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Computational and experimental study on dynamic behavior of underwater robots propelled by bionic undulating fins

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Science China(Technological Sciences) 2010年第11期53卷 2966-2971页

作者： ZHOU Han HU TianJiang XIE HaiBin ZHANG DaiBing shen lincheng College of Mechatronic Engineering and Automation National University of Defense TechnologyChangsha 410073China

Bionic undulating fins, inspired by undulations of the median and/or paired fin (MPF) fish, have a bright prospective for un-derwater missions with higher maneuverability, lower noisy, and higher efficiency. In the present study, a coupled computa-tional fluid dynamics (CFD) model was proposed and implemented to facilitate numerical simulations on hydrodynamic ef-fects of the bionic undulating robots. Hydrodynamic behaviors of underwater robots propelled by two bionic undulating fins were computationally and experimentally studied within the three typical desired movement patterns, i.e., marching, yawing and yawing-while-marching. Moreover, several specific phenomena in the bionic undulation mode were unveiled and dis-cussed by comparison between the CFD and experimental results under the same kinematics parameter sets. The contributed work on the dynamic behavior of the undulating robots is of importance for study on the propulsion mechanism and control algorithms.

关键词： bionic underwater robot CFD dynamic behavior undulating fins

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Bionic asymmetry:from amiiform fish to undulating robotic fins

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Chinese Science Bulletin 2009年第4期54卷 562-568页

作者： HU TianJiang shen lincheng LOW K. H. College of Mechatronic Engineering and Automation National University of Defense Technology Changsha 410073 China School of Mechanical and Aerospace Engineering Nanyang Technological University Singapore 639798

Similar to bionic non-smooth which has been successfully applied in anti-resistance and anti-adhesion, bionic asymmetry is also an inherent property of biological systems and is worth exploring for con-ceivable pragmatic applications. Therefore, bionic asymmetry for undulations is of main interest in this paper. We initially investigate bionic asymmetry with a case study of the undulating robotic fin, RoboGnilos, which evolved from the long dorsal fin of Gymnarchus niloticus in the amiiform mode. Since the performance of the pre-existing undulating fins is hardly satisfactory, we obtain bionic in-spirations of undulatory asymmetry through observations and measurements on the specimen of G. niloticus, to improve upon the performance. Consequently, the newly acquired innovation for bionic asymmetry is incorporated into the previously derived kinematics model, and also applied to the experimental prototype. Both computational and experimental results verify that bionic asymmetric undulation generates better propulsion performance (in terms of linear velocity and efficiency) than the traditional symmetric modes with the same undulatory parameters.

关键词：生物电子装置机器人鳍状物波动鳍波动推进力

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CPGs control method using a new oscillator in robotic fish

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Science China(Technological Sciences) 2010年第11期53卷 2914-2919页

作者： WANG Gang ZHANG DaiBing LIN LongXin XIE HaiBin HU TianJiang shen lincheng School of Mechatronics and Automation National University of Defense TechnologyChangsha 410073China

A new oscillator is presented in this paper based on our pervious oscillator (Zhang’s oscillator). Using this new oscillator, a bionic neural control system, the central pattern generators (CPGs) control system, is built. This control system has a two-level form. To validate the function of this new oscillator and the control system, simulations and experiments were both carried out, a simple robotic fish was built with three joints, and the results showed that the new oscillator can be used in startup and stop control mode, angle offset control mode and amplitude changing control mode. The new oscillator can be used in bionic CPGs control area with a simple form, and may be a new progress in bionic control.

关键词： CPGs control oscillator robotic fish

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Bio-inspired Flow Sensing and Prediction for Fish-like Undulating Locomotion： A CFD-aided Approach

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Journal of Bionic Engineering 2015年第3期12卷 406-417页

作者： Han Zhou Tianjiang Hu Kin Huat Low lincheng shen Zhaowei Ma Guangming Wang Haijun Xu College of Mechatronics and Automation National University of Defense Technology Changsha 410073 China State Key Laboratory of High Performance Computing National University of Defense Technology Changsha 410073 China School of Mechanical and Aerospace Engineering Nanyang Technological University Singapore 639798

Feedback flow information is of significance to enable underwater locomotion controllers with higher adaptability and efficiency within varying environments. Inspired from fish sensing their external flow via near-body pressure, a computational scheme is proposed and developed in this paper. In conjunction with the scheme, Computational Fluid Dynamics （CFD） is employed to study the bio-inspired fish swimming hydrodynamics. The spatial distribution and temporal variation of the near-body pressure of fish are studied over the whole computational domain. Furthermore, a filtering algorithm is designed and implemented to fuse near-body pressure of one or multiple points for the estimation on the external flow. The simulation results demonstrate that the proposed computational scheme and its corresponding algorithm are both effective to predict the inlet flow velocity by using near-body pressure at distributed spatial points.

关键词： bio-inspired fish undulating locomotion flow sensing near-body pressure flow velocity estimation Computational Fluid Dynamics (CFD)

The Threatened Environment Modeling and Evaluation in Coordination Penetration Planning of UAVs

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The Threatened Environment Modeling and Evaluation in Coordi...

