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Total 6 records

      On the design of robotic fish based on lighthill's small-amplitude elongated body theory

      , Article 2008 ASME International Mechanical Engineering Congress and Exposition, IMECE 2008, Boston, MA, 31 October 2008 through 6 November 2008 ; Volume 11 , 2009 , Pages 119-125 ; 9780791848722 (ISBN) Shahi, M ; Meghdari, A ; Sharif University of Technology
      2009
      Abstract
      This paper addresses the issues of energy efficiency in robotic fish design by use of hydrodynamic models. The use of LighthilPs small-amplitude elongated body theory for designing of robotic fish, obtaining optimal kinematics and dynamic analysis with emphasis on compliant mechanism is presented. Simulation results for a sample case have demonstrated the importance of proposed approach in robotic fish design. Copyright © 2008 by ASME  

      Design and Fabrication of a Fish Robot

      , M.Sc. Thesis Sharif University of Technology Hosseini, Saeed (Author) ; Meghdari, Ali (Supervisor) ; Selk Ghafari, Ali (Supervisor)
      Abstract
      In this research a robotic fish was designed and fabricated. For this propose different types of manufactured robotic fish were investigated and this model was developed and made with a one-piece flexible tail with an actuator that creates lateral movement through cable strings attached to the tail. Proposed mechanism has a simple, low cost structure that facilitates the control of the robotic fish movement. To control this robotic fish, a four-channel radio controller with 40 kHz frequency, was used. Swimming mode of this robotic fish is categorized in Subcarangiform swimming mode which is faster and has better maneuverability compared to its counterparts. It should be noted that the... 

      Design & Manufacturing of a Robofish by Results of Experimental Studies of Fsh Hydrodynamics

      , Ph.D. Dissertation Sharif University of Technology Asadian Ghahferokhi, Mohammad (Author) ; Abbaspour Fard Tehrani , Majid (Supervisor)
      Abstract
      Underwater robots have found various applications such as military ones, environmental monitoring, oil pipe exploration and surgeries. Design of highly maneuverable robot fish is mostly based on their propulsion mechanism, anatomy of the base fish, highly controllable fins and high propulsion efficiency.
      In this research, we design a robot fish by using of experimental results on fish hydrodynamics, flow pattern around the model and various mechanisms of the fish.
      In the experimental section, we arranged advanced image processing and optical measurement of DPIV setup in order to reviewing and analyzing movements of two species of fish (trout and Pangasius). The swimming speed of... 

      Dynamic Analysis & Control of a Biomimetic Robotic Fish Employing the Bond Graph Approach

      , M.Sc. Thesis Sharif University of Technology Daryani Tabrizi, Kasra (Author) ; Selk Ghafari, Ali (Supervisor) ; Meghdari, Ali (Supervisor)
      Abstract
      In this thesis, a dynamic model of the biomimetic robotic fish with a flexible tail is developed. In this model, the oscillating frequency of the tail controls the forward velocity, and the body spline offset parameter controls the heading angle. The robotic fish were divided to two parts: a rigid body, and a flexible tail. The rigid body includes the head and the electrical and mechanical equipment. The bond graph model was developed and the numerical values were extracted from constructed robotic fish have also been hydrodynamically analyzed. Simulation results were quantitatively compared and verified with Matlab Simmechanics simulations. These simulations described the lateral movement... 

      Video images and undulatory movement equation of pangasius sanitwongsei's caudal fin of steady swimming fish

      , Article International Journal of Design and Nature and Ecodynamics ; Vol. 9, issue. 2 , 2014 , pp. 95-108 ; ISSN: 1755-7445 Vaghefi, A. S ; Abbaspour, M ; Sharif University of Technology
      Abstract
      Experimental hydrodynamics imaging of four Pangasius sanitwongsei were considered. A quantitative characterization of caudal fin is presented in this article. Steady swimming of four P. sanitwongsei with different total length was studied experimentally and taped by high-speed digital video, and undulatory movement of each fish at different velocity was revealed. The pattern of body undulatory movement of the fish was drawn from the video images. Three main factors that determine the fish swimming behavior are Reynolds number, Strouhal number and shape. In this study, Lf/L was chosen as a characteristic of shape, where Lf was the distance from the start of the head to the end of the head.... 

      Design of pid controller for control of speed of the robotic fish modeled by Lighthill's large amplitude elongated body theory in linear path

      , Article ASME International Mechanical Engineering Congress and Exposition, Proceedings, 13 November 2009 through 19 November 2009, Lake Buena Vista, FL ; Volume 10, Issue PART A , 2010 , Pages 117-124 ; 9780791843833 (ISBN) Shahi, M ; Meghdari, A ; Sharif University of Technology
      American Society of Mechanical Engineers (ASME)  2010
      Abstract
      Design of robotic fish based on hydrodynamics is presented and Lighthill's Large Amplitude Elongated Body Theory (LAEBT) is used for modeling of the robotic fish in linear path. A PID controller for control of speed in linear path is designed and simulations are presented which shows its effectiveness for speed control of the robotic fish. It has been shown that in perspective of used approximate LAEBT model, the used control law maintains kinematic parameters and therefore, the associated efficiency will be maintained  
    Total 6 records