Autonomous Charging for an Underwater Robotic Fish by Direct Contact

2016 ◽  
Author(s):  
Paul Phamduy ◽  
Jayhwan Cheong ◽  
Maurizio Porfiri
Keyword(s):  
Autonomous Navigation ◽  
Direct Contact ◽  
Autonomous Underwater Vehicles ◽  
Robotic Fish ◽  
Laboratory Research ◽  
Free Swimming ◽  
Charging Station ◽  
Battery Capacity ◽  
Series Of Experiments ◽  
Field Deployment

The operation of autonomous underwater vehicles is often hindered by their battery capacity, limiting the duration of its use. Here, we propose an integrated solution for autonomous charging of a robotic fish via direct contact through a novel claw mechanism for docking guidance. To assist the robotic fish in the docking process, the system incorporates a charging station designed with form-fit claws. A controller is designed to monitor the battery level of the robotic fish during free swimming and coordinate the docking process with respect to the maneuvers of both the robot and form-fit claws. Upon recognizing a low battery level, the controller commands the robotic fish to begin the docking process, and video feedback from an overhead camera is used to inform the autonomous navigation toward the charging station. After reaching a battery level threshold, the robotic fish is then released back in the water and returns to free swimming until the battery is discharged again. Through a series of experiments, we demonstrate the possibility of prolonged operation, consisting of repeated cycles of autonomous charging. Our proposed charging method enables prolonged autonomous swimming with minimal human supervision, opening the door for new, transformative applications of robotic fish in laboratory research and field deployment.

scholarly journals Collective Response of Zebrafish Shoals to a Free-Swimming Robotic Fish

PLoS ONE ◽  
2013 ◽  
Vol 8 (10) ◽  
pp. e76123 ◽  
Author(s):  
Sachit Butail ◽  
Tiziana Bartolini ◽  
Maurizio Porfiri
Keyword(s):  
Robotic Fish ◽  
Free Swimming ◽  
Collective Response

Dynamic Modeling of Robotic Fish With a Base-Actuated Flexible Tail

2014 ◽  
Vol 137 (1) ◽  
Author(s):  
Jianxun Wang ◽  
Philip K. McKinley ◽  
Xiaobo Tan
Keyword(s):  
Hydrodynamic Force ◽  
Beam Theory ◽  
Small Deformation ◽  
Robotic Fish ◽  
Free Swimming ◽  
Flexible Tail ◽  
In Series ◽  
Optimization And Control ◽  
And Control ◽  
Body Theory

In this paper, we develop a new dynamic model for a robotic fish propelled by a flexible tail actuated at the base. The tail is modeled by multiple rigid segments connected in series through rotational springs and dampers, and the hydrodynamic force on each segment is evaluated using Lighthill's large-amplitude elongated-body theory. For comparison, we also construct a model using linear beam theory to capture the beam dynamics. To assess the accuracy of the models, we conducted experiments with a free-swimming robotic fish. The results show that the two models have almost identical predictions when the tail undergoes small deformation, but only the proposed multisegment model matches the experimental measurement closely for all tail motions, demonstrating its promise in the optimization and control of tail-actuated robotic fish.

scholarly journals Identifikasi Siklamat Pada Kuah Dadar Gulung Yang Dijual Di Kawasan Pelabuhan Rambang Kota Palangka Raya

2017 ◽  
Vol 3 (1) ◽  
pp. 37-53
Author(s):  
Nurul Qamariah ◽  
Karmila Karmila
Keyword(s):  
Data Collection ◽  
Experimental Research ◽  
Positive Control ◽  
Laboratory Research ◽  
Artificial Sweetener ◽  
The Third ◽  
Port Area ◽  
Series Of Experiments ◽  
Made In

The purpose of this study was to find out whether the rolled omelet sauce sold in the Rambang Port Area in Palangka Raya City contained artificial sweetener of cyclamate. This research is a type of experimental research by conducting a series of experiments which then obtained data from the results of the laboratory research and analyzed descriptively. The research sample was a rolled omelet sauce sold in the Rambang Port Area in Palangka Raya City. Data collection techniques using saturated sampling is by taking all the population as a sample because the population is relatively small, then the data is made in table form. Sampling was conducted on 19 May 2016 at 14.50 WIB for the first sample, at 15.00 WIB for the second sample and at 15.15 WIB for the third sample. From the identification results of artificial cyclamate sweeteners in roll omelet namely in sample 1, sample 2 and sample 3, after being tested there were no white deposits as happened in the positive control. So it can be concluded that the sample was not detected containing cyclamate.

