VIETNAM NATIONAL UNIVERSITY HO CHI MINH CITY HO CHI MINH CITY UNIVERSITY OF TECHNOLOGY MECHANICAL FACULTY - MECHATRONICS DEPARTMENT GRADUATION THESIS STUDY ON DESIGNING BIOMIMETIC FISH ROBOT BASED ON CONTINUOUS MEMBRANE MODEL Author: Trinh Vuong Quang Huy (1852415) Class: CC18CDT1 (K18 OISP) Instructors: Assoc. Nguyen Tan Tien Email: huy.vn Phone: 0858787899 Ho Chi Minh City – September 2024 TABLE OF CONTENT TABLE OF CONTENT. i INDEX OF PICTURE. Introduction of Biomimetic Fish Robot and its application.
Define the scope of the project. Definition of Undulatory Swimming mode. About Rajiform species and its configurations. Phylogeny structure of a typical Rajiformes specie.
Biological structure of a typical Rajiformes specie. Swimming directions based on frequency variations. Trajectory control of a typical Rajiform. Continuous Membrane Configuration.
Recent scientific research status around the world. Biomimetic Fish Robot: BionicFin Wave. Geometric Parameters of Global Studies. Key specifications for the project.
PROPOSING SOLUTIONS FOR DESIGN. Mechanical proposal design. Solution for actuation system. Solution for transmission type.
Solution for fin-ray motor type. Electrical proposal design. Solution for supplying power. Solution for communication scheme.
Solution for communication protocol. Control-method proposal design. General structure for the control algorithm. Summary of the design alternatives.
Controller proposal design. Mechanical proposal design. Electrical proposal design. Proposed communication scheme.
MODELLING AND DESIGN. Fin Membrane Modelling. Declare continuous membrane model from discrete mathematics. Fin membrane modelling considering membrane thickness.
Parameterize the equations with time. Find force generated by membrane using Ansys Simulation. Simulation Results and Conclusions. Torque-based requirements of each fin-ray motor.
Frequency-based requirements of each fin-ray motor. Motor Selection for Fin-ray Actuators. Hull Enclosure Design. Water-proofing Design.
General Requirements of the Electrical System. Electronic Component Selections. Battery Management System. Power Regulator Module.
General Control System Architecture. Motor Controller on Each Fin-Ray. Dynamic Model of Motor. Stability Analysis of the Proposed Controller.
Background of Controller Algorithm. Central Pattern Generator (CPG) Oscillator. Navigation Controller using Sliding Mode Controller. Design of Web-based Administrator System.
Purpose of the Administrator System. Back-end structure of the Administrator System. Features of the Administrator System. MECHANICAL BEHAVIOR ANALYSIS.
SolidWorks FEA Simulation: Stress, Displacement and Strain Analysis. Stress Analysis for Critical Mechanical Elements. Displacement and Strain Analysis for Critical Mechanical Elements. SolidWorks Flow Simulation: Hydrodynamic Analysis.
SolidWorks Flow Simulation Procedure. ROS CONTROL SIMULATION. Model construction in Gazebo Ignition for ROS Simulation. Construct Fin-ray model based on Discrete Fin Configuration.
Construct Membrane model based on separate Fin-ray model. Construct Main Body and Hydrodynamic behavior. Simulation Session: Translational Motion. Simulation Configuration Parameters.
Simulation Session: Rotational Motion – Yaw Rotation. Simulation Configuration Parameters. Simulation Session: Rotational Motion – Pitch Rotation. Simulation Configuration Parameters.
Background procedure of Vision-Based Localization. Experiment Result with Linear Path Planning. Experiment Result with Curved Path Planning. Configurations of BionicFin Wave.
Survey of Parameters from Studies on MPF-U Rajiform-like Robot. Popular AUVs and their battery types. Characteristics of popular battery types using in AUVs. Configurations for Ansys simulation.
TD-40-52-NH-XX Motor Parameters. TD-40-52-NH-XX Frequency Calculations at Different Amplitudes. MASS PT11-05-025-0/4 specification. ESP32-S Series specification.
Raspberry Pi 4B+ specification. Raspberry Pi Camera Module V2 specification. Electrical Components implemented in the robot design. General schematic blocks of electrical system.
93 v INDEX OF PICTURE Figure 1. Classification of swimming modes of biomimetic underwater robots. The undulation-to-oscillation continuum in batoid fishes. Boundaries of pectoral fin locomotion in batoid fishes.
