检索结果-南通市图书馆

Energy Analysis of a CPG-controlled Miniature Robotic Fish

在线全文

同方期刊数据库

学校读者我要写书评

暂无评论

Journal of Bionic Engineering 2018年第2期15卷 260-269页

作者： junzhi yu Shifeng Chen Zhengxing Wu Xingyu Chen Ming Wang State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing 100190 China University of Chinese Academy of Sciences Beijing 100049 China School of lnformation and Electrical Engineering Shandong Jianzhu University Jinan 250101 China

Bionic robotic fish has a significant impact on design and control of innovative underwater robots capable of both rapid swimming and high maneuverability. This paper explores the relationship between Central Pattern Generator （CPG） based locomotion control and energy consumption of a miniature self-propelled robotic fish. To this end, a real-time energy measurement system compatible with the CPG-based locomotion control is firstly built on an embedded system. Then, tests are conducted on the untethered actual robot. The results indicate that different CPG feature parameters involving amplitude, frequency, and phase lag play distinct roles in energy consumption under different swimming gaits. Specifically, energy consumption is positively correlated with the changes in the amplitude and frequency of CPGs, whereas the phase lag of CPGs has little influence on the energy consumption. It may offer important inspiration for improving energy efficiency and locomotion performance of versatile swimming gaits.

关键词： bionic robotic fish energy analysis Central Pattern Generator (CPG) swimming motion control

Towards an Esox lucius inspired multimodal robotic fish

维普期刊数据库评论

在线全文

维普期刊数据库

学校读者我要写书评

暂无评论

Science China(Information Sciences) 2015年第5期58卷 182-194页

作者： WU ZhengXing yu junzhi SU ZongShuai TAN Min LI ZhenLong State Key Laboratory of Management and Control for Complex Systems Institute of AutomationChinese Academy of Sciences College of Electronic Information and Control Engineering Beijing University of Technology

In this paper, we further explore multimodal locomotion via an updated robotic fish model based on Esox lucius. Besides the improved actuation properties like higher torque servomotors and powerful electronics,the robotic fish has some innovative mechanical design to pursue diverse swimming modes and superior performance. Specifically, we introduced a ±50° yawing head joint that functions as the neck for enhancing turning ability. A pair of pectoral mechanisms with two DOFs per fin is constructed to achieve 3-D swimming and to enrich multiple pectoral motions. At the control level, an improved central pattern generator(CPG) model allowing for free adjustment of the phase relationship among outputs is employed to produce rhythmic signals of multimodal swimming. Extensive experiments were carried out to examine how characteristic parameters in CPGs including amplitude, frequency, and phase lag affect the swimming performance. As a result, the robotic fish successfully performed various locomotion actions such as forward swimming, backward swimming, turning, diving, surfacing, as well as three pectoral motions in the form of pitching, heaving, and *** found that small phase lag between oscillating joints which means large propulsive body wave length and undulation width could lead to a faster swimming in body and/or caudal fin(BCF) locomotion.

关键词： bio-inspired robot robotic fish CPG multimodal swimming motion control

Fault-Tolerant Control of a CPG-Governed Robotic Fish

在线全文

同方期刊数据库

学校读者我要写书评

暂无评论

Engineering 2018年第6期4卷 861-868页

作者： yueqi Yang Jian Wang Zhengxing Wu junzhi yu State Key Laboratory of Management and Control for Complex Systems Institute of AutomationChinese Academy of SciencesBeijing 100049China University of the Chinese Academy of Sciences Beijing 100049China

Fault tolerance is essential for the maneuverability of self-propelled biomimetic robotic fish in real-world aquatic *** paper explores the fault-tolerance control problem of a free-swimming robotic fish with multiple moving joints and a stuck tail *** created control system is composed of two main components:a feedback controller and a feedforward ***,the bio-inspired central pattern generator-based feedback controller is designed to make the robotic fish robust to external disturbances,while the feedforward compensator speeds up the convergence of the overall control *** are performed for control system analysis and performance validation of the faulty robotic *** experimental results demonstrate that the proposed fault-tolerant control method is able to effectively regulate the faulty robotic fish,allowing it to complete the desired motion in the presence of damage and thereby improving both the stability and the lifetime of the real robotic system.

关键词： Fault-tolerant control Robotic fish Motion control Feedback controller Feedforward compensator

Motion Control and Motion Coordination of Bionic Robotic Fish： A Review

维普期刊数据库评论

在线全文

维普期刊数据库

学校读者我要写书评

暂无评论

Journal of Bionic Engineering 2018年第4期15卷 579-598页

作者： junzhi yu Ming Wang Huifang Dong Yanlu Zhang Zhengxing Wu State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing 100190 China School of Information and Electrical Engineering Shandong Jianzhu University Jinan 250101 China

Fish＇s outstanding motion and coordination performance make it an excellent source of inspiration for scientists and engineers aiming to design and control next-generation autonomous underwater vehicles within the framework of bionics. This paper offers a general review of the current status of bionic robotic fish, with particular emphasis on the hydrodynamic modeling and testing, kinematic modeling and control, learning and optimization, as well as motion coordination control. Among these aspects, representative studies based on ideas and concepts inspired from fish motion and coordination are discussed. At last, the major challenges and the future research directions are addressed in the context of integration of various research streams from ichthyologic, hydrodynamic, mechanical, electronic, control, and artificial intelligence. Further development of bionic robotic fish can be utilized to execute some specific missions in complex underwater environments, where operations are unsafe or impractical for divers or conventional underwater vehicles.