scholarly journals Two-Level Evolutionary Approach to Persistent Surveillance for Multiple Underwater Vehicles with Energy Constraints

2019 ◽  
Vol 18 (2) ◽  
pp. 267-301 ◽  
Author(s):  
Igor Bychkov ◽  
Maksim Kenzin ◽  
Nikolai Maksimkin
Keyword(s):  
Large Scale ◽  
Group Performance ◽  
Autonomous Underwater Vehicles ◽  
Extended Period ◽  
Underwater Vehicles ◽  
Evolutionary Approach ◽  
Point Selection ◽  
Selection Scheme ◽  
Battery Capacity ◽  
High Level

Currently, the coordinated use of autonomous underwater vehicles groups seems to be the most promising and ambitious technology to provide a solution to the whole range of oceanographic problems. Complex and large-scale underwater operations usually involve long stay activities of robotic groups under the limited vehicle’s battery capacity. In this context, available charging station within the operational area is required for long-term mission implementation. In order to ensure a high level of group performance capability, two following problems have to be handled simultaneously and accurately – to allocate all tasks between vehicles in the group and to determine the recharging order over the extended period of time. While doing this, it should be taken into account, that the real world underwater vehicle systems are partially self-contained and could be subjected to any malfunctions and unforeseen events. The article is devoted to the suggested two-level dynamic mission planner based on the rendezvous point selection scheme. The idea is to divide a mission on a series of time-limited operating periods with the whole group rendezvous at the end of each period. The high-level planner’s objective here is to construct the recharging schedule for all vehicles in the group ensuring well-timed energy replenishment while preventing the simultaneous charging of a plenitude of robots. Based on this schedule, mission is decomposed to assign group rendezvous to each regrouping event (robot leaving the group for recharging or joining the group after recharging). This scheme of periodic rendezvous allows group to keep up its status regularly and to re-plan current strategy, if needed, almost on-the-fly. Low-level planner, in return, performs detailed group routing on the graph-like terrain for each operating period under vehicle’s technical restrictions and task’s spatiotemporal requirements. In this paper, we propose the evolutionary approach to decentralized implementation of both path planners using specialized heuristics, solution improvement techniques, and original chromosome-coding scheme. Both algorithm options for group mission planner are analyzed in the paper; the results of computational experiments are given.

scholarly journals Performance Enhancement of Solar Panels Using Adaptive Velocity-Particle Swarm Optimization (AVPSO) Algorithm for Charging Station as an Effort for Energy Security

2020 ◽  
Vol 3 (2) ◽  
pp. 107-116
Author(s):  
Luthfansyah Mohammad ◽  
Muhammad K. Asy’ari ◽  
Mokhammad F. Izdiharrudin ◽  
Suyanto
Keyword(s):  
Particle Swarm Optimization ◽  
Energy Security ◽  
Power Plants ◽  
Public Awareness ◽  
Particle Swarm ◽  
Solar Panels ◽  
Swarm Optimization ◽  
Electric Cars ◽  
Charging Station ◽  
Battery Capacity

The growth of public awareness of the environment is directly proportional to the development of the use of electric cars. Electric cars operate by consuming electrical energy from battery storage, which must be recharged periodically at the charging station. Solar panels are one source of energy that is environmentally friendly and has the potential to be applied to charging stations. The use of solar panels causes the charging station to no longer depend on conventional electricity networks, which the majority of it still use fossil fuel power plants. Solar panels have a problem that is not optimal electrical power output so that it has the potential to affect the charging parameters of the battery charging station. Adaptive Velocity-Particle Swarm Optimization (AV-PSO) is an artificial intelligence type MPPT optimization algorithm that can solve the problem of solar panel power optimization. This study also uses the Coulomb Counting method as a battery capacity estimator. The results showed that the average sensor accuracy is more than 91% with a DC-DC SEPIC converter which has an efficiency of 69.54%. In general, the proposed charging station system has been proven capable to enhance the energy security by optimizing the output power of solar panels up to 22.30% more than using conventional systems.