Phylogeny cladogram of batoidea. A typical biological structure of Rajiformes. Rajiform Directional Shifts from undulation frequency variations. The directional shifting ability to avoid obstacle of a typical Rajiform.
Biomimetic Fish Robot: BionicFin Wave. 3D Model of the Fin Ray Module of BionicFin Wave. Schematic Diagram of BionicFin Wave. Geometric Parameters Survey of MPF-type Robots.
Mechanical schematic for centralized actuation system. Mechanical schematic for decentralized actuation system. Direct communication scheme. Communication scheme involving Intermediate Station.
The applicability of underwater communication techniques. Final proposal of controlling modes. Final proposal of mechanical schematic. Final proposal of electrical schematic.
Final proposal of communication scheme. Reconstructing fin membrane by diaphragm using ruled surface method. 3D Membrane model using predefined mathematic formulas. 3D Meshing Model of Membrane on different point of views.
Ansys Simulation Running. Results of Ansys Simulation on 3 separate axes. Frequency-based modelling of fin-ray. Membrane profile model.
Shell profile parameters. 3D Model of Shell profile. Waterproofing methods using rubber gaskets or rubber pads. Mechanical seal schematic.
Water-proofing the engine compartment and the main circuit. Water-proofing plan for camera section. General schematic blocks of a BMS circuit. LTC6813-1 Cell-balancing methods recommended by manufacturer.
Schematic of cell-balancing management module. Schematic of temperature measuring module. Schematic of DC-DC Converter using in PMU. Schematic of TPS5430 Power Regulator IC.
Hierarchical control system architecture. Overall controller system specification. CPG Coupling of three adjacent oscillators. Main Dashboard of Web-based Administrator Program.
Main Back-end Components of the Administrator System. Back-end Communication Scheme of the Administrator System. Conventional Control Setting Process of the Administrator System. Login Page of Administrator System.
Session-expired Page of Administrator System. GPS Navigation Panel of Administrator System. Robot Connection Panel of Administrator System. Robot Remote Control Panel of Administrator System.
Motor Calibration of Administrator System. SolidWorks FEA Simulation: Stress Analysis of Motor Connecting Rod. SolidWorks FEA Simulation: Stress Analysis of Membrane Clipper. SolidWorks FEA Simulation: Stress Analysis of Body Frame Segment.
SolidWorks FEA Simulation: Stress and Strain Analysis of Motor Connecting Rod. SolidWorks FEA Simulation: Displacement and Strain Analysis of Membrane Clipper. SolidWorks FEA Simulation: Displacement and Strain Analysis of Body Frame Segment. SolidWorks Flow Simulation: Translational Hydrodynamic Effect.
SolidWorks Flow Simulation: Rotational Hydrodynamic Effect. Principle Schematic for Single Fin Segment in Gazebo Ignition. Gazebo Ignition 3D Model: Single Fin Segment. Gazebo Ignition: Movement of First Joint from Single Fin Segment.
Gazebo Ignition: Movement of Second Joint from Single Fin Segment. Principle Schematic of Membrane using in Gazebo Ignition. Gazebo Ignition 3D Model: Single membrane. Fish-like Robot Model in Gazebo.
ROS Simulation Footage: Translational Motion. Simulation Session 1 Result – Translational Data. Simulation Session 1 Result – Rotational Velocity. ROS Simulation Footage: Yaw Rotation.
Simulation Session 2 Result – Translational Data. Simulation Session 2 Result – Rotational Data. ROS Simulation Footage: Pitch Rotation. Simulation Session 3 Result – Translational Data.
Simulation Session 3 Result – Rotational Data. Processing image using color thresholding. Essential Configurations of a Camera System. Experiment Setup with Predefined Pool Dimensions.
Experiment Setup with Predefined Pool Dimensions. Experimental Footage with Linear Path Planning. Experiment 1: Translational Error over Time. Experiment 1: Angular Error over Time.
Experimental Footage with Curved Path Planning. Experiment 2: Translational Error over Time. Experiment 2: Angular Error over Time. 87 ix ACKNOWLEDGEMENT Four years of university have passed and finally the days of completing the graduation thesis have arrived.
Just a few days ago, I was surprised and proud to be an HCMUT student. Now I am even stronger in my faith when I have met many valuable relationships along the way. I learned a lot of life lessons about not only professionalism but also personality, humanity, lifestyle and how to treat people. I would like to thank all the teachers and friends who have taught me so much until today.
