عنوان المقالة:رسالة ماجستير DESIGN, DEVELOPMENT, AND MODELING OF A WIRELESSLY CHARGED ROBOTIC FISH
حسين نعيم حسن ناصر | Hussein Naeem Hasan Naser | 7365
نوع النشر
رسالة ماجستير
المؤلفون بالعربي
حسين نعيم حسن
المؤلفون بالإنجليزي
Hussein Naeem Hasan
الملخص الانجليزي
In the past two decades, robotic sh have received signi cant interest due to their various perceived applications. Designing robotic sh is a challenging task, partly due to the delicate need of waterproo ng. In addition, one needs to optimize the hydrodynamic performance while accommodating the constraints on size, cost, and feasibility of manufacturing. In this work, two bio-inspired robotic sh prototypes propelled by a pair of pectoral ns and a caudal n have been developed. The rst prototype has been used as a tool for mod- eling, control, and educational purposes. The second one will be used for a museum exhibit at the MSU Museum. For these robots, a novel design for pectoral ns is presented, which has demonstrated excellent hydrodynamic performance. The robotic sh is mathematically modeled by incorporating the rigid body dynamics with hydrodynamics of the caudal and pectoral ns, which are captured with Lighthill's elongated-body theory and blade element theory, respectively. The mathematical model is validated experimentally. For the second robotic sh, a wireless charging system has been developed. A mathe- matical model for the wireless charging system is presented and validated by experimental results. An automatic docking system is also developed, which lifts the robotic sh out of water for wireless charging and places it back in water afterwards. Finally, a webcam-based navigation system for the robotic sh is presented. The system is designed to allow interactions between a user and the robot. The user can assign a target point anywhere in the working area of the tank, and the robotic sh will track that target.
تاريخ النشر
21/08/2015
الناشر
ProQuest LLC
رابط DOI
1598675
رابط الملف
تحميل (239 مرات التحميل)
الكلمات المفتاحية
Robotic fish, Underwater robot, Dynamic Modeling, Wireless charging, Pectoral Fins
رجوع