TY - GEN
T1 - Autonomous charging for an underwater robotic fish by direct contact
AU - Phamduy, Paul
AU - Cheong, Jayhwan
AU - Porfiri, Maurizio
N1 - Publisher Copyright:
Copyright © 2016 by ASME.
PY - 2016
Y1 - 2016
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=85015634501&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85015634501&partnerID=8YFLogxK
U2 - 10.1115/DSCC2016-9779
DO - 10.1115/DSCC2016-9779
M3 - Conference contribution
AN - SCOPUS:85015634501
T3 - ASME 2016 Dynamic Systems and Control Conference, DSCC 2016
BT - Mechatronics; Mechatronics and Controls in Advanced Manufacturing; Modeling and Control of Automotive Systems and Combustion Engines; Modeling and Validation; Motion and Vibration Control Applications; Multi-Agent and Networked Systems; Path Planning and Motion Control; Robot Manipulators; Sensors and Actuators; Tracking Control Systems; Uncertain Systems and Robustness; Unmanned, Ground and Surface Robotics; Vehicle Dynamic Controls; Vehicle Dynamics and Traffic Control
PB - American Society of Mechanical Engineers
T2 - ASME 2016 Dynamic Systems and Control Conference, DSCC 2016
Y2 - 12 October 2016 through 14 October 2016
ER -