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Design and Realization of a Novel Hybrid-Drive Robotic Fish for Aquaculture Water Quality Monitoring

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Journal of Bionic Engineering 2023年第2期20卷 543-557页

作者： Yiting Ji Yaoguang Wei jincun liu Dong An National Innovation Center for Digital Fishery China Agricultural UniversityBeijing100083China Key Laboratory of Smart Farming Technologies for Aquatic Animals and Livestock Ministry of Agriculture and Rural AffairsChina Agricultural UniversityBeijing100083China Beijing Engineering and Technology Research Centre for Internet of Things in Agriculture China Agricultural UniversityBeijing100083China College of Information and Electrical Engineering China Agricultural UniversityBeijing100083China

Thunniform swimmers(tuna)have a swinging narrow sequence stalk and a moon-shaped tail fin,which performs poorly at slow speed,higher acceleration and turning maneuverability.In most cases,faster speed and higher maneuverability are mutually rejection for most marine creatures and their robotic opponents.This paper presents a novel hybrid tuna-like swimming robot for aquaculture water quality monitoring,which interleaves faster speed and higher maneuverability.The robotic prototype emphasizes on streamlining and enhanced maneuverability mechanism designs in conjunction with a narrow caudal propeller to the tail.The innovative design endows the robot to easily execute the multi-mode swimming gait,including forward swimming,turning,diving/surfacing.The capabilities of our robot are validated through a series of indoor swimming pool and field breeding ponds.The robotic fish can achieve a maximum speed up to about 1.16 m/s and a minimum turning radius less than 0.46 Body Lengths(BL)and its maximum turning speed can reach 78.6∘/s.Due to its high speed,maneuverability and relatively small size,the robotic fish shed light on intelligent monitoring in complex aquatic environments.

关键词： Hybrid-drive biomimetic robot fish Water quality monitoring Multimodal swimming gait

Path planning with multiple constraints and path following based on model predictive control for robotic fish

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Information Processing in Agriculture 2022年第1期9卷 91-99页

作者： Yizhuo Mu Jingfen Qiao jincun liu Dong An Yaoguang Wei College of Information and Electrical Engineering China Agricultural UniversityBeijing 100083China National Innovation Center for Digital Fishery China Agricultural UniversityBeijing 100083China School of Computing The Australia National UniversityCanberra 2600Australia

This paper discusses the path planning and path following control problems of robotic fish.In order to avoid obstacles when robotic fish swim in a complex environment,a path plan-ning method based on beetle swarm optimization(BSO)algorithm is developed.This method considers the influence of the robotic fish’s volume and motion constraints on the path planning task,which can eliminate the collision risk and meet the constraint of the minimum turning radius when the robotic fish obtains the planned path.In construct-ing the path following controller,a multilayer perception based model predictive control(MPC)is adopted to design the optimal control method,and the objective function of the optimal control is dynamically adjusted according to the path curvature.The simulation results show that this proposed method can effectively overcome the complexity of robotic fish kinematics modelling and adapt well to the reference paths of different curvatures given by the path planner.

关键词： Path planning Path following Robotic fish Beetle swarm optimization Model predictive control

Review of Simultaneous Localization and Mapping Technology in the Agricultural Environment

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Journal of Beijing Institute of Technology 2023年第3期32卷 257-274页

作者： Yaoguang Wei Bingqian Zhou Jialong Zhang Ling Sun Dong An jincun liu National Innovation Center for Digital Fishery China Agricultural UniversityBeijing 100083China College of Information and Electrical Engineering China Agricultural UniversityBeijing 100083China Key Laboratory of Smart Farming Technologies for Aquatic Animals and Livestock Ministry of Agriculture and Rural AffairsChina Agricultural UniversityBeijing 100083China Beijing Engineering and Technology Research Centre for Internet of Things in Agriculture Beijing 100083China.

