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

Asadian Ghahferokhi, Mohammad | 2014

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  1. Type of Document: Ph.D. Dissertation
  2. Language: Farsi
  3. Document No: 46524 (08)
  4. University: Sharif University of Technology
  5. Department: Mechanical Engineering
  6. Advisor(s): Abbaspour Fard Tehrani , Majid
  7. Abstract:
  8. 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 fish can be adjusted by changing oscillating frequency, amplitude and the length of oscillatory part, respectively, and its orientation is tuned by different joint’s deflections. Experimental studies on steady swimming of live fish are fulfilled with digital particle image velocimetry (DPIV) and image processing methods and optimal equations of motion are empirically derived. The oscillating amplitude increases dramatically from 1/3 of body and is very small near the head. So the second order function which describes wave amplitude of fish undulatory movement equation was found and the oscillatory motion of the biomimetic robot fish will be designed according to this equation. In this method within an aquarium using a high speed digital camera (Cube 3) up to 128000 fps and a 4000mW laser source, imaging the mechanism of swimming is performed and using image processing code to find experimentally the optimal coefficients of the motion equation, appropriate location of joints and so on.
    In the theoretical section, we used the results of the hydrodynamic and kinematic modeling on underwater vehicles such as Hydrofoils, AUV's, ROV and aquatic organisms to determine the robot fish mechanism of movement and calculating the drag and thrust forces acting on it.
    Also in this study, we design an intelligent control system to pursue and achieve the fixed and mobile goals in sea accurately and quickly as possible
  9. Keywords:
  10. Image Processing ; Intelligent Control ; Hydrodynamics ; Robotic Fish ; Digital Particle Image Velocimetry (DPIV)

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