Design and Control of an Embedded Vision Guided Robotic Fish with Multiple Control Surfaces

<table>Comparative oscillatory signals for the BCF-type swimming. (a) Oscillatory sequence of <svg height="15.25" id="M160" style="vertical-align:-3.276pt" version="1.1" viewbox="0 0 37.599998 15.25" width="37.599998" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink">
<g transform="matrix(.017,-0,0,-.017,.062,11.112)"><path d="M434 650l-5 -28q-60 -8 -75 -20.5t-25 -69.5l-71 -395q-20 -107 -57.5 -168t-106.5 -94q-40 -18 -61 -20l-10 32q77 23 113 108q21 50 41 160l68 377q10 57 -1.5 69.5t-76.5 20.5l6 28h261z" id="x1D43D"></path></g>
<g transform="matrix(.012,-0,0,-.012,7.825,15.187)"><path d="M384 0h-275v27q67 5 81.5 18.5t14.5 68.5v385q0 38 -7.5 47.5t-40.5 10.5l-48 2v24q85 15 178 52v-521q0 -55 14.5 -68.5t82.5 -18.5v-27z" id="x31"></path></g>
<g transform="matrix(.017,-0,0,-.017,14.162,11.112)"><path d="M300 253l-14 -55h-229l14 55h229z" id="x2D"></path></g><g transform="matrix(.017,-0,0,-.017,17.392,11.112)"><path d="M300 253l-14 -55h-229l14 55h229z" id="x2D"></path></g><g transform="matrix(.017,-0,0,-.017,23.444,11.112)"><path d="M434 650l-5 -28q-60 -8 -75 -20.5t-25 -69.5l-71 -395q-20 -107 -57.5 -168t-106.5 -94q-40 -18 -61 -20l-10 32q77 23 113 108q21 50 41 160l68 377q10 57 -1.5 69.5t-76.5 20.5l6 28h261z" id="x1D43D"></path></g>
<g transform="matrix(.012,-0,0,-.012,31.2,15.187)"><path d="M456 178h-96v-72q0 -51 12.5 -62.5t72.5 -16.5v-27h-256v27q65 5 78 17t13 62v72h-260v28q182 271 300 426h40v-407h96v-47zM280 225v295h-2q-107 -148 -196 -295h198z" id="x34"></path></g>
</svg> in the fish body wave fitting. (b) Oscillatory angles of <svg height="15.25" id="M161" style="vertical-align:-3.276pt" version="1.1" viewbox="0 0 37.599998 15.25" width="37.599998" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink">
<g transform="matrix(.017,-0,0,-.017,.062,11.112)"><path d="M434 650l-5 -28q-60 -8 -75 -20.5t-25 -69.5l-71 -395q-20 -107 -57.5 -168t-106.5 -94q-40 -18 -61 -20l-10 32q77 23 113 108q21 50 41 160l68 377q10 57 -1.5 69.5t-76.5 20.5l6 28h261z" id="x1D43D"></path></g>
<g transform="matrix(.012,-0,0,-.012,7.825,15.187)"><path d="M384 0h-275v27q67 5 81.5 18.5t14.5 68.5v385q0 38 -7.5 47.5t-40.5 10.5l-48 2v24q85 15 178 52v-521q0 -55 14.5 -68.5t82.5 -18.5v-27z" id="x31"></path></g>
<g transform="matrix(.017,-0,0,-.017,14.162,11.112)"><path d="M300 253l-14 -55h-229l14 55h229z" id="x2D"></path></g><g transform="matrix(.017,-0,0,-.017,17.392,11.112)"><path d="M300 253l-14 -55h-229l14 55h229z" id="x2D"></path></g><g transform="matrix(.017,-0,0,-.017,23.444,11.112)"><path d="M434 650l-5 -28q-60 -8 -75 -20.5t-25 -69.5l-71 -395q-20 -107 -57.5 -168t-106.5 -94q-40 -18 -61 -20l-10 32q77 23 113 108q21 50 41 160l68 377q10 57 -1.5 69.5t-76.5 20.5l6 28h261z" id="x1D43D"></path></g>
<g transform="matrix(.012,-0,0,-.012,31.2,15.187)"><path d="M456 178h-96v-72q0 -51 12.5 -62.5t72.5 -16.5v-27h-256v27q65 5 78 17t13 62v72h-260v28q182 271 300 426h40v-407h96v-47zM280 225v295h-2q-107 -148 -196 -295h198z" id="x34"></path></g>
</svg> in the CPG controller.</table>

The Scientific World Journal

fig9

Figure 9

Figure 9: Design and Control of an Embedded Vision Guided Robotic Fish with Multiple Control Surfaces 