Papers by mohsen siahmansouri
Design and Implementation of an Electrically Control Circuit for Undulating Fins of Fish-Like Robot
ASME 2010 10th Biennial Conference on Engineering Systems Design and Analysis, Volume 3, 2010
In this study, firstly, we compare various kinds of imitator robots and then by investigating of ... more In this study, firstly, we compare various kinds of imitator robots and then by investigating of various fish robots properties, we design a mechanism and control circuit for a kind of these robots which its structure was inspired from knife fish. This robot has a segmental anal fin in its bottom which produces required force for advancement and maneuver. It consists of two servomotors and uses a kind of mechanical system to change direction and depth which is presented in this work. Another property of this robot is the existence of density control box for robot suspension which increases its capability for freight. The required signals are sent to this robot to produce the movement and maneuver by using a control handle and a wireless system which are installed on a control board. Therefore, it is possible to control the robot from out of the pool. In this paper, an electrical circuit is designed to control servomotors which enables us to control revolution, speed and phase differ...
of Advanced Robotic Systems Design , Implementation and Control of a Fish Robot with Undulating Fins Regular Paper
Biomimetic robots can potentially perform better than conventional robots in underwater vehicle d... more Biomimetic robots can potentially perform better than conventional robots in underwater vehicle designing. This paper describes the design of the propulsion system and depth control of a robotic fish. In this study, inspired by knife fish, we have designed and implemented an undulating fin to produce propulsive force. This undulating fin is a segmental anal fin that produces sinusoidal wave to propel the robot. The relationship between the individual fin segment and phase angles with the overall fin trajectory has also been discussed. This propulsive force can be adjusted and directed for fish robot manoeuvre by a mechanical system with two servomotors. These servomotors regulate the direction and depth of swimming. A wireless remote control system is designed to adjust the servomotors which enables us to control revolution, speed and phase differences of neighbor servomotors of fins. Finally, Field trials are conducted in an outdoor pool to demonstrate the relationship between robo...
Biomimetic robots can potentially perform better than conventional robots in underwater vehicle d... more Biomimetic robots can potentially perform better than conventional robots in underwater vehicle designing. This paper describes the design of the propulsion system and depth control of a robotic fish. In this study, inspired by knife fish, we have designed and implemented an undulating fin to produce propulsive force. This undulating fin is a segmental anal fin that produces sinusoidal wave to propel the robot. The relationship between the individual fin segment and phase angles with the overall fin trajectory has also been discussed. This propulsive force can be adjusted and directed for fish robot manoeuvre by a mechanical system with two servomotors. These servomotors regulate the direction and depth of swimming. A wireless remote control system is designed to adjust the servomotors which enables us to control revolution, speed and phase differences of neighbor servomotors of fins. Finally, Field trials are conducted in an outdoor pool to demonstrate the relationship between robotic fish speed and fin parameters like phase difference, the number of phase and undulatory amplitude.
Biomimetic robots can potentially perform better than conventional robots in underwater vehicle d... more Biomimetic robots can potentially perform better than conventional robots in underwater vehicle designing. This paper describes the design of the propulsion system and depth control of a robotic fish. In this study, inspired by knife fish, we have designed and implemented an undulating fin to produce propulsive force. This undulating fin is a segmental anal fin that produces sinusoidal wave to propel the robot. The relationship between the individual fin segment and phase angles with the overall fin trajectory has also been discussed. This propulsive force can be adjusted and directed for fish robot manoeuvre by a mechanical system with two servomotors. These servomotors regulate the direction and depth of swimming. A wireless remote control system is designed to adjust the servomotors which enables us to control revolution, speed and phase differences of neighbor servomotors of fins. Finally, Field trials are conducted in an outdoor pool to demonstrate the relationship between robotic fish speed and fin parameters like phase difference, the number of phase and undulatory amplitude.
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Papers by mohsen siahmansouri