Development of a Novel Robotic Dolphin and Its Application to Water Quality Monitoring

doi:10.1109/TMECH.2017.2722009

CORC > 自动化研究所 > 中国科学院自动化研究所 > 复杂系统管理与控制国家重点实验室 > 先进机器人控制团队

	Development of a Novel Robotic Dolphin and Its Application to Water Quality Monitoring
	Wu, Zhengxing1 ; Liu, Jincun1,2 ; Yu, Junzhi1,3 ; Fang, Hao 3
刊名	IEEE-ASME TRANSACTIONS ON MECHATRONICS
	2017-10-01
卷号	22 期号:5 页码:2130-2140
关键词	Bioinspired Mobile Sensing Motion Control Robotic Dolphin Water Quality Monitoring
DOI	10.1109/TMECH.2017.2722009
文献子类	Article
英文摘要	This paper presents the mechatronic design and hydrodynamic analysis of a novel bioinspired robotic dolphin used formobile water qualitymonitoring. A complementary configuration for mimicry of dolphin-like propulsion is first presented, involving a waist-fluke propulsive unit for dorsoventral oscillations and a pair of flippers with separate degree of freedom for three-dimensional (3-D) maneuvers. A host of onboard sensors is equipped to strengthen the capability of environment perception and mission execution on a near real-time basis. Considering the dynamic requirement formotion transition in water quality monitoring, a central pattern generator based controller is then built to govern the multimodal locomotion of the robotic dolphin. Moreover, a 3-D dynamic model based on the Lagrange method is employed to predict the propulsive performance, followed by simulations of continuous diving and surfacing motions. Finally, both laboratory and field experiments are conducted to demonstrate the effectiveness of the presented mechatronic design and control methods. The results further show that the robotic dolphin with 3-D maneuverability offers a feasible solution to aquatic mobile sensing.
WOS关键词	FISH ; IMPLEMENTATION ; LOCOMOTION ; SYSTEM ; SPEED
WOS研究方向	Automation & Control Systems ; Engineering
语种	英语
WOS记录号	WOS:000413042700021
资助机构	National Natural Science Foundation of China(61633020 ; Natural Science Foundation(4164103 ; Key Research and Development and Transformation Project of Qinghai Province(2017-GX-103) ; Beijing Advanced Innovation Center for Intelligent Robots and Systems(2016IRS02) ; 61633017 ; 4161002) ; 61603388 ; 61633004)
内容类型	期刊论文
源URL	[http://ir.ia.ac.cn/handle/173211/20343]
专题	自动化研究所_复杂系统管理与控制国家重点实验室_先进机器人控制团队
通讯作者	Yu, Junzhi
作者单位	1.Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100190, Peoples R China 2.Univ Chinese Acad Sci, Beijing 100049, Peoples R China 3.Beijing Inst Technol, Beijing Adv Innovat Ctr Intelligent Robots & Syst, Beijing 100081, Peoples R China
推荐引用方式 GB/T 7714	Wu, Zhengxing,Liu, Jincun,Yu, Junzhi,et al. Development of a Novel Robotic Dolphin and Its Application to Water Quality Monitoring[J]. IEEE-ASME TRANSACTIONS ON MECHATRONICS,2017,22(5):2130-2140.
APA	Wu, Zhengxing,Liu, Jincun,Yu, Junzhi,&Fang, Hao.(2017).Development of a Novel Robotic Dolphin and Its Application to Water Quality Monitoring.IEEE-ASME TRANSACTIONS ON MECHATRONICS,22(5),2130-2140.
MLA	Wu, Zhengxing,et al."Development of a Novel Robotic Dolphin and Its Application to Water Quality Monitoring".IEEE-ASME TRANSACTIONS ON MECHATRONICS 22.5(2017):2130-2140.