NDLI: Research of MCU-based robot fish with caudal fin

Content Provider	IEEE Xplore Digital Library
Author	Yawei Qu Songlin Chen Jie Ma
Copyright Year	2014
Description	Author affiliation: Control & Simulation Center, Harbin Inst. of Technol., Harbin, China (Yawei Qu; Songlin Chen; Jie Ma)
Abstract	This paper designs a MCU-based robot fish with caudal fin in order to model the robot fish and verify the related control methods. Firstly, this paper presents an overall design according to the functions required and then chooses the ideal servo motor after calculating its parameters based on the amplitude and frequency of the sine law. In addition, the controller, the inertial navigation model, the wireless communication model, the power supply, the electric circuit and the shell is designed and implemented considering of the limitation of the speed, interface, and cost and so on. In the software design, this paper solves the problem that the MCU is inefficient on the calculation of the float with the method of looking up the sine table, so that the SPWM wave drives the servo motor smoothly. With the program of IIC and SPI bus on the MCU and the control program based on Labview on PC, this paper realizes the wireless communication between the robot fish and PC, making the data collection and remote control possible. In the last, the robot fish is tested.
Starting Page	4638
Ending Page	4643
File Size	2959355
Page Count	6
File Format	PDF
ISBN	9781479937073
e-ISBN	9781479937080
DOI	10.1109/CCDC.2014.6853001
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2014-05-31
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Wireless communication Resistance Robot Fish Torque Wireless Communication DC motors Data Collection Marine animals Servomotors Servo Motor Robots
Content Type	Text
Resource Type	Article

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
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4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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