• Transactions of the Korean Society of Mechanical Engineers A
• /
• v.33 no.10
• /
• pp.1029-1037
• /
• 2009

Recently, the technologies of mobile robots have been growing rapidly in the fields such as cleaning robot, explosive ordnance disposal robot, patrol robot, etc. However, the researches about the autonomous underwater robots have not been done so much, and they still remain at the low level of technology. This paper describes a model of 3-joint (4 links) fish robot type. Then we calculate the dynamic motion equation of this fish robot and use Singular Value Decomposition (SVD) method to reduce the divergence of fish robot's motion when it operates in the underwater environment. And also, we analysis response characteristic of fish robot according to the parameters of input torque function and compare characteristic of fish robot with 3 joint and fish robot with 2 joint. Next, fish robot's maximum velocity is optimized by using the combination of Hill Climbing Algorithm (HCA) and Genetic Algorithm (GA). HCA is used to generate the good initial population for GA and then use GA is used to find the optimal parameters set that give maximum propulsion power in order to make fish robot swim at the fastest velocity.

• Journal of Institute of Control, Robotics and Systems
• /
• v.16 no.8
• /
• pp.799-803
• /
• 2010

Recently, there is a rising interest on studying bio-inspired robotic fish because of real fish's great maneuverability and high energy efficiency. However, the researches about the robotic fish have not been done so much and there are still lots of problems to use them in the real environment such as in the river. This paper describes a bio-inspired robotic fish 'Ichthus' which is developed in KITECH and has 3 DOF propulsive mechanism. We develop the dynamic motion equation of 'Ichthus' in the underwater environment and analyze response characteristics of 'Ichthus' according to the input parameters of tail fin's amplitude and oscillation frequency. Then we propose control parameters at the various velocities. These parameters are useful to increase energy efficiency and it can be used when the fish robot moves in the real environment, for example, we can propose proper amplitude and oscillation frequency when the fish robot passes through the narrow space between obstacles.

• Bulletin of the Society of Naval Architects of Korea
• /
• v.20 no.3
• /
• pp.1-16
• /
• 1983

In this paper a discrete-vortex-method(DVM) is presented for investigating the hydromechanics of the planar hydrofoils performing the undulatory motion which can be related to fish propulsion with carangiform mode. This is an extention of the authors previous work(1981) on the 2-dimensional hydrofoil. The applicability and accuracy of the present method are shown by means of comparing the calculated lifts and moments, and their distributions over the planforms with those in available references, for aspect ratio 1.0 and 2.0 rectangular hydrofoils and a swept-back hydrofoil of aspect ratio 2.0 from reduced frequency 0.1 to 0.5. The agreement is considered good. To assure the applicability of the DVM to the study of the propulsive performance of the oscillating planar hydrofoils, the convergence tests are performed. The mean thrust(in pure heave, this is wholly due to leading-edge suction), the mean power to maintain the motion and the hydromechanical efficiency are calculated for the rectangular hydrofoil of aspect ratio 8.0 and these are compared with the calculations by Chopra & Kambe(1977) and Lan(1979) for the same cases.

• Journal of Advanced Marine Engineering and Technology
• /
• v.31 no.7
• /
• pp.842-851
• /
• 2007

Oscillating foil propulsion, the engineering application of fish-like movement of a hydrofoil, has received in recent decades as a possible competitor for propellers. The oscillating foil produces an effective angle of attack, resulting in a normal force vector with thrust and lift components, and it can be expected to be a new highly effective propulsion system. We have explored propulsion hydrodynamics as a concept in wake flow pattern. The present study has been examined various conditions such as oscillating frequencies and amplitudes in NACA0010 profile. Flow visualizations showed that high thrust was associated with the generation of moderately strong vortices, which subsequently combine with trailing-edge vorticity leading to the formation of a reverse $K\acute{a}rm\acute{a}n$ vortex street. Vortex generation was inherent to jet production and playeda fundamental role in the wake dynamics. And it was shown that the strong thrust coefficient obtained as the Strouhal number was larger.

