Table of Contents Author Guidelines Submit a Manuscript
The Scientific World Journal
Volume 2014, Article ID 631296, 13 pages
http://dx.doi.org/10.1155/2014/631296
Research Article

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

1State Key Laboratory of Management and Control for Complex Systems, Institute of Automation, Chinese Academy of Sciences, Beijing 100190, China
2Department of Informatics, University of Hamburg, D-22527 Hamburg, Germany

Received 5 August 2013; Accepted 30 October 2013; Published 29 January 2014

Academic Editors: C.-F. Juang and I. Uzmay

Copyright © 2014 Junzhi Yu et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.

Linked References

  1. N. F. Lepora, P. l Verschure, and T. J. Prescott, “The state of the art in biomimetics,” Bioinspiration & Biomimetics, vol. 8, no. 1, Article ID 013001, 11 pages, 2013. View at Google Scholar
  2. M. S. Triantafyllou and G. S. Triantafyllou, “An efficient swimming machine,” Scientific American, vol. 272, no. 3, pp. 40–48, 1995. View at Google Scholar · View at Scopus
  3. P. R. Bandyopadhyay, D. N. Beal, and A. Menozzi, “Biorobotic insights into how animals swim,” Journal of Experimental Biology, vol. 211, no. 3, pp. 206–214, 2008. View at Publisher · View at Google Scholar
  4. J. Yu, M. Tan, S. Wang, and E. Chen, “Development of a biomimetic robotic fish and its control algorithm,” IEEE Transactions on Systems, Man, and Cybernetics, Part B, vol. 34, no. 4, pp. 1798–1810, 2004. View at Publisher · View at Google Scholar · View at Scopus
  5. J. Liang, T. Wang, and L. Wen, “Development of a two-joint robotic fish for real-world exploration,” Journal of Field Robotics, vol. 28, no. 1, pp. 70–79, 2011. View at Publisher · View at Google Scholar · View at Scopus
  6. J. Liu and H. Hu, “Biological inspiration: from carangiform fish to multi-joint robotic fish,” Journal of Bionic Engineering, vol. 7, no. 1, pp. 35–48, 2010. View at Publisher · View at Google Scholar · View at Scopus
  7. J. Yu, M. Wang, M. Tan, and J. Zhang, “Three-dimensional swimming,” IEEE Robotics and Automation Magazine, vol. 18, no. 4, pp. 47–58, 2011. View at Publisher · View at Google Scholar · View at Scopus
  8. M. Sfakiotakis, D. M. Lane, and J. B. C. Davies, “Review of fish swimming modes for aquatic locomotion,” IEEE Journal of Oceanic Engineering, vol. 24, no. 2, pp. 237–252, 1999. View at Publisher · View at Google Scholar · View at Scopus
  9. G. V. Lauder and E. G. Drucker, “Morphology and experimental hydrodynamics of fish fin control surfaces,” IEEE Journal of Oceanic Engineering, vol. 29, no. 3, pp. 556–571, 2004. View at Publisher · View at Google Scholar · View at Scopus
  10. G. F. Helfman, B. B. Collette, D. E. Facey, and B. W. Bowen, The Diversity of Fishes: Biology, Evolution, and Ecology, Wiley- Blackwell, 2nd edition, 2009.
  11. D. Lachat, A. Crespi, and A. J. Ijspeert, “BoxyBot: a swimming and crawling fish robot controlled by a central pattern generator,” in Proceedings of the 1st IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob '06), pp. 643–648, Pisa, Italy, February 2006. View at Publisher · View at Google Scholar · View at Scopus
  12. P. Kodati, J. Hinkle, A. Winn, and X. Deng, “Microautonomous robotic ostraciiform (MARCO): hydrodynamics, design, and fabrication,” IEEE Transactions on Robotics, vol. 24, no. 1, pp. 105–117, 2008. View at Publisher · View at Google Scholar · View at Scopus
  13. S. P. Collin and N. J. Marshall, Eds., Sensory Processing in Aquatic Environments, Springer, New York, NY, USA, 2003.
