Design and development of autonomous biomimetic blacktip shark
The aim of this project is to design a biomimetic swimming device using a single actuator with a compliance body for locomotion in a liquid environment with basic autonomous manoeuvrability. The biological Blacktip shark is being utilized as the reference model. The working concept of the biomimeti...
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2016
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my-ums-ep.176492017-11-27T01:53:02Z Design and development of autonomous biomimetic blacktip shark 2016 Wong, Wei Loong QP Physiology The aim of this project is to design a biomimetic swimming device using a single actuator with a compliance body for locomotion in a liquid environment with basic autonomous manoeuvrability. The biological Blacktip shark is being utilized as the reference model. The working concept of the biomimetic robotic fish is based on a single non-uniform cantilever beam In fluid environment. The kinematic model and kinetic model approach has been utilized to develop the theoretical model by trajectory approximation theory and beam theory for estimating the robotic fish swimming performance. The theoretical model has shown to be comparatively dose In estimating the measured result particularly in the prototype design parameter. The experimental result found that the prototype optimum tail beat frequency is 2 Hz at optimum actuation amplitude of 80 deg has been achieved for the prototype design parameters. The prototype is also able to be controlled manually for performing basic manoeuvrability (swim forward, yaw left and yaw right). A basic autonomous detect and avoid of obstacles in underwater environment with basic manoeuvrability have also been developed. 2016 Thesis https://eprints.ums.edu.my/id/eprint/17649/ https://eprints.ums.edu.my/id/eprint/17649/1/Design%20and%20development.pdf text en public masters Universiti Malaysia Sabah Faculty of Engineering |
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Universiti Malaysia Sabah |
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UMS Institutional Repository |
| language |
English |
| topic |
QP Physiology |
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QP Physiology Wong, Wei Loong Design and development of autonomous biomimetic blacktip shark |
| description |
The aim of this project is to design a biomimetic swimming device using a single actuator with a compliance body for locomotion in a liquid environment with basic
autonomous manoeuvrability. The biological Blacktip shark is being utilized as the reference model. The working concept of the biomimetic robotic fish is based on a single non-uniform cantilever beam In fluid environment. The kinematic model and kinetic model approach has been utilized to develop the theoretical model by trajectory approximation theory and beam theory for estimating the robotic fish
swimming performance. The theoretical model has shown to be comparatively dose In estimating the measured result particularly in the prototype design parameter. The experimental result found that the prototype optimum tail beat frequency is 2 Hz at optimum actuation amplitude of 80 deg has been achieved for the prototype design parameters. The prototype is also able to be controlled manually for
performing basic manoeuvrability (swim forward, yaw left and yaw right). A basic autonomous detect and avoid of obstacles in underwater environment with basic manoeuvrability have also been developed. |
| format |
Thesis |
| qualification_level |
Master's degree |
| author |
Wong, Wei Loong |
| author_facet |
Wong, Wei Loong |
| author_sort |
Wong, Wei Loong |
| title |
Design and development of autonomous biomimetic blacktip shark |
| title_short |
Design and development of autonomous biomimetic blacktip shark |
| title_full |
Design and development of autonomous biomimetic blacktip shark |
| title_fullStr |
Design and development of autonomous biomimetic blacktip shark |
| title_full_unstemmed |
Design and development of autonomous biomimetic blacktip shark |
| title_sort |
design and development of autonomous biomimetic blacktip shark |
| granting_institution |
Universiti Malaysia Sabah |
| granting_department |
Faculty of Engineering |
| publishDate |
2016 |
| url |
https://eprints.ums.edu.my/id/eprint/17649/1/Design%20and%20development.pdf |
| _version_ |
1747836457896116224 |