• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.1580-1586
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• 2003

This paper presents the design and the analysis of a "fish-like underwater robot". In order to develop swimming robot like a real fish, extensive hydrodynamic analysis were made followed by the study of biology of the fishes especially its maneuverability and propel styles. Swimming mode is achieved by mimicking fish-swimming of carangiform. This is the swimming mode of the fast motion using its tail and peduncle for propulsion. In order to generate configurations of vortices that gives efficient propulsion yawing and surging with a caudal fin has applied and in order to submerge and maintain the body balance pitching and heaving motion with a pair of pectoral fin is used. We have derived the equation of motion of PoTuna by two methods. In first method, we use the equation of motion of underwater vehicle with the potential flow theory for the power of propulsion. In second method, we apply the method of the equation of motion of UVM(Underwater Vehicle-Manipulator). Then, we compare these results.

• Fisheries and Aquatic Sciences
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• v.16 no.3
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• pp.211-220
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• 2013

A shaking motion could be used to improve fish escapement from a cod-end net by creating a sieving effect over the swept volume or by disturbing the optomotor response of the fish. In this study, a perpendicular shaking motion was generated in a towed cod-end net by a circular canvas attached to the end of the codend, which formed a biased cap-like shape. This concept was tested by using a model in a flow tank and by towing a prototype cod-end during sea trials. For the model tests, the amplitude of the shaking motion was $0.6{\pm}0.1$ times the rear diameter of the cod-end, and the period of the shaking motion was $2.6{\pm}0.1$ s at a flow velocity of 0.6 or 0.8 m/s. In the sea trials, the amplitude was $0.5{\pm}0.2$ times the rear diameter of the cod-end, and the period of the shaking motion was $7{\pm}4$ s at towing speeds of 1.2 or 1.7 m/s. Thus, the shaking amplitude during the sea trials was equal to or less than that observed in the tank tests, and the shaking period was twice as long. The shaking motion described by the amplitude and period could be an effective means to stimulate fish escapement from cod-end during fishing operations considering the response of the fish.

• Journal of Ship and Ocean Technology
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• v.11 no.1
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• pp.1-10
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• 2007

This study introduces the development of robot fish ROFI 1.1. Today, robot fish is one of strong candidates for next-generation UUV. The present paper describes the design, manufacturing, and operation tests of the robot fish developed at Seoul National University. The very first robot fish in Korea, ROFI 1.1 is operated by a wireless remote controller. Its overall length is 680mm, and weight is 8.8kg. The fore body contains main mechanical and electrical systems and is covered by a FRP skin. The aft body has a mechanical bone system that mimics fish bones, and its skin is made of flexible silicon sponge to allow elastic motion for propulsion. It is found that this mechanical system creates effective and realistic fish-like swimming mode. It is observed that the normal and maximum advancing speeds of ROFI 1.1 are about 1 and 2 m/sec, and the turning radius is between $0.7{\sim}2.5m$, depending on the turning mechanism.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.36 no.1
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• pp.1-7
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• 2012

This paper introduces the mechanical design, fabrication, and control of a biomimetic fish robot whose driving motions resemble a real fish's flexibility and movement. This robot uses two motors create flexible movement like that of a fish. Several schemes, such as neutral buoyancy, fast underwater swimming, and direction changes, are introduced. The tail of the fish robot is made of a polymer material for flexible movement. The interior of the tail contains a joint and a wire. A sine wave command was applied to the tail to produce motion resembling a real fish swimming, and a buoy control device was installed. The up and down motion of the robot fish was controlled using this device.

• Journal of the Korean Society of Fisheries and Ocean Technology
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• v.50 no.3
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• pp.342-350
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• 2014

An active stimulating device, such as a fluttering net or canvas attached to the end of a cod end generating a shaking motion, could help to encourage the escape of juvenile fish positioned passively near the net. Field fishing trials using a shrimp beam trawl were carried out to examine the effect on the reduction of juvenile fish or other discard catch by generating a shaking movement of the cod end using an unbiased cap-like round canvas. The mean period of the shaking motion with the round canvas was ~14 s, and the mean amplitude was 0.4 m as measured by peak event analysis and the global wavelet method. The bycatch of juvenile fish in 14 trials decreased by ~30% and by ~25% using a steady cod end for the total bycatch using a shaking cod end in the shrimp beam trawl, while the marketing catch was similar between steady and shaking cod ends. There was no difference in the body size of the shrimp or fish and species composition between the steady and shaking cod ends. Above results demonstrate a new method for bycatch reduction using an active stimulating device, although more detailed studies are needed.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2006.11a
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• pp.119-123
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• 2006