scholarly journals Design and Analysis of a Solar-Powered Electric Vehicle Charging Station for Indian Cities

2021 ◽  
Vol 12 (3) ◽  
pp. 132
Author(s):  
Aanya Singh ◽  
Shubham Sanjay Shaha ◽  
Nikhil P G ◽  
Yendaluru Raja Sekhar ◽  
Shaik Saboor ◽  
...  
Keyword(s):  
Co2 Emissions ◽  
Energy Generation ◽  
Maximum Energy ◽  
Performance Ratio ◽  
Charging Station ◽  
Electric Vehicle Charging ◽  
Battery Capacity ◽  
Solar Powered ◽  
Carbon Dioxide Co2 ◽  
Indian Cities

Due to depleting fossil fuel reserves coupled with a climate crisis, sustainability is gaining ground, and electric vehicles (EVs) are emerging to be the new face of this field. However, the idea of EVs will be genuinely sustainable only if they are charged using renewable energy. This paper presents results from the design of a solar-powered EV charging station for an Indian context. PVsyst 7.2 software has been used for the system design. The analysis, based on the number of cars charged annually, the monthly variation in energy generation, the investment cost, and the decrease in carbon dioxide (CO2) emissions using different module technologies for six Indian cities, has been deliberated. The results indicate that an off-grid 8.1 kWp system with two days of battery autonomy has the fewest unused energy losses, with a good performance ratio (PR). It can completely charge around 414 vehicles of 30 kWh battery capacity annually. This would help to reduce annual CO2 emissions by approximately 7950 kg. For cities near the equator, maximum energy is produced during March or January, and for cities near the Tropic of Cancer, energy production maximizes during May–June. The overall system has better energy generation and economy when monocrystalline modules are used.

scholarly journals Development of AUV MONACA - Hover-Capable Platform for Detailed Observation Under Ice –

2021 ◽  
Vol 33 (6) ◽  
pp. 1223-1233
Author(s):  
Hirokazu Yamagata ◽  
Shuma Kochii ◽  
Hiroshi Yoshida ◽  
Yoshifumi Nogi ◽  
Toshihiro Maki ◽  
...  
Keyword(s):  
Sea Ice ◽  
Autonomous Navigation ◽  
Global Climate ◽  
Autonomous Underwater Vehicles ◽  
Ocean Currents ◽  
Three Dimensions ◽  
Antarctic Ocean ◽  
Ice Shelves ◽  
Sea Trial ◽  
The Antarctic

The melting of ice and changes in ocean currents in Antarctica must be investigated to understand global climate change. In this regard, the volume changes of sea ice and ice shelves, bathymetry, and ocean currents in the Antarctic Ocean must be measured in three dimensions. Therefore, the use of autonomous underwater vehicles (AUVs), which can directly observe under ice, is being considered. The authors developed an AUV named Mobility Oriented Nadir AntarctiC Adventurer (MONACA) to observe sea ice and the lower region of the ice shelf in the Antarctic Ocean. Herein, we describe MONACA and its basic autonomous navigation methods (altitude control, depth control, and waypoint tracking), as well as report the results of a sea experiment conducted in Shimoda Bay, Japan. During the 5-day sea trial, the MONACA successfully measured bathymetry by tracking 15 waypoints in sequence, switching the control criteria in the -axis direction between 3 m depth and 3 m altitude.

scholarly journals Characterization of acoustic detection efficiency using a gliding robotic fish as a mobile receiver platform

2020 ◽  
Vol 8 (1) ◽  
Author(s):  
Osama Ennasr ◽  
Christopher Holbrook ◽  
Darryl W. Hondorp ◽  
Charles C. Krueger ◽  
Demetris Coleman ◽  
...  
Keyword(s):  
Acoustic Signal ◽  
Detection Efficiency ◽  
Autonomous Underwater Vehicles ◽  
Aquatic Organisms ◽  
Robotic Fish ◽  
Direction Of Movement ◽  
Acoustic Tags ◽  
Mobile Receiver ◽  
Robot Body

