolds number 106 using laser Doppler velocimetry and particle imaging techniques. The turbulence in the boundary layer of a waving mat and swimming robotic fish were investigated. How …
-
High efficiency pulse motor drive for robotic propulsion
… research is to improve the power efficiency of robotic locomotion through the use of series elastic actuation, with a focus on swimming motion. To achieve high efficiency, electromechanical drives need to be actuated at high speed and low torque. However, in many robots, the drives are actuated …
-
A comparison study of biologically inspired propulsion systems for an autonomous underwater vehicle
… which is usually based on marine propellers. As fish are highly efficient swimmers greater propulsive efficiency may be possible by mimicking their fish tail propulsion system. The main concept behind this work was therefore to investigate whether a biomimetic fish-like propulsion system is a …
-
Tailoring Artificial Muscles for the Design and Development of Soft Underwater Robots
… exploration or inspection requires suitable robotic systems capable of maneuvering, manipulating objects, and operating untethered in complex environmental conditions. Traditional robots have been used to perform many tasks underwater. However, they have limited degrees of freedom, limited …