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Design and development of autonomous robotic fish for object detection and tracking
Ji DX(冀大雄)1; Rehman, Faizan ur1; Ajwad, Syed Ali2; Shahani, K.3; Sharma, Sanjay4; Sutton, Robert4; Li S(李硕)5; Ye, Zhangying6; Zhu, Hua7; Zhu, Shiqiang1
Department水下机器人研究室
Source PublicationInternational Journal of Advanced Robotic Systems
ISSN1729-8806
2020
Volume17Issue:3Pages:1-11
Indexed BySCI ; EI
EI Accession number20202308778369
WOS IDWOS:000538453000001
Contribution Rank5
Funding OrganizationNational Key Research and Development Program (Grant Number 2016YFC-0300801) ; Natural Science Foundation of China (Grant Number 51679213) ; earmarked fund for China Agriculture Research System (CARS-45) ; U.K. Royal Society International Exchanges 2017 Cost Share (Grant Number IECnNSFCn170405)
KeywordRobotic fish underwater vehicle object detection and tracking CFD analysis
Abstract

In this article, an autonomous robotic fish is designed for underwater operations like object detection and tracking along with collision avoidance. The computer-aided design model for prototype robotic fish is designed using the Solid Works® software to export an stereolithography (STL) file to MakerBot, a 3D printer, to manufacture the parts of robotic fish using polylactic acid thermoplastic polymer. The precise maneuverability of the robotic fish is achieved by the propulsion of a caudal fin. The oscillation of the caudal fin is controlled by a servomotor. A combination of visual and ultrasonic sensors is used to track the position and distance of the desired object with respect to the fish and also to avoid the obstacles. The robotic fish has the ability to detect an object up to a distance of 90 cm at normal exposure conditions. A computational fluid dynamics analysis is conducted to analyze the fluid hydrodynamics (flow rate of water and pressure) around the hull of a robotic fish and the drag force acting on it. A series of experimental results have shown the effectiveness of the designed underwater robotic fish. © The Author(s) 2020.

Language英语
Citation statistics
Cited Times:1[WOS]   [WOS Record]     [Related Records in WOS]
Document Type期刊论文
Identifierhttp://ir.sia.cn/handle/173321/26932
Collection水下机器人研究室
Corresponding AuthorJi DX(冀大雄)
Affiliation1.Institute of Marine Electronics and Intelligent System, Ocean College, Zhejiang University, Zhoushan, Zhejiang, China
2.LIAS (EA 6315), Universit´e de Poitiers, Poitiers, France
3.Ocean Optics Lab, Institute of Ocean Technology, Ocean College, Zhejiang University, Zhoushan, Zhejiang, China
4.Autonomous Marine Systems Research Group, School of Engineering, Computing and Mathematics, University of lymouth, Plymouth, Devon, UK
5.The State Key Laboratory of Robotics, Shenyang Institute of Automation (SIA), Shenyang, Liaoning, China
6.College of Biosystems Engineering and Food Science, Zhejiang University, Hangzhou, Zhejiang, China
7.Pengcheng Lab, Nanshan, Shenzhen, China
Recommended Citation
GB/T 7714
Ji DX,Rehman, Faizan ur,Ajwad, Syed Ali,et al. Design and development of autonomous robotic fish for object detection and tracking[J]. International Journal of Advanced Robotic Systems,2020,17(3):1-11.
APA Ji DX.,Rehman, Faizan ur.,Ajwad, Syed Ali.,Shahani, K..,Sharma, Sanjay.,...&Zhu, Shiqiang.(2020).Design and development of autonomous robotic fish for object detection and tracking.International Journal of Advanced Robotic Systems,17(3),1-11.
MLA Ji DX,et al."Design and development of autonomous robotic fish for object detection and tracking".International Journal of Advanced Robotic Systems 17.3(2020):1-11.
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