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Study on Stabilization of Undermater Robot with Mechanical Pectoral Fins in Water Currents

Research Project

Project/Area Number 09651023
Research Category

Grant-in-Aid for Scientific Research (C)

Allocation TypeSingle-year Grants
Section一般
Research Field 海洋工学
Research InstitutionTokai University

Principal Investigator

KATO Naomi  Tokai Univ.Dept.of Marine Design and Eng.Prof., 海洋海部, 教授 (00138637)

Project Period (FY) 1997 – 1998
Project Status Completed (Fiscal Year 1998)
Budget Amount *help
¥2,400,000 (Direct Cost: ¥2,400,000)
Fiscal Year 1998: ¥1,200,000 (Direct Cost: ¥1,200,000)
Fiscal Year 1997: ¥1,200,000 (Direct Cost: ¥1,200,000)
KeywordsLead Lag motion / Feathering Motion / Unsteady Vortex Lattice Method / Fish-Like Undermater Robot / Guidance and Control / Fuzzy Control / Flexible Fin / アクフバ付メカニズム / 胸鰭運動装置 / ドッキング / リ-ド・ラグ運動 / 魚型水中ロボット
Research Abstract

This study deals with (I) experimental analysis of pectoral fin motion, (2) the hydrodynamic model for pectoral fin motion, (3) maneuver test of a fish robot equipped with a pair of apparatus of pectoral fin motion on both sides , (4) guidance and control of the fish robot, in particular, the hovering performance in water currents, and (5) numerical simulation of effect of a flexible fin on its hydrodynamic characteristics. The conclusions are as follows ;
(1) Observation of pectoral fin motion of Black Bass revealed that the combination of feathering motion and lead-lag motion of a pair of pectoral fins generates the fish motion of advancing, backward swimming, hovering and turning.
(2) The unsteady vortex-lattice method including the effect of viscosity can express fairly well the unsteady forces acting on a pectoral fin model having feathering and lead-lag motions in a range of the phase difference between both motions where it exerts thrust force.
(3) The fish robot consisting of fish body model and a pair of apparatus of pectoral fin motion can not only swim forward and backward and turn in the same position, but also swim in the lateral direction.
(4) The use of fuzzy control enables the fish robot with a pair of the apparatus of the pectoral fin motion swim on a pre-arranged course and hover around an appointed point in a water current.
(5) The flexible fin makes it possible to increase the propeller efficiency compared with the rigid fin.

Report

(3 results)
  • 1998 Annual Research Report   Final Research Report Summary
  • 1997 Annual Research Report
  • Research Products

    (18 results)

All Other

All Publications (18 results)

  • [Publications] Kato, N.: "Locomotion by Mechanical Pectoral Fihs" J.Mar.Sci Technol. 3. 112-121 (1998)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1998 Final Research Report Summary
  • [Publications] Kato, N.and Inaba, T.: "Guidana and Contral of Fish Robot with Apparatus of Pectoral Fin Motion" Proc.of 1998 IEEE ICRA. 446-451 (1998)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1998 Final Research Report Summary
  • [Publications] Kato, N.and Inaba, T.: "Contral Performance of Fish Robot with Pectoral Fins in Horizontal Plane" Proc.of 1998 Int Conf on Underhater Technology. 357-362 (1998)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1998 Final Research Report Summary
  • [Publications] 稲葉, 渡辺, 加藤: "胸鰭運動装置を取り付けた魚型水中ロボットの運動制御" 日本機械学会, 第10回バイオエンジニアリング講演会. 648-649 (1998)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1998 Final Research Report Summary
  • [Publications] 加藤, 稲葉: "胸鰭運動装置の流体力学的研究" 日本造船学会論文集. 182. 129-139 (1997)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1998 Final Research Report Summary
  • [Publications] Kato, N.Inaba, T.: "Hovering Performance of Fish Robot with Apparatus of Pectoral Fin Motion" Proc.of 10th Int.Syml.on UUST. 177-188 (1997)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1998 Final Research Report Summary
  • [Publications] Kato, N.: "Locomotion by Mechanical Pectoral Fins" J.Mar.Sci.Technol.vol.3. 112-121 (1998)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1998 Final Research Report Summary
  • [Publications] Kato, N.and Inaba, T.: "Guidara and Control of Fish Robot with Apparatus of Pectoral Fin Motion" Proc.of 1998 IEEE ICRA. 446-451 (1998)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1998 Final Research Report Summary
  • [Publications] Kato, N.and Inaba T.: "Control Perforamance of Fish Robot with Pectoral Fins in Horizontal Plane" Proc.of 1998 Int.Conf.on Underwater Technology. 357-362 (1998)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1998 Final Research Report Summary
  • [Publications] Inaba, T.Watanabe, K.and Kato, N.: "Motion Control of Fish Robot with Mechanical Pectoral Fins in Horizontal Plane" Proc.of 10^<th> Bio-Engineering, (JSME). 648-649 (1998)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1998 Final Research Report Summary
  • [Publications] Kato, N.and Inaba, T.: "Hydrodynamic Characteristics of Mechanical Pectoral Fin" J.Soc.Navol Architects of Japan. Vol.182. 129-139 (1997)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1998 Final Research Report Summary
  • [Publications] Kato, N.and Inaba, T.: "Hovering Performance of Fish Robot with Apparatns of Pectoral Fin Motion" Proc.10^<th> Int.Symp.on UUST. 177-188 (1997)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1998 Final Research Report Summary
  • [Publications] Kato,N.: "Locomotion by Mechanical Pectoral Fins" J.Mar.Sci.Technol.3. 112-121 (1998)

    • Related Report
      1998 Annual Research Report
  • [Publications] Kato,N.and Inaba,T.: "Guidance and Control of Fish Robot with Apparatas of Pectoral Fin Motion" Proc.of 1998 IEEE Int.Con.on Robotics and Artinotion. 446-451 (1998)

    • Related Report
      1998 Annual Research Report
  • [Publications] Kato,N.and Inaba,T.: "Control Performance of Fish Robot with Pectoral Fins in movizental Plane" Prc.of 1998 Int.Conf.on Under mater Technil. 357-362 (1998)

    • Related Report
      1998 Annual Research Report
  • [Publications] 加藤直三、稲葉忠彦: "胸鰭運動装置の流体力学術特性" 日本造船学会論文集. 182. 129-139 (1997)

    • Related Report
      1997 Annual Research Report
  • [Publications] N.Kato,T.Inaba: "Hovering Performance of Fish Robot with Apparatus of Pectoral Hn Motion" Proc.of 10th Int.Sym.on Unmanned Untechered Sabmersible Technolozy. 177-188 (1997)

    • Related Report
      1997 Annual Research Report
  • [Publications] 稲葉忠彦 渡辺啓介 加藤直三: "胸鰭運動装置を取り付けた魚型水中ロボットの運動制御" 第10回バイオエンジニアリング講演会論文集(機械学会). 648-649 (1998)

    • Related Report
      1997 Annual Research Report

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Published: 1997-04-01   Modified: 2016-04-21  

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