That journey only really started to enter a new chapter when studying and working at the National Key Laboratory of Digital Control and Systems Engineering - DCSELab in the 2nd year of university. Learned, received a lot from the lab brethren and took my time to consolidate professional knowledge from Case studies, and this thesis is one of them. Thank you DCSELab, you guys have given me a beautiful, meaningful and valuable journey for my future career. To be able to stay firmly on that journey, it is impossible not to mention the companionship of my dear little family who has always encouraged and supported me despite my stubborn and stubborn nature to help me firmly believe in my feet.
the first step into this life. I would like to thank my father, thank you mother, you thank my sister, my lover and all my family who have always helped me so much during the beginning of my life journey. Finally, my friend, teacher, and father who have always been by my side on the path of becoming a Mechatronics Engineer, have always imparted to me and countless generations of valuable knowledge about not only technical expertise but also It is also a way to treat people, a way to always contribute and be useful in this society. I do not have anything valuable to return what you have given me, I just promise to stay firmly on my professional path, always believe and listen to what you teach.
I would like to thank you for being the best teacher. Finally, thank you and best wishes to all your loved ones. May success and happiness come to all. Introduction of Biomimetic Fish Robot and its application Under the thousands of years of natural selection, the fishes in nature have been endowed with great locomotion capabilities, such as high swimming speed and remarkable maneuverability, prompting researchers to develop various types of fish- inspired underwater robots.
These biologically inspired underwater robots aim to replicate the efficient and agile movements observed in aquatic life, providing innovative solutions for underwater exploration, environmental monitoring, and marine biology research [1]. Figure 1 classifies biomimetic underwater robots by their swimming modes into three categories [2]: BCF (Body/Caudal Fin) propulsion, MPF (Median/Paired Fin) propulsion, and JET propulsion. BCF propulsion includes oscillatory (thunniform) and undulatory (anguilliform) modes, mimicking tuna and eel movements, respectively. MPF propulsion consists of oscillatory (labriform) and undulatory (rajiform) modes, inspired by the pectoral fin movements of fish like wrasses and rays.
JET propulsion, exemplified by octopus-inspired robots, utilizes jet-like movements for locomotion. Swimming Modes of Biomimetic Underwater Robots BCF MPF JET (Body/Caudal Fin) (Median/Paired Fin) (Jet propulsion) Oscillatory Undulatory Oscillatory Undulatory (BCF-O) (BCF-U) (MPF-O) (MPF-U) Example: Example: Example: Example: Example: Thunniform Anguilliform Labriform Rajiform Octopus Figure 1. Classification of swimming modes of biomimetic underwater robots. Among the diverse array of fish-inspired designs, a significant focus has been placed on mimicking the undulating fin movements of rays and skates, collectively known as the Rajiform family.
These creatures exhibit a unique mode of propulsion, characterized 1 CHAPTER 1. OVERVIEW by the graceful and efficient oscillation of their pectoral fins, allowing them to glide effortlessly through the water with exceptional maneuverability and stability. Rajiform-like robots are a specialized subclass of MPF biomimetic underwater vehicles as depicted with an MPF-U category in Figure 1, designed to emulate the swimming mechanics of rays and skates. These robots use flexible, fin-like structures to achieve undulatory propulsion, enabling smooth and efficient movement in various underwater environments.
The innovative design of rajiform-like robots offers several advantages, including enhanced maneuverability, reduced environmental disturbance, and improved energy efficiency compared to traditional underwater vehicles. Therefore, the development of rajiform-like robots is crucial for advancing underwater technology. Their efficient, low-disruption locomotion allows for longer missions and lower energy consumption, ideal for extended monitoring and sustainable exploration. These robots can navigate complex terrains while minimizing harm to marine life and habitats, providing a foundation for future innovations in marine research and conservation.
Define the scope of the project The scope of this project is to Design an Undulatory Rajiform-like Robot using Continuous Membrane Configuration. Definition of Undulatory Swimming mode The transition between undulatory and oscillatory swimming modes, as illustrated in Figure 2, demonstrates that this spectrum is not distinctly fixed but rather continuous. Species such as Taeniura lymma (1.4Hz) and Gymnura micrura (0.6Hz) exemplify the extremes, while intermediate forms like Rhinobatos lentiginosus (1.2Hz) and Dasyatis sabina (1.3Hz) exhibit characteristics of both locomotion styles.