Simultaneous localization and mapping(SLAM)is one of the most attractive research hotspots in the field of robotics,and it is also a prerequisite for the autonomous navigation of robots.It can significantly improve the autonomous navigation ability of mobile robots and their adaptability to different application environments and contribute to the realization of real-time obstacle avoidance and dynamic path planning.Moreover,the application of SLAM technology has expanded from industrial production,intelligent transportation,special operations and other fields to agricultural environments,such as autonomous navigation,independent weeding,three-dimen-sional(3D)mapping,and independent harvesting.This paper mainly introduces the principle,sys-tem framework,latest development and application of SLAM technology,especially in agricultural environments.Firstly,the system framework and theory of the SLAM algorithm are introduced,and the SLAM algorithm is described in detail according to different sensor types.Then,the devel-opment and application of SLAM in the agricultural environment are summarized from two aspects:environment map construction,and localization and navigation of agricultural robots.Finally,the challenges and future research directions of SLAM in the agricultural environment are discussed.

关键词： simultaneous localization and mapping(SLAM) agricultural environment agricultural robots environment map construction localization and navigation

维普期刊数据库

Three-dimensional path following control system for net cage inspection using bionic robotic fish

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Information Processing in Agriculture 2022年第1期9卷 100-111页

作者： Yuanrong Chen Jingfen Qiao jincun liu Ran Zhao Dong An Yaoguang Wei College of Information and Electrical Engineering China Agricultural UniversityBeijing 100083China National Innovation Centre for Digital Fishery China Agricultural UniversityBeijing 100083China Beijing Engineering and Technology Research Centre for Internet of Things in Agriculture Beijing 100083China Key Laboratory of Agricultural Information Acquisition Technology Ministry of AgricultureBeijing 100083China School of Computing The Australian National UniversityCanberra2601Australia

With the increasing impacts of overfishing and environmental pollution,the deep-sea cage culture of marine fishes has become an important direction of mariculture.In this paper,a tuna-like robotic fish with a three-dimensional helix path-following control system is designed for deep-sea net cage inspection.To mimic the flexibility of the fish’s movement,the kinematic model of the robotic fish adopts a tuna-like double-joint design with an addi-tional thruster device at the tail.Since the descending interval control plays a critical role in deep-sea net cage inspection,the control system utilizes the proportion integration differ-entiation(PID)based fuzzy logic control method to control the descending interval and yaw angle during the helix path movement.A polar coordinate path definition method is also proposed to simplify the reference path definition during net cage inspection.The experi-mental results demonstrates that the proposed three-dimensional path-following model can conduct net inspection task in an interferential environment and move along prede-fined reference path.

关键词： Net cage inspection Bionic robotic fish Path following Three-dimensional motion control

Dynamic Modeling and Hybrid Fireworks Algorithm-Based Path Planning of an Amphibious Robot

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Guidance, Navigation and Control 2022年第1期2卷 23-50页

作者： Yuanyang Qi jincun liu Junzhi Yu Department of Advanced Manufacturing and Robotics College of EngineeringPeking UniversityNo.5Yiheyuan RoadBeijing 100871P.R.China College of Information and Electrical Engineering China Agricultural UniversityNo.7Tsinghua East RoadBeijing 100083P.R.China

The task of path planning in amphibious environments requires additional consideration due to the complexity of the amphibious environments.This paper presents a path planning method for an amphibious robot named\AmphiRobot"with its dynamic constraints considered.First,an explicit dynamic model using Kane's method is presented.The hydrodynamic parameters are obtained through computational°uid dynamics simulations.Furthermore,a path planning method based on a hybrid¯reworks algorithm is proposed,combining the¯reworks algorithm and bare bones¯reworks algorithm,aiming at the amphibious robot's characteristics of multiple motion modes and working environments.The initially planned path is then smoothed using Dubins path under constraints determined by the dynamic model.Simulation reveals that the performance of the hybrid¯reworks algorithm approach is better than the¯reworks algorithm and bare bones¯reworks algorithm is applied separately in the amphibious environment scenarios.