  14. S. Gay, S. Dégallier, U. Pattacini, A. Ijspeert, and J. S. Victor, “Integration of vision and central pattern generator based locomotion for path planning of a non-holonomic crawling humanoid robot,” in Proceedings of the 23rd IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '10), pp. 183–189, Taipei, Taiwan, October 2010. View at Publisher · View at Google Scholar · View at Scopus
  15. W. Zou, J. Yu, and D. Xu, “Development of the embedded vision system: a survey,” Measurement and Control, vol. 42, no. 7, pp. 216–221, 2009. View at Google Scholar · View at Scopus
  16. W. Wang, J. Yu, M. Wang, and R. Ding, “Mechanical design and preliminary realization of robotic fish with multiple control surfaces,” in Proceedings of the 29th Chinese Control Conference (CCC '10), pp. 3758–3762, Beijing, China, July 2010. View at Scopus
  17. J. Yu, M. Wang, W. Wang, M. Tan, and J. Zhang, “Design and control of a fish-inspired multimodal swimming robot,” in Proceedings of the IEEE International Conference on Robotics and Automation, pp. 3664–3669, Shanghai, China, May 2011.
  18. J. R. Hove, L. M. O'Bryan, M. S. Gordon, P. W. Webb, and D. Weihs, “Boxfishes (Teleostei: Ostraciidae) as a model system for fishes swimming with many fins: kinematics,” Journal of Experimental Biology, vol. 204, no. 8, pp. 1459–1471, 2001. View at Google Scholar · View at Scopus
  19. D. G. Mackean, “Fish—structure and function,” http://www.biology-resources.com/fish-01.html.
  20. T. Salumäe and M. Kruusmaa, “A flexible fin with bio-inspired stiffness profile and geometry,” Journal of Bionic Engineering, vol. 8, no. 4, pp. 418–428, 2011. View at Publisher · View at Google Scholar · View at Scopus
  21. A. J. Ijspeert, “Central pattern generators for locomotion control in animals and robots: a review,” Neural Networks, vol. 21, no. 4, pp. 642–653, 2008. View at Publisher · View at Google Scholar · View at Scopus
  22. J. Yu, M. Wang, M. Tan, and J. Zhang, “Three-dimensional swimming,” IEEE Robotics and Automation Magazine, vol. 18, no. 4, pp. 47–58, 2011. View at Publisher · View at Google Scholar · View at Scopus
  23. M. Wang, J. Yu, and M. Tan, “Parameter design for a central pattern generator based locomotion controller,” in Proceedings of the 1st International Conference Intelligent Robotic Applications, vol. 5314 of LNAI, pp. 352–361, Wuhan, China, October 2008.
  24. Z. Wu, J. Yu, and M. Tan, “CPG parameter search for a biomimetic robotic fish based on particle swarm optimization,” in Proceedings of the IEEE International Conference on Robotics and Automation, pp. 563–568, Guangzhou, China, December 2012.
  25. D. M. Kocak and F. M. Caimi, “The current art of underwater imaging—with a glimpse of the past and vision of the future,” Marine Technology Society Journal, vol. 39, no. 3, pp. 5–26, 2005. View at Publisher · View at Google Scholar · View at Scopus
  26. J. Chen, G. Xiao, F. Gao, H. Zhou, and X. Ying, “Vision-based perceptive framework for fish motion,” in Proceedings of the International Conference on Information Engineering and Computer Science (ICIECS '09), pp. 1714–1717, Wuhan, China, December 2009. View at Publisher · View at Google Scholar
  27. D. Comaniciu, V. Ramesh, and P. Meer, “Kernel-based object tracking,” IEEE Transactions on Pattern Analysis and Machine Intelligence, vol. 25, no. 5, pp. 564–577, 2003. View at Publisher · View at Google Scholar · View at Scopus
  28. W. Zhao, Y. Hu, L. Zhang, and L. Wang, “Design and CPG-based control of biomimetic robotic fish,” IET Control Theory and Applications, vol. 3, no. 3, pp. 281–293, 2009. View at Publisher · View at Google Scholar · View at Scopus