Swimming motion control for biometric fish robot by utilizing turning coefficient

Yoong, Hou Pin and Hoe, Lin Boon and Teo, Kenneth Tze Kin and Ismail Saad (2011) Swimming motion control for biometric fish robot by utilizing turning coefficient. In: 2nd International Conference on Intelligent Systems, Modelling and Simulation, ISMS 2011, 24-28 January 2011, Phnom Penh, Vietnam.

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In this paper turning coefficient had been utilize for the swimming motion equation of a biometric fish robot. The swimming equation based on Carangiform Wave is cascaded with the arc equation to change the oscillating axis during turning movement (Chao Zhou). Usually turning movement is generated by defining the turning radius of the arc equation to bend the Carangiform oscillating axis. This involves the computation of turning radius power of two and infinite radius value during straight movement. Thus turning coefficient had been introduced to the arc equation to simplify the computation process and the turning coefficient can set as zero during straight movement. With the implementation of turning coefficient, the turning radius is fixed at a minimum value. This reduces the computational time of about 9% and maintaining the ability to perform smooth turning movement. Infrared sensor provides environment feedback for altering the turning coefficient linearly. The rate of change for the turning coefficient can be adjusted to define the sensitivities of the fish reacting to the environment.

Item Type: Conference or Workshop Item (UNSPECIFIED)
Uncontrolled Keywords: Carangiform, Fish robot, Turning coefficient, Computation process, Computational time, Equation based, Fish robot, Fish robots, Infra-red sensor, Minimum value, Power-of-two, Rate of change, Swimming motion, Turning radius, Biometrics, Fish, Intelligent systems, Robots, Equations of motion
Subjects: ?? TJ210.2-211.47 ??
Divisions: SCHOOL > School of Engineering and Information Technology
Depositing User: ADMIN ADMIN
Date Deposited: 24 Oct 2012 00:14
Last Modified: 30 Dec 2014 01:38
URI: http://eprints.ums.edu.my/id/eprint/5137

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