Abstract Background Autonomous underwater vehicles (AUVs) and animal telemetry have become important tools for understanding the relationships between aquatic organisms and their environment, but more information is needed to guide the development and use of AUVs as effective animal tracking platforms. A forward-facing acoustic telemetry receiver (VR2Tx 69 kHz; VEMCO, Bedford, Nova Scotia) attached to a novel AUV (gliding robotic fish) was tested in a freshwater lake to (1) compare its detection efficiency (i.e., the probability of detecting an acoustic signal emitted by a tag) of acoustic tags (VEMCO model V8-4H 69 kHz) to stationary receivers and (2) determine if detection efficiency was related to distance between tag and receiver, direction of movement (toward or away from transmitter), depth, or pitch. Results Detection efficiency for mobile (robot-mounted) and stationary receivers were similar at ranges less than 300 m, on average across all tests, but detection efficiency for the mobile receiver decreased faster than for stationary receivers at distances greater than 300 m. Detection efficiency was higher when the robot was moving toward the transmitter than when moving away from the transmitter. Detection efficiency decreased with depth (surface to 4 m) when the robot was moving away from the transmitter, but depth had no significant effect on detection efficiency when the robot was moving toward the transmitter. Detection efficiency was higher when the robot was descending (pitched downward) than ascending (pitched upward) when moving toward the transmitter, but pitch had no significant effect when moving away from the transmitter. Conclusion Results suggested that much of the observed variation in detection efficiency is related to shielding of the acoustic signal by the robot body depending on the positions and orientation of the hydrophone relative to the transmitter. Results are expected to inform hardware, software, and operational changes to gliding robotic fish that will improve detection efficiency. Regardless, data on the size and shape of detection efficiency curves for gliding robotic fish will be useful for planning future missions and should be relevant to other AUVs for telemetry. With refinements, gliding robotic fish could be a useful platform for active tracking of acoustic tags in certain environments.

scholarly journals Energy Logistics Cost Study for Wireless Charging Transportation Networks

2021 ◽  
Vol 13 (11) ◽  
pp. 5986
Author(s):  
Correa Diego ◽  
Gil Jakub ◽  
Moyano Christian
Keyword(s):  
New York ◽  
Large Scale ◽  
New Technology ◽  
Wireless Charging ◽  
Cost Study ◽  
Charging Station ◽  
Battery Capacity ◽  
Reduce Emissions ◽  
Bus Service ◽  
The Cost

Many cities around the world encourage the transition to battery-powered vehicles to minimize the carbon footprint of the transportation sector. Deploying large-scale wireless charging infrastructures to charge electric transit buses when loading and unloading passengers have become an effective way to reduce emissions. The standard plug-in electric vehicles have a limited amount of power stored in the battery, resulting in frequent stops to refill the energy. Optimal siting of wireless charging bus stops is essential to reducing these inconveniences and enhancing the sustainability performance of a wireless charging bus fleet. Wireless charging is an innovation of transmitting power through electromagnetic induction to portable electrical devices for energy renewal. Online Electric Vehicle (OLEV) is a new technology that allows the vehicle to be charged while it is in motion, thus removing the need to stop at a charging station. Developed by the Korea Advanced Institute of Science and Technology (KAIST), OLEV picks up electricity from power transmitters buried underground. This paper aims to investigate the cost of the energy logistics for the three types of wireless charging networks: stationary wireless charging (SWC), quasi-dynamic wireless charging (QWC), and dynamic wireless charging (DWC), deployed at stops and size of battery capacity for electric buses, using OLEV technology for a bus service transit in the borough of Manhattan (MN) in New York City (NYC).

scholarly journals Autonomous Navigation for Autonomous Underwater Vehicles Based on Information Filters and Active Sensing

Sensors ◽  
2011 ◽  
Vol 11 (11) ◽  
pp. 10958-10980 ◽  
Author(s):  
Bo He ◽  
Hongjin Zhang ◽  
Chao Li ◽  
Shujing Zhang ◽  
Yan Liang ◽  
...  
Keyword(s):  
Autonomous Navigation ◽  
Autonomous Underwater Vehicles ◽  
Underwater Vehicles ◽  
Active Sensing ◽  
Information Filters
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