• The KIPS Transactions:PartA
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• v.16A no.4
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• pp.255-262
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• 2009

We present an autonomous entertainment dolphin robot system based on ubiquitous sensor networks(USN). Generally, It is impossible to apply to USN and GPS in underwater bio-mimetic robots. But An Entertainment dolphin robot which presented in this paper operates on the water not underwater. Navigation of the underwater robot in a given area is based on GPS data and the acquired position information from deployed USN motes with emphasis on user interaction. Body structures, sensors and actuators, governing microcontroller boards, and swimming and interaction features are described for a typical entertainment dolphin robot. Actions of mouth-opening, tail splash or water blow through a spout hole are typical responses of interaction when touch sensors on the body detect users' demand. Dolphin robots should turn towards people who demand to interact with them, while swimming autonomously. The functions that are relevant to human-robot interaction as well as robot movement such as path control, obstacle detection and avoidance are managed by microcontrollers on the robot for autonomy. Distance errors are calibrated periodically by the known position data of the deployed USN motes.

• Journal of the Society of Naval Architects of Korea
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• v.41 no.2
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• pp.90-97
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• 2004

Flow mechanism of contractive and dilative motion is numerically investigated to obtain a propulsive force in highly viscous fluid. An axisymmetric code is developed with unstructured grid system based on cell-centered scheme. It is validated by comparing with the results of Stokes approximation for the problem of uniform flow past a sphere in low Reynolds number(R$_{n}$=1). The validated code is applied to the simulation of contractive and dilative periodic motion of body whose results are quantitatively compared with the two dimensional case. In order to investigate the grid dependency, two different grids are applied to the present computations. The present study provides key information for the development of an axisymmetric Micro-hydro-robot.t.

• Journal of the Society of Naval Architects of Korea
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• v.39 no.3
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• pp.1-7
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• 2002

Flow mechanism of contractive and dilative motion is numerically investigated to obtain a propulsive force in highly viscous fluid, which is the simulation of the propulsion in micro-organisms. The computing code for the analysis of complicated motions is developed with cell-centered unstructured grid scheme. The developed code is validated by the well-known problems of cavity flow and oscillating wall. The validated code is applied to the contractive and dilative motion in narrow tube. The computed results are compared with nodal points scheme. By the present results, it is found that propulsive force can be obtained by the contractive and dilative motion through simulation with the developed code.