An Autonomous Charging System for a Robotic Fish

Phamduy, Paul; Cheong, Jayhwan; Porfiri, Maurizio

doi:10.1109/tmech.2016.2582205

Cited by 31 publications

(4 citation statements)

References 41 publications

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“…Moreover, for electric vehicles, especially for the upcoming driverless cars, robotic EV chargers, both stationary [65] and mobile [66], are under development. These approaches are being transferred to untethered robots [67,68], although they present some application-specific challenges. Docking stations for underwater robots that utilize contact-based wet-mate connector technology require high-precision docking and are prone to corrosion and electrical safety issues [35].…”

Section: Recharging and Battery Swappingmentioning

confidence: 99%

Selecting Suitable Battery Technologies for Untethered Robot

et al. 2023

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Untethered robots carry their own power supply in the form of a battery pack, which has a crucial impact on the robot’s performance. Although battery technologies are richly studied and optimized for applications such as electric vehicles, computers and smartphones, they are often a mere afterthought in the design process of a robot system. This tutorial paper proposes criteria to evaluate the suitability of different battery technologies for robotic applications. Taking into consideration the requirements of different applications, the capabilities of relevant battery technologies are evaluated and compared. The tutorial also discusses current limitations and new technological developments, pointing out opportunities for interdisciplinary research between the battery technology and robotics communities.

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Section: Recharging and Battery Swappingmentioning

confidence: 99%

Selecting Suitable Battery Technologies for Untethered Robot

et al. 2023

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“…Itoh et al [27] and Abdelnour et al [28] investigated the magnetic-resonance-based wireless charging of underwater robots. Phamduy et al [29] studied the docking and autonomous wireless charging of robotic fish, but they did not mention how long the underwater robot could work and how far it could swim without charging.…”

Section: Introductionmentioning

confidence: 99%

A Miniature Robotic Turtle With Target Tracking and Wireless Charging Systems Based on IPMCs

Qiang

Han

et al. 2020

IEEE Access

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State-of-the-art autonomous micro-robotic turtles suffer from various limitations, such as power restrictions that minimize their deployment times. In this paper, an Ionic Polymer Metal Composite (IPMC) actuator-based centimeter-level biomimetic underwater robot was designed and developed as a robotic turtle with self-charging capabilities to overcome such limitations. It could move forward and make turns driven by five IPMCs on the water. The underwater charging station was able to transmit wideband ultrasonic and electromagnetic fields for electromagnetic induction charging. An ultrasonic communication system with one ultrasonic transmitter and two ultrasonic receivers was first fabricated to implement communication between the underwater station and the biomimetic underwater robot for autonomous tracking and rechargeable capabilities. Experiments were carried out to confirm the operation of the biomimetic underwater robot, which verified the centimeter-level rechargeable capabilities and autonomous target tracking features. The micro-robot demonstrated a self-tracking radial displacement error of approximately 6 mm and a charging reliability rate of more than 73%.

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“…Autonomous underwater robots attract increasing scientific attention for their agile, long-range operation and great humanlabor efficiency [1][2][3][4][5]. Their scope of application crosses various fields including environmental monitoring, search and rescue, surveillance and security, scientific research, and public education.…”

Section: Introductionmentioning

confidence: 99%

“…Their scope of application crosses various fields including environmental monitoring, search and rescue, surveillance and security, scientific research, and public education. In recent years, underwater robotics has achieved many advances in terms of locomotion efficiency [2,5], actuation mechanism [3], battery power endurance [4], etc., however, there is still one unsolved fundamental research problem-the flow estimation, which plays an essential role for control and navigation of autonomous underwater robots.…”

Section: Introductionmentioning

confidence: 99%

Distributed Flow Estimation for Autonomous Underwater Robots Using Proper Orthogonal Decomposition-Based Model Reduction

Dang

Zhang

2019

Journal of Dynamic Systems, Measurement, and Control

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Flow estimation plays an important role in the control and navigation of autonomous underwater robots. This paper presents a novel flow estimation approach that assimilates distributed pressure measurements through coalescing recursive Bayesian estimation and flow model reduction using proper orthogonal decomposition (POD). The proposed flow estimation approach does not rely on any analytical flow model and is thus applicable to many and various complicated flow fields for arbitrarily shaped underwater robots, while most of the existing flow estimation methods apply only to those well-structured flow fields with simple robot geometry. This paper also analyzes and discusses the flow estimation design in terms of reduced-order model accuracy, relationship with conventional flow parameters, and distributed senor placement. To demonstrate the effectiveness of the proposed distributed flow estimation approach, two simulation studies, one with a circular-shaped robot and one with a Joukowski-foil-shaped robot, are presented. The application of flow estimation in closed-loop angle-of-attack regulation is also investigated through simulation.

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An Autonomous Charging System for a Robotic Fish

Cited by 31 publications

References 41 publications

Selecting Suitable Battery Technologies for Untethered Robot

Selecting Suitable Battery Technologies for Untethered Robot

A Miniature Robotic Turtle With Target Tracking and Wireless Charging Systems Based on IPMCs

Distributed Flow Estimation for Autonomous Underwater Robots Using Proper Orthogonal Decomposition-Based Model Reduction

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