The ionic-polymer-metal-composite actuators have the best merit for bio-mimetic locomotion because of their large bending performance. Especially, they have the advantage for mimicking a fish-like motion because IPMCs are useful to be actuated in water. So we have developed IPMC actuators with multiple electrodes for realization of biomimetic motion. Generally, the IPMC actuator has been fabricated in electroless plating technique, while it needs very long fabrication time and shows poor repeatability in the actuation performance owing to the variables in chemical fabrication process. Therefore, the novel fabrication methods were investigated by combining electroless plating and electroplating techniques capable of patterning precisely. On the whole, two different methods were compared and analyzed with similar thickness level of Platinum electrodes. Present results show that mixing chemical reduction and electroplating can be a promising candidate for electrode patterning.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2008.04a
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• pp.294-298
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• 2008

The ionic polymer-metal composite actuators with selectively grown multiple electrodes were developed to mimic the swimming locomotion of a fish. The developed method is based on combining electroplating with the electroless chemical reduction using the patterned mask. The advantages of this fabrication method are that the initial compositing between the polymer and platinum particles can be assured by the chemical reduction method, and the thickness of each electrode can be controlled easily and rapidly by electroplating. By using the fabricated actuator with a multiple degree of freedom, the oscillatory wave of the flexible membrane actuator was generated and a twisting motion was also realized to verify the possibility of mimicking the fish-like locomotion. The frequency response function was analyzed to investigate the natural frequency and the damping factor by a mechanical shaker and direct electrical excitation through the swept-sine method. Present results show that this novel method can be a promising technique to easily pattern each of multiple electrodes and to implement the biomimetic motion of the polymer actuators with good mechanical bending performance.

• Journal of the Society of Naval Architects of Korea
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• v.43 no.5 s.149
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• pp.538-549
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• 2006

A code is developed to simulate a viscous flow field around a deformable body using the hybrid Cartesian/immersed boundary method. In this method, the immersed boundary(IB) nodes are defined near the body boundary then velocities at the IB nodes are reconstructed based on the interpolation along the normal direction to the body surface. A new method is suggested to define the IB nodes so that a closed fluid domain is guaranteed by a set of IB nodes and the method is applicable to a zero-thickness body such as a sail. To validate the developed code, the vorticity fields are compared with other recent calculations where a cylinder orbits and moves into its own wake. It is shown the code can handle a sharp trailing edge at Reynolds number of $10^5$ under moderate requirements on girds. Finally the developed code is applied to simulate the vortex shedding behind a deforming foil with flapping tail like a fish. It is shown that the acceleration of fluids near the flapping tail contributes to the generation of the thrust for propulsion.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2007.11a
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• pp.718-721
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• 2007

The ionic-polymer-metal-composite actuators have the best merit for bio-mimetic locomotion because of their large bending performance. Especially, they have the advantage for mimicking a fish-like motion because IPMCs are useful to be actuated in water. So we have developed IPMC actuators with multiple electrodes for realization of biomimetic motion. This actuator is fabricated by combining electroless plating and electroplating techniques capable of patterning precisely and controlling a thickness of Pt electrode layer. The FRF analysis was conducted by a mechanical shaker and direct electrical excitation which is based on sweep sine wave function. From this result, the proper young‘s modulus of Platinum was investigated and applied on expecting the vibration characteristics of patterned IPMC actuator. The calculated maximum displacement of the patterned IPMC was 2.32mm under an applied 4mN/mm. The natural frequency was increased however displacement was decreased in according to increase a thickness of Pt.

• Journal of the Korean Society of Fisheries and Ocean Technology
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• v.56 no.2
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• pp.163-171
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• 2020

Engaged in trawling in limited fishing grounds with a number of fish schools could cause collisions between fishing vessels. Therefore, providing accurate maneuver information according to the situation could be regarded as essential for improving seafarers safety and fishing efficiency as well as safety of navigation. It is difficult to obtain all maneuver information through sea trial tests only, so a method through empirical formula is necessary. Since most empirical formulas are developed for merchant ship types, especially the characteristics of hull shape parameter like C_bB/L and dC_b/B etc. are clearly different between fishing vessels and merchant ships, this could occur estimation errors. Therefore, in this study, the authors have selected target fishing vessels and merchant ships and analyzed the characteristics of hull shape parameter according to the ship types. Based on this analysis, the empirical formula developed for the merchant ship type has applied to the target fishing vessels; it has verified through the turning motion simulation that the estimation error could be generated. In conclusion, it is necessary to include the characteristics of the hull shape parameter of fishing vessels in the empirical formula in order to apply the empirical formula has developed for merchant ship types to fishing vessel types.