Modeling and Control of a Bioinspired Robotic Fish Underwater Vehicle: Next Generation Underwater Robots - Brossura
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Robotic fish is propelled by an oscillating, 2-joint caudal fin and two pectoral fins. Major kinematic parameters of robot are based on kinematics study of a yellow fin tuna. A bio-inspired algorithmic framework with these parameters is found to produce the body wave, along robot’s joints. A novel dynamic model is proposed by unifying conventional rigid body dynamics and bio-fluid-dynamics of carangiform swimming. Accuracies of hydrodynamic forces are examined. A central pattern generator structure is applied to generate desired rhythmic patterns preserving control properties. A two level locomotion control architecture based on vertebrate fish biology is implemented. An inverse dynamic control method based on non-linear state function model is proposed to improve tracking performance. Further, dynamic motion closed loop control strategies are developed, implemented and compared based on three different nonlinear control schemes. Experimental results obtained show that inverse dynamic model based control using dynamic compensation can improve trajectory tracking accuracy and smoothness significantly. Robotic fish is found to exhibit swimming patterns similar to the biological fish.
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Modeling and Control of a Bioinspired Robotic Fish Underwater Vehicle
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LAP LAMBERT Academic Publishing Dez 2015, 2015
ISBN 10: 3659779636
ISBN 13: 9783659779633
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Da: BuchWeltWeit Ludwig Meier e.K., Bergisch Gladbach, Germania
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Taschenbuch. Condizione: Neu. This item is printed on demand - it takes 3-4 days longer - Neuware -Robotic fish is propelled by an oscillating, 2-joint caudal fin and two pectoral fins. Major kinematic parameters of robot are based on kinematics study of a yellow fin tuna. A bio-inspired algorithmic framework with these parameters is found to produce the body wave, along robot's joints. A novel dynamic model is proposed by unifying conventional rigid body dynamics and bio-fluid-dynamics of carangiform swimming. Accuracies of hydrodynamic forces are examined. A central pattern generator structure is applied to generate desired rhythmic patterns preserving control properties. A two level locomotion control architecture based on vertebrate fish biology is implemented. An inverse dynamic control method based on non-linear state function model is proposed to improve tracking performance. Further, dynamic motion closed loop control strategies are developed, implemented and compared based on three different nonlinear control schemes. Experimental results obtained show that inverse dynamic model based control using dynamic compensation can improve trajectory tracking accuracy and smoothness significantly. Robotic fish is found to exhibit swimming patterns similar to the biological fish. 284 pp. Englisch. Codice articolo 9783659779633
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Modeling and Control of a Bioinspired Robotic Fish Underwater Vehicle
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LAP LAMBERT Academic Publishing, 2015
ISBN 10: 3659779636
ISBN 13: 9783659779633
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Condizione: New. Dieser Artikel ist ein Print on Demand Artikel und wird nach Ihrer Bestellung fuer Sie gedruckt. Autor/Autorin: Roy Chowdhury AbhraAuthor has received Ph.D. degree from the Department of Electrical and Computer Engineering, National University of Singapore.He has received M. Tech degree (University gold medal) specializing in Control Systems f. Codice articolo 158429392
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Modeling and Control of a Bioinspired Robotic Fish Underwater Vehicle | Next Generation Underwater Robots
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LAP LAMBERT Academic Publishing, 2016
ISBN 10: 3659779636
ISBN 13: 9783659779633
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Taschenbuch. Condizione: Neu. Modeling and Control of a Bioinspired Robotic Fish Underwater Vehicle | Next Generation Underwater Robots | Abhra Roy Chowdhury (u. a.) | Taschenbuch | 284 S. | Englisch | 2016 | LAP LAMBERT Academic Publishing | EAN 9783659779633 | Verantwortliche Person für die EU: BoD - Books on Demand, In de Tarpen 42, 22848 Norderstedt, info[at]bod[dot]de | Anbieter: preigu. Codice articolo 104025337
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Modeling and Control of a Bioinspired Robotic Fish Underwater Vehicle
Editore:
LAP LAMBERT Academic Publishing Dez 2015, 2015
ISBN 10: 3659779636
ISBN 13: 9783659779633
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Da: buchversandmimpf2000, Emtmannsberg, BAYE, Germania
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Taschenbuch. Condizione: Neu. This item is printed on demand - Print on Demand Titel. Neuware -Robotic fish is propelled by an oscillating, 2-joint caudal fin and two pectoral fins. Major kinematic parameters of robot are based on kinematics study of a yellow fin tuna. A bio-inspired algorithmic framework with these parameters is found to produce the body wave, along robot's joints. A novel dynamic model is proposed by unifying conventional rigid body dynamics and bio-fluid-dynamics of carangiform swimming. Accuracies of hydrodynamic forces are examined. A central pattern generator structure is applied to generate desired rhythmic patterns preserving control properties. A two level locomotion control architecture based on vertebrate fish biology is implemented. An inverse dynamic control method based on non-linear state function model is proposed to improve tracking performance. Further, dynamic motion closed loop control strategies are developed, implemented and compared based on three different nonlinear control schemes. Experimental results obtained show that inverse dynamic model based control using dynamic compensation can improve trajectory tracking accuracy and smoothness significantly. Robotic fish is found to exhibit swimming patterns similar to the biological fish.VDM Verlag, Dudweiler Landstraße 99, 66123 Saarbrücken 284 pp. Englisch. Codice articolo 9783659779633
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Modeling and Control of a Bioinspired Robotic Fish Underwater Vehicle : Next Generation Underwater Robots
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LAP LAMBERT Academic Publishing, 2015
ISBN 10: 3659779636
ISBN 13: 9783659779633
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Taschenbuch. Condizione: Neu. nach der Bestellung gedruckt Neuware - Printed after ordering - Robotic fish is propelled by an oscillating, 2-joint caudal fin and two pectoral fins. Major kinematic parameters of robot are based on kinematics study of a yellow fin tuna. A bio-inspired algorithmic framework with these parameters is found to produce the body wave, along robot's joints. A novel dynamic model is proposed by unifying conventional rigid body dynamics and bio-fluid-dynamics of carangiform swimming. Accuracies of hydrodynamic forces are examined. A central pattern generator structure is applied to generate desired rhythmic patterns preserving control properties. A two level locomotion control architecture based on vertebrate fish biology is implemented. An inverse dynamic control method based on non-linear state function model is proposed to improve tracking performance. Further, dynamic motion closed loop control strategies are developed, implemented and compared based on three different nonlinear control schemes. Experimental results obtained show that inverse dynamic model based control using dynamic compensation can improve trajectory tracking accuracy and smoothness significantly. Robotic fish is found to exhibit swimming patterns similar to the biological fish. Codice articolo 9783659779633
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Modeling and Control of a Bioinspired Robotic Fish Underwater Vehicle: Next Generation Underwater Robots
Editore:
LAP LAMBERT Academic Publishing, 2015
ISBN 10: 3659779636
ISBN 13: 9783659779633
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paperback. Condizione: Like New. LIKE NEW. SHIPS FROM MULTIPLE LOCATIONS. book. Codice articolo ERICA80036597796366
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