Browse > Article
http://dx.doi.org/10.3745/KTSDE.2015.4.5.219

Development of Autonomous Bio-Mimetic Ornamental Aquarium Fish Robotic  

Shin, Kyoo Jae (부산외국어대학교 디지털미디어학부 전자정보통신전공)
Publication Information
KIPS Transactions on Software and Data Engineering / v.4, no.5, 2015 , pp. 219-224 More about this Journal
Abstract
In this paper, the designed fish robots DOMI ver1.0 is researched and development for aquarium underwater robot. The presented fish robot consists of the head, 1'st stage body, 2nd stage body and tail, which is connected two point driving joints. The model of the robot fish is analysis to maximize the momentum of the robot fish and the body of the robot is designed through the analysis of the biological fish swimming. Also, Lighthill was applied to the kinematics analysis of robot fish swimming algorithms, we are applied to the approximate method of the streamer model that utilizes techniques mimic the biological fish. The swimming robot has two operating mode such as manual and autonomous operation modes. In manual mode the fish robot is operated to using the RF transceiver, and in autonomous mode the robot is controlled by microprocessor board that is consist PSD sensor for the object recognition and avoidance. In order to the submerged and emerged, the robot has the bladder device in a head portion. The robot gravity center weight is transferred to a one-axis sliding and it is possible to the submerged and emerged of DOMI robot by the breath unit. It was verified by the performance test of this design robot DOMI ver1.0. It was confirmed that excellent performance, such as driving force, durability and water resistance through the underwater field test.
Keywords
Fish Robot; Autonomous Bio-Mimetic Ornamental; Aquarium Fish Robotic; Under Water Robot; Lighthill Dynamics Analysis;
Citations & Related Records
Times Cited By KSCI : 2  (Citation Analysis)
연도 인용수 순위
1 H. T. Choi, K. H. Kim, P. M. Lee, C. M. Lee, and B. H. Jun, "Introduction to ROV and motion control & signal processing for ROV Hemire," Journal of the Korean Society for Precision Eng, Vol.26, No.5, pp.41-47, May., 2009.
2 Hydroid, "Remus 6000, Autonomous Underwater Vehicle," [Internet] www.hydroidinc.com
3 K. J. Shin, J. B. Lee, and Y. J. Seo, "Design of Autono-mous Bio-mimetic Robotic Fish with Swimming Artificial Intelligence," The 2014 Fall Conference of the KIPS, pp.913-916, Nov., 2014.
4 Y. J. Kim, S. J. Kim, K. S. Yang, J. M. Lee, C. H. Yim, and D. H. Kim, "Design and Control of a Bio- mimetic Fish Robot," The Korea society of mechanical engineers, Vol.36, No.1, pp.1-7, Oct., 2012.
5 D. H Lee, H. W. Kim, and J. M. Lee, "Obstacle Recognition and Avoidance of the Bio-mimetic Underwater Robot Using IR and Compass Sensors," Journal of Institute of Control, Robotics and Systems, pp.928-933, Oct., 2012.
6 H. S. Kim, T. Q. Vo, and B. R. Lee, "A Study on Optimization of Motion Parameters and Dynamic Analysis for 3-dof Fish Robot," The Korea society of mechanical engineers, Vol.33, No.10, pp.1029-1037, Oct., 2009.   DOI
7 Y. S. Ryou, "Autonomous Bio-mimetic Ornamental Fish Robot with Multi-Function," News Letter, Korea Institute of Industrial Technology, Vol.2, No.19, section 4, Sep., 2009.
8 K. J. Shin, Y. J. Seo, and J. W. Jung, "Robot Fish," Patent No.10-1003834, Dec., 2010.
9 D. S. Barret, M. S. Triantafyllou, D. K. P. Yue, M. A. Grosenbaugh, and M. J. Wolfgang, "Drag Reduction in Fish.like Locomotion," Journal of Fluid Mechanics, Vol.392, pp.183-212, 1999.   DOI
10 S. Heo, T. Wiguna, N. S. Goo, and H. C. Park, "Mecha- nical Design, Fabrication and Test," The Korean Socirty of Mechanical Engineers(KSME), Vol.31, No.1, pp.36-42. 2007.   DOI
11 H. J. Kim, "Design of Autonomous Robotic Fish Swimming Artificial Intelligence," Master's thesis, KIAST, 2012.
12 D. Weihs, "A Hydro Dynamical Anaysis of Fish Turning Manoeuvres," Biological Sciences, pp.52-72, 1972.
13 K. Hirata, T. Takimoto, and K. Tamura, "Study on Turning Performance of a Fish Robot," Pro. 1st Int. Symp. Aqua Bio-Mechatronics, pp.287-292, 2000.