A biologically inspired robot in the form of fish (mackerel) model using rubber (as the biomimetic material) for its hyper-redundant joint is presented in this paper. Computerized simulation of the most critical part of the model (the peduncle) shows that the rubber joints will be able to take up the stress that will be created. Furthermore, the frequency-induced softening of the rubber used was found to be critical if the joints are going to oscillate at frequency above 25 Hz. The robotic fish was able to attain a speed of 0.985 m/s while the tail beats at a maximum of 1.7 Hz when tested inside water. Furthermore, a minimum turning radius of 0.8 m (approximately 2 times the fish body length) was achieved.

No abstract

No abstract

This paper provides the mathematical modelling and control optimization, of the drive system of an Ackermann four wheeled autonomous robot, with Genetic algorithm used for tuning the proportional, integral and derivative (PID) Controller parameters. The aim and main objective of this work is focused on the control of the driving speed input from the rear wheels of the robot and control. The robot drive in proportion to obstacle input ahead of the four wheeled chassis using genetic algorithms. A controlled platform that can be deployed for driverless vehicle in the nearest future and military unmanned vehicle is our major concern. The controlled system response stabilized in 0.675 seconds, after exciting the system with a step response. Variation for the system also shows, that the cost function was minimized or adjusted to obtain optimal PID parameters as Proportional (P) = 12.671, Integral (I) =-0.399, Derivative (D) = 1477561, at a value of 9.6778*10-4 .

This paper investigates the prediction This paper investigates the prediction This paper investigates the prediction This paper investigates the prediction of residual stresses developed of residual stresses developed of residual stresses developed of residual stresses developed in shielded manual metal arc welding of mild

No abstract

The performance of the steady-turning while swimming, and sharp-turning motion algorithms of a biomimetic underwater robot in the form of a fish is presented in this work. The biological fish modelled is a Mackerel - Scomber scombrus. It’s motion patterns are precalculated and programmed into its firmware as an inflexible algorithm to save power consumption due to continuous motor position recalculations. The robot tail is a six segments plywood panels with vulcanized rubber acting as joints. This tail structure is driven by three remote-control servomotors (Futaba 3003) under the control of microcontroller (PIC18F4520). The algorithm for steady turning is derived steady swimming by introducing offset in the servomotor displacements about the midline of the robot. The algorithm for sharp turning treats the three servomotors as one and turn them simultaneously to left or right and restore them quickly into straight form, which allows the robot to turn at a tight corner. A 54cm turning radius was achieved with the steady turn while swimming. The sharp turn however works but requires several attempts before a proper reorientation was achieved in the desired direction.

The energy required to propel a biologically inspired robot in the form of a fish (mackerel) model using rubber (as the biomimetic material) for its joints is presented in this paper. It was found that the design will need approximately 0.81W of energy to handle the maximum dynamic torque of 0.0592850Nm that will be generated when using Futaba S3003 remote control servo motor to drive the peduncle. The fish robot designed was tested by making it to swim in a stationary body of water. It was found to be capable of swimming for about 30minutes compare to the calculated 2.7hrs hours using 4 built in 900mAh Li-Po battery (connected in parallel) while cruising at the speed of 0.985m/s.