Autonomous Robotic Fish as Mobile Sensor Platforms: Challenges and Potential Solutions

2011 ◽  
Vol 45 (4) ◽  
pp. 31-40 ◽  
Author(s):  
Xiaobo Tan
Keyword(s):  
Cooperative Control ◽  
Cost Effective ◽  
Robotic Fish ◽  
Aquatic Environments ◽  
Mobile Sensor ◽  
Fish Swimming ◽  
Underwater Robots ◽  
Research Directions ◽  
Sensor Platforms ◽  
Sustained Operation

AbstractWith advances in actuation and sensing materials and devices, there is a growing interest in developing underwater robots that propel and maneuver themselves as real fish do. Such robots, often known as robotic fish, could provide an engineering tool for understanding fish swimming. Equipped with communication capabilities and sensors, they could also serve as economical, dynamic samplers of aquatic environments. In this paper we discuss some of the major challenges in realizing adaptive, cost-effective, mobile sensor networks that are enabled by resource-constrained robotic fish. Such challenges include maneuvering in the presence of ambient disturbances, localization with adequate precision, sustained operation with minimal human interference, and cooperative control and sensing under communication constraints. We also present potential solutions and promising research directions for addressing these challenges, some of which are inspired by how fish solve similar problems.

scholarly journals Copper accumulation by the root and leaf biomass of Salvinia natans (L.) All. (Salviniaceae)

2021 ◽  
Vol 14 (7) ◽  
pp. 59-67
Author(s):  
Larissa Braun de Souza ◽  
Franciele de Freitas ◽  
Sabrine Lunardi ◽  
Janaina Saiz Cassins Von der Osten ◽  
Rafael Arruda ◽  
...  
Keyword(s):  
Culture Medium ◽  
Copper Ions ◽  
Cost Effective ◽  
Copper Accumulation ◽  
Leaf Biomass ◽  
Aquatic Environments ◽  
High Accumulation ◽  
Effective Option ◽  
Salvinia Natans ◽  
Cu Ions

Aquatic plants are often exposed to metal contamination. The study evaluated the bioaccumulation of copper (Cu) ions in aqueous solution by the biomass of leaves and roots of the macrophyte Salvinia natans. Plants of S. natans were submitted to culture solutions with different concentrations of Cu ions, evaluated at intervals of seven days. The leaf and root samples were separately subjected to atomic absorption spectroscopy with flame atomization to assess the concentration of copper accumulated in its biomass. The results demonstrated a pattern of accumulation dependent on the concentration of the metal in the culture medium and the time of exposure of the plants to the contamination. The accumulation was greater in the biomass of the roots when compared to the leaves. Throughout the experiment, toxicity symptoms were observed in the morphology of plants subjected to all copper concentrations, demonstrating the macrophyte's viability for bioindicating the toxicity of this metal in aquatic environments. A high accumulation of copper ions was obtained both in the biomass of the roots and leaves of the plants, confirming their potential bioaccumulator of Cu. The analysis of biomass suggests an important characteristic of metal compartmentalization by the plant, associating the absorption by the roots and the possible transfer to the leaves. In general, our results show that S. natans is an organism with a potential bioindicator and bioaccumulator of Cu and consists of a viable cost-effective option for phytoremediation of aquatic environments contaminated by metals

scholarly journals Experiments with Cooperative Control of Underwater Robots

2009 ◽  
Vol 28 (6) ◽  
pp. 815-833 ◽  
Author(s):  
Matthew Dunbabin ◽  
Peter Corke ◽  
Iuliu Vasilescu ◽  
Daniela Rus
Keyword(s):  
Cooperative Control ◽  
Underwater Robots

A cost-effective and open mobile sensor platform for networked surveillance

2011 ◽  
Author(s):  
Gang Li ◽  
Jianhao Du ◽  
Chun Zhu ◽  
Weihua Sheng
Keyword(s):  
Cost Effective ◽  
Mobile Sensor ◽  
Sensor Platform

Survey of Cooperative Path Planning for Multiple Unmanned Aerial Vehicles

2014 ◽  
Vol 668-669 ◽  
pp. 388-393 ◽  
Author(s):  
Xiao Ming Cheng ◽  
Dong Cao ◽  
Chun Tao Li
Keyword(s):  
Path Planning ◽  
Unmanned Aerial Vehicles ◽  
Cooperative Control ◽  
Control Methods ◽  
Future Time ◽  
Research Directions ◽  
Aerial Vehicles ◽  
Multiple Uavs ◽  
Problem Description ◽  
Multiple Unmanned Aerial Vehicles

As an important part of cooperative control for multiple unmanned aerial vehicles (UAVs), cooperative path planning can get optimal flight path which can satisfy different constraints. Research on cooperative path planning for multiple UAVs is summarized in this paper. Firstly, problem description and constraints are given. Then, solution frameworks and path coordination approaches are summarized. After that, several control methods commonly used in formation of multiple UAVs are introduced respectively. Lastly, possible research directions in the future time are put forward.

Developing a Novel Robotic Fish With Antagonistic Artificial Muscle Actuators

2017 ◽  
Author(s):  
Sunil Kumar Rajendran ◽  
Feitian Zhang
Keyword(s):  
Heat Dissipation ◽  
Weight Ratio ◽  
Artificial Muscle ◽  
Robotic Fish ◽  
Artificial Muscles ◽  
Underwater Robotics ◽  
Closed Loop System ◽  
Underwater Robots ◽  
Muscle Actuators ◽  
Novel Design

Super-coiled polymer (SCP), one of the newly-developed artificial muscles, has various advantages over traditional artificial muscles in terms of cost, flexibility and power-to-weight ratio. This paper investigates the performance of super-coiled polymer-based actuation in underwater robotics, and presents a novel design of robotic fish using antagonistic SCP actuators. Dynamic model of the robot is derived. An example robotic fish prototype is developed and used in experiments to study SCP actuation for underwater robots. Furthermore, experimental results show that using SCP actuators in robotic fish solves the challenging heat-dissipation problem at ease, thus improving the dynamic response of SCP actuation significantly. A PID controller is designed to regulate the tail flap angle of the designed robotic fish. Simulation results of the closed-loop system are presented to validate the proposed robot design and actuation approach.

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