NDLI: An approach to remote update driver system of a robotic fish with two long fins

Content Provider	IEEE Xplore Digital Library
Author	Wei Qingping Wang Shuo Tan Min
Copyright Year	2013
Description	Author affiliation: State Key Lab. of Manage. & Control for Complex Syst., Inst. of Autom., Beijing, China (Wei Qingping; Wang Shuo; Tan Min)
Abstract	The robotic fish with two long fins is one kind of underwater robot system imitating stingray's motion. The robotic fish generates thrust by use of two long fins located on both sides of body symmetrically. A driver control system for the motion control of fin rays is designed based on FPGA(Field Programmable Gate Array). Several kinds of motion modes can be achieved through tuning motion parameters. In order to facilitate updating control algorithm, reducing the probability of damaging the robot system and improving debugging efficiency, a solution for remote updating the driver program of the robotic fish wirelessly is proposed in this paper based on the dedicated remote system update circuitry integrated in ALTERA FPGA. In addition, a remote update system is designed in this paper. The designed control program updating system facilitates the debugging and optimization of multi-fin coordination control algorithm for the robotic fish with two long fins greatly.
Starting Page	5705
Ending Page	5709
File Size	393130
Page Count	5
File Format	PDF
ISBN	9789881563835
ISSN	19341768
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2013-07-26
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	TCCT, CAA
Subject Keyword	Robot kinematics FPGA Ash Robotic fish Remote System Update Light emitting diodes Control systems Marine animals Field programmable gate arrays
Content Type	Text
Resource Type	Article

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