NDLI: Determining the bodily motion of a biomimetic underwater vehicle under oscillating propulsion

Content Provider	IEEE Xplore Digital Library
Author	Jenhwa Guo Forng-Chen Chiu Chih-Chieh Chen Yueh-Sheng Ho
Copyright Year	2003
Description	Author affiliation: Dept. of Eng. Sci. & Ocean Eng., Nat. Taiwan Univ., Taipei, Taiwan (Jenhwa Guo; Forng-Chen Chiu; Chih-Chieh Chen; Yueh-Sheng Ho)
Abstract	The paper describes a biomimetic autonomous underwater vehicle (BAUV) that mimics the shape and behavior of fish. The swimming motion of the BAUV is achieved using an oscillating body. The body spline is specified by a set of parameters, which are utilized using genetic algorithm (Gas) by evaluating a fitness function of the optimization which is defined as the ratio of the forward velocity to the required driving power of the joint motors. The resulting body spline is found to be better than all other body splines at all tail-beating frequencies. Each body spline has an optimal tail-beating frequency.
Sponsorship	IEEE Robotics & Autom. Soc. Nat. Sci. Council, Taiwan, Ministr. Educ., Taiwan
Starting Page	983
Ending Page	988
File Size	313463
Page Count	6
File Format	PDF
ISBN	0780377362
ISSN	10504729
DOI	10.1109/ROBOT.2003.1241720
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2003-09-14
Publisher Place	Taiwan
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Biomimetics Underwater vehicles Propulsion Spline Marine animals Automotive engineering Testing Frequency Motion control Power measurement
Content Type	Text
Resource Type	Article
Subject	Artificial Intelligence Control and Systems Engineering Electrical and Electronic Engineering Software

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