关键词： bionic robotic fish motion control coordination control fish swimming learning and optimization

Multimodal swimming control of a robotic fish with pectoral fins using a CPG network

维普期刊数据库评论

在线全文

维普期刊数据库

学校读者我要写书评

暂无评论

Chinese Science Bulletin 2012年第10期57卷 1209-1216页

作者： WANG Ming yu junzhi TAN Min ZHANG JianWei School oflnformation and Electrical Engineering Shandong Jianzhu University Jinan 250101 China State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing 100190 China Department oflnformatics University of Hamburg Hamburg D-22527 Germany

The neural-based approaches inspired by biological neural mechanisms of locomotion are becoming increasingly popular in robot *** paper investigates a systematic method to formulate a Central Pattern Generator(CPG) based control model for mul-timodal swimming of a multi-articulated robotic fish with flexible pectoral fins.A CPG network is created to yield diverse swim-ming in three dimensions by coupling a set of nonlinear neural oscillators using nearest-neighbor *** particular,a sensitivity analysis of characteristic parameters and a stability proof of the CPG network are *** the coordinated con-trol of the joint CPG,caudal fin CPG,and pectoral fin CPG,a diversity of swimming modes are defined and successfully *** latest results obtained demonstrate the effectiveness of the proposed *** is also confirmed that the CPG-based swimming control exhibits better dynamic invariability in preserving rhythm than the conventional body wave method.

关键词：网络控制多式联运机器鱼中央游泳胸鳍人民政府神经机制

维普期刊数据库

Optimal design and motion control of biomimetic robotic fish

在线全文

学校读者我要写书评

暂无评论

Science in China(Series F) 2008年第5期51卷 535-549页

作者： yu junzhi WANG Long ZHAO Wei TAN Min Key Laboratory of Complex Systems and Intelligence Science Institute of Automation Chinese Academy of Sciences Beijing 100080 China Department of Mechanics and Space Technologies Peking University Beijing 100871 China

This paper is concerned with the design, optimization, and motion control of a radiocontrolled, multi-link, free-swimming biomimetic robotic fish based on an optimized kinematic and dynamic model of fish swimming. The performance of the robotic fish is determined by both the fish＇s morphological characteristics and kinematic parameters. By applying ichthyologic theories of propulsion, a design framework that takes into consideration both mechatronic constraints in physical realization and feasibility of control methods is presented, under which a multiple linked robotic fish that integrates both the carangiform and anguilliform swimming modes can be easily developed. Taking account of both theoretic hydrodynamic issues and practical problems in engineering realization, the optimal link-lengthratios are numerically calculated by an improved constrained cyclic variable method, which are successfully applied to a series of real robotic fishes. The rhythmic movements of swimming are driven by a central pattern generator （CPG） based on nonlinear oscillations, and up-and-down motion by regulating the rotating angle of pectoral fins. The experimental results verify that the presented scheme and method are effective in design and implementation.

关键词： biomimetic robotic fish optimization design mechatronics motion control central pattern generator (CPG)

维普期刊数据库

Development and path planning of a novel unmanned surface vehicle system and its application to exploitation of Qarhan Salt Lake

在线全文

学校读者我要写书评

暂无评论

Science China(Information Sciences) 2019年第8期62卷 195-197页

作者： Zhibin XUE Jincun LIU Zhengxing WU Sheng DU Shihan KONG junzhi yu College of Chemical Engineering Qinghai University State Key Laboratory of Management and Control for Complex Systems Institute of AutomationChinese Academy of Sciences University of Chinese Academy of Sciences

Qarhan Salt Lake is rich in mineral resources, such as sodium chloride, potassium, and magnesium [1].At present, liquid mine exploiting is the main exploitation form for the Qarhan Salt Lake. Salt mining ships with mining equipments are widely used to exploit carnallite which is located at the bottom of pools. Conventionally, workmen utilize rude ferric sampler to collect carnallite samples

关键词： USV simulation Development and path planning of a novel unmanned surface vehicle system and its application to exploitation of Qarhan Salt Lake

SVD based scale transform invariant observable degree for LTI system

在线全文

同方期刊数据库

学校读者我要写书评

暂无评论

Science China(Information Sciences) 2021年第3期64卷 246-248页

作者： Quanbo GE Peng ZHUO Hongli HE Zhentao HU Zhansheng DUAN junzhi yu Shenzhen Institute of Guangdong Ocean University School of Automation Hangzhou Dianzi University Test Institute Chinese Flight Test Establishment College of Computer and Information Engineering Henan University The Center for Information Engineering Science Research Xi'an Jiaotong University State Key Laboratory of Complex System Management and Control Institute of AutomationChinese Academy of Sciences

Dear editor,The basic concept of observability is used to express the possibility to recover the state from measurements in modern control theory [1–3]. It is a qualitative parameter,which cannot reflect the observable degree(OD) ability [4,5].Therefore, the OD is presented to quantitatively obtain the function. The quantitative parameter is effective for indicating the exact degree of estimation ability.

关键词： observability matrix observable degree singular value decomposition scale transform invariance linear system linear relation

Feature Fusion Based Insulator Detection for Aerial Inspection

在线全文

同方期刊数据库

学校读者我要写书评

暂无评论

Feature Fusion Based Insulator Detection for Aerial Inspecti...