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

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

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Motion Control and Motion Coordination of bionic robotic fish： A Review

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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

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Research Development on fish Swimming

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Chinese Journal of Mechanical Engineering 2022年第5期35卷 17-37页

作者： Yanwen Liu Hongzhou Jiang School of Mechatronics Engineering Harbin Institute of TechnologyHarbin 150001China

fishes have learned how to achieve outstanding swimming performance through the evolution of hundreds of millions of years,which can provide bio-inspiration for robotic fish design.The premise of designing an excellent robotic fish include fully understanding of fish locomotion mechanism and grasp of the advanced control strategy in robot domain.In this paper,the research development on fish swimming is presented,aiming to offer a reference for the later research.First,the research methods including experimental methods and simulation methods are detailed.Then the current research directions including fish locomotion mechanism,structure and function research and bionic robotic fish are outlined.fish locomotion mechanism is discussed from three views:macroscopic view to find a unified principle,microscopic view to include muscle activity and intermediate view to study the behaviors of single fish and fish school.Structure and function research is mainly concentrated from three aspects:fin research,lateral line system and body stiffness.bionic robotic fish research focuses on actuation,materials and motion control.The paper concludes with the future trend that curvature control,machine learning and multiple robotic fish system will play a more important role in this field.Overall,the intensive and comprehensive research on fish swimming will decrease the gap between robotic fish and real fish and contribute to the broad application prospect of robotic fish.

关键词： fish swimming Kinematics optimization Motion control bionic robotic fish fish locomotion mechanism

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Energy Analysis of a CPG-controlled Miniature robotic fish

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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

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