第25届中国控制与决策会议

作者： Ren Min Fang Xiao shen lincheng The Institute of Electromechanical Engineering and Automation National University of Defense Technology

ISBN: (纸本)9781467355339

The batch attack force consists of UAVs, which is beneficial to apply the coordination penetration tactics. The batch penetration is the confrontation at the system level. When the batch coordination penetration planning is completed, the batch penetration probability and the exposure time of UAV will serve as the main indicator for planning. Therefore, it is required to model the threatened environment of battlefield, provide the computing support for evaluating the batch penetration effect and give the results in allusion to the specific example of batch tactical penetration so that the availability of modeling methods is verified.

关键词： Threat Penetration Probability Exposure Time Trajectory Planning

Transfer Learning via Linear Multi-variable Mapping under Reinforcement Learning Framework 36

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Transfer Learning via Linear Multi-variable Mapping under Re...

第36届中国控制会议

作者： Qiao Cheng Xiangke Wang lincheng shen College of Mechatronics and Automation National University of Defense Technology

ISBN: (纸本)9781538629185

Though popular in many agent learning tasks,reinforcement learning still faces problems,such as long learning time in complex *** learning could shorten the learning time and improve the performance in reinforcement learning by reusing the knowledge acquired from different but related source *** to the difference in state space and/or action space of the target and source task,transfer via inter-task mapping is a popular *** design of the inter-task mapping is very critical to this transfer learning *** this paper,we propose a linear multi-variable mapping（LMVM） for the transfer learning to make a better use of the knowledge learned from the source *** the inter-task mapping used before,the LMVM is not a one-to-one mapping but a one-to-many mapping,which is based on the idea that the element in target task is related with several similar elements from source *** test transfer learning via our new mapping on the Keepaway *** experimental results show that our method could make the reinforcement learning agents learn much faster than those without transfer and those transfer with simpler mappings.

关键词： Transfer Learning Reinforcement Learning Linear Multi-variable Mapping Inter-task Mapping Keepaway

Information Fusion Analysis of Multi-UAV System Based on Information Geometry 36

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Information Fusion Analysis of Multi-UAV System Based on Inf...

第36届中国控制会议

作者： ZHAO Yunyun WANG Xiangke KONG Weiwei shen lincheng College of Mechatronic Engineering and Automation National University of Defense Technology Naval Academy of Armament

ISBN: (纸本)9781538629185

We study the problem of optimally coordinating multiple fixed-wing UAVs to perform target tracking,which entails that the UAVs are tasked with gathering the best joint radar-based measurements of ground *** order to obtain the maximum amount of information,we first studied the information expression in multi-sensor network *** on the Minkowski determinant theorem,the change of information volume caused by data fusion is analyzed with the relevant content of information geometry,and take it as the foundation of communication and action *** results show that the data fusion can increase the amount of information,and make the result more ***,for specific scene,the simulation results illustrate that multi-UAV cooperative observation can improve the accuracy of target *** sets the foundation for the further study of the information exchange between multi-UAV.

关键词： Multi-UAVs Decision-making Information Geometry Fisher Information

Digraph-based Anti-Communication-Destroying Topology Design for Multi-UAV Formation 36

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Digraph-based Anti-Communication-Destroying Topology Design ...

第36届中国控制会议

作者： Hao Chen Xiangke Wang lincheng shen Jing Chen College of Mechatronic Engineering and Automation National University of Defense Technology

ISBN: (纸本)9781538629185

This paper addresses the problem of robust topology design of the multi-UAV *** use a digraph to model the topology of the multi-UAV formation,and propose the definition of anti-k-communication-destroying topology,meaning the system can still performs normally even when any arbitrary k communicating links are *** exploring the property of this kind of topology based on graph theory,we propose the algorithm Uniform-Cost Forest Search,UCFS,which is an extension of the classical search strategy uniform-cost *** proposed algorithm would establish the anti-k-communicationdestroying topology for the multi-UAV formation,with fe + 1 minimal-cost edge-independent paths found for each *** as well as examples validating the algorithm are provided in the ***,potential research directions are discussed.

关键词： UAV Formation Multi-UAV Systems Digraph Communication Network Anti-Communication-Destroying Topology

Coordinated flight control of miniature fixed-wing UAV swarms: methods and experiments

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Science China(Information Sciences) 2019年第11期62卷 134-150页

作者： Xiangke WANG lincheng shen Zhihong LIU Shulong ZHAO Yirui CONG Zhongkui LI shengde JIA Hao CHEN Yangguan YU Yuan CHANG Yajing WANG College of Mechantronics and Automation National University of Defense Technology College of Engineering Peking University

In this paper, we present our recent advances in both theoretical methods and field experiments for the coordinated control of miniature fixed-wing unmanned aerial vehicle(UAV) swarms. We propose a multi-layered group-based architecture, which is modularized, mission-oriented, and can implement large-scale swarms. To accomplish the desired coordinated formation flight, we present a novel distributed coordinated-control scheme comprising a consensus-based circling rendezvous, a coordinated path-following control for the leader UAVs, and a leader-follower coordinated control for the follower UAVs. The current framework embeds a formation pattern reconfiguration technique. Moreover, we discuss two security solutions(inter-UAV collision avoidance and obstacle avoidance) in the swarm flight problem. The effectiveness of the proposed coordinated control methods was demonstrated in field experiments by deploying up to 21 fixed-wing UAVs.

关键词： unmanned aerial vehicle cooperative control formation control distributed control multiagent system