• The Journal of the Korea institute of electronic communication sciences
• /
• v.12 no.1
• /
• pp.85-92
• /
• 2017

Recently, electric propulsion systems are used for unmanned surface vehicle, fish finder boat, etc. Some of these propulsion systems can be constructed of two electric motors and propellers for advanced impellent force. In this case, the speed difference generated between two propellers, namely, the synchronous error has a bad influence on the energy efficiency and course error. In this study, a synchronous control system is designed to restrain synchronous error caused by disturbance and mismatched dynamic characteristics. The control system is composed of the reference model, pre-filters, speed controllers, and synchronous controllers. The reference model is used for calculating the decoupled synchronous error and control input for each propulsion system. The pre-filters and speed controllers are designed in order that the propulsion system may follow the reference signal without overshoot and input saturation. And the synchronous controllers are designed from the viewpoint of stable and quick synchronization through root locus mothed approach. Finally, the simulation results show that the designed control system is effective for the disturbance.

• The Journal of the Korea institute of electronic communication sciences
• /
• v.13 no.2
• /
• pp.349-356
• /
• 2018

In this study, the synchronous control system is designed to restrain the speed difference generated between two propellers, namely, synchronous error in a dual electric propulsion system of unmanned surface vehicle, fish finder boat, etc. The control system based on coupling structure is composed of pre-filters and speed controllers for each propulsion system and a synchronous controller cross-coupled between two propulsion systems. The pre-filter and speed controller are designed in order that the propulsion system may follow the speed reference without overshoot and input saturation. And the synchronous controller is designed in consideration of damping and quickness of the synchronous controller system after analyzing effect of the skew disturbance and mismatched dynamic characteristics on synchronous error. Finally, the simulation results show that the designed control system is effective for elimination of synchronous error.

• Proceedings of the KSME Conference
• /
• 2008.11a
• /
• pp.1558-1562
• /
• 2008

Ionic polymer metal composite (IPMC), one of Electro- Active Polymer (EAP) actuators, has great attention due to the low-voltage driven, large deformation and its potential for artificial muscles. In this paper, we firstly review fish swimming modes using various propulsion mechanisms. Based on study on the swimming mechanisms, we develop an underwater robot actuator which mimics fanning motion of webfoot form. It consists of four actuators fabricated by using IPMC and PDMS which mimics Bio-inspired motion Experiments using a prototype show that the webfooted IPMC actuator generates large deformation and propulsion.

• Bulletin of the Society of Naval Architects of Korea
• /
• v.18 no.3
• /
• pp.11-27
• /
• 1981

This paper is prepared to solve the problem of two-dimensional sinusoidal motion of hydrofoil, which can be related not only to the prediction of unsteady forces acting on the marine propeller blade but to the study of aquatic animal's undulatory mode of propulsion. For convenience's shake, this manuscript can be devided into two parts. In the first part, the lift and moment coefficients have been calculated by the method of conformal transformation. In the other part, the thrust and the hydromechanical efficiency have been evaluated, using Lagally's technique having extended to the unsteady case, they also have been compared with the results, which had been obtained by Lighthill[6] and Wu[7] using Prandtl's acceleration potential.

• Journal of the Korea Institute of Military Science and Technology
• /
• v.10 no.3
• /
• pp.189-199
• /
• 2007

The present survey paper introduces the research history, characteristics of body and fin shapes, basic principles of various locomotions and propulsion-generation mechanism of aquatic animals in nature, which utilize unsteady flow through a noble mechanism that is different in paradigm from the propulsion generation mechanism of man-made marine vehicles, and so have excellent performance and efficiency. The authors hope that the present paper helps to activate the domestic research interest on the fields of swimming in nature, which is expected to provide great ideas for improvement and innovation of today's marine vehicles.

• Journal of the Korea Institute of Information and Communication Engineering
• /
• v.15 no.8
• /
• pp.1756-1763
• /
• 2011

This paper was researched the straight cruise of fish robot according to biological mimic, and it was compared the proposed method which was considered up to 7th order components in fourier series of Liu's tail motion function with the approximate method which was used general sine function by simulation. If fish robot has a large number of links and if the length of tail link is long. The end rotary joint trajectory of tail motion function generally is different from sine function. Therefore The approximate method which expresses tail motion trajectories as fundamental component in fourier series has a problem. Through the computer simulation, the proposed method showed 10% excellent propulsion and velocity than the conventional method.