关键词： Amphibious robot dynamic modeling path planning hybrid¯reworks algorithm

Line-of-sight based three-dimensional path following control for an underactuated robotic dolphin

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Science China(Information Sciences) 2021年第1期64卷 215-226页

作者： jincun liu Zhenna liu Junzhi YU State Key Laboratory for Turbulence and Complex System Department of Mechanics and Engineering ScienceBIC-ESATCollege of EngineeringPeking University Department of Electrical and Automation Shandong Labor Vocational and Technical College State Key Laboratory of Management and Control for Complex Systems Institute of AutomationChinese Academy of Sciences

This paper investigates the three-dimensional(3-D) path following control problem for an underactuated robotic dolphin. With a comprehensive consideration of the mechanical constraint and swimming principle of the robotic dolphin, a decoupling motion strategy is proposed to produce yaw and pitch maneuvers simultaneously. Then, kinematics and dynamics models for 3-D dolphin-like swimming are established,followed by simulations of the path following control. Furthermore, a novel lookahead based 3-D line-ofsight(LOS) guidance law is developed and implemented to obtain desired attitude angles with its simplicity,intuitiveness, and small computational footprint. Finally, simulation results illustrate the feasibility and effectiveness of the proposed path following control methods.

关键词： robotic dolphin path following 3-D LOS guidance law decoupling motion

Reduced-order finite element method based on POD for fractional Tricomi-type equation

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Applied Mathematics and Mechanics(English Edition) 2016年第5期37卷 647-658页

作者： jincun liu Hong LI Yang liu Zhichao FANG School of Mathematical Sciences Inner Mongolia University

The reduced-order finite element method （FEM） based on a proper orthogo- nal decomposition （POD） theory is applied to the time fractional Tricomi-type equation. The present method is an improvement on the general FEM. It can significantly save mem- ory space and effectively relieve the computing load due to its reconstruction of POD basis functions. Furthermore, the reduced-order finite element （FE） scheme is shown to be un- conditionally stable, and error estimation is derived in detail. Two numerical examples are presented to show the feasibility and effectiveness of the method for time fractional differential equations （FDEs）.

关键词： reduced-order finite element method （FEM） proper orthogonal decompo-sition （POD） fractional Tricomi-type equation unconditionally stable error estimate

维普期刊数据库

Application of low-dimensional finite element method to fractional diffusion equation

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International Journal of Modeling, Simulation, and Scientific Computing 2014年第4期5卷 184-200页

作者： jincun liu Hong Li Zhichao Fang Yang liu School of Mathematical Sciences Inner Mongolia University Hohhot 010021 P.R.China

Classical finite element method(FEM)has been applied to solve some fractional differential equations,but its scheme has too many degrees of freedom.In this paper,a low-dimensional FEM,whose number of basis functions is reduced by the theory of proper orthogonal decomposition(POD)technique,is proposed for the time fractional diffusion equation in two-dimensional space.The presented method has the properties of low dimensions and high accuracy so that the amount of computation is decreased and the calculation time is saved.Moreover,error estimation of the method is obtained.Numerical example is given to illustrate the feasibility and validity of the low-dimensional FEM in comparison with traditional FEM for the time fractional differential equations.

关键词： Low-dimensional finite element method proper orthogonal decomposition time fractional diffusion equation error estimation

Sliding mode fuzzy control-based path-following control for a dolphin robot

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Science China(Information Sciences) 2018年第2期61卷 240-242页

作者： jincun liu Zhengxing WU Junzhi YU Min TAN State Key Laboratory of Management and Control for Complex Systems Institute of AutomationChinese Academy of Sciences University of Chinese Academy of Sciences

Dolphins are one of the most enigmatic sea creatures in the world.Long-term evolution endows them with excellent swimming skills,which motivate researchers and engineers to create an innovative biomimetic propulsive m... 详细信息

关键词： Sliding mode fuzzy control-based path-following control for a dolphin robot