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Tuong Quan Vo,Hyoung Seok Kim,Hyo Seung Cho,Doan Nuoi Dang,Byung Ryong Lee 제어로봇시스템학회 2009 제어로봇시스템학회 국제학술대회 논문집 Vol.2009 No.8
Underwater robot is a new trend of researched field which is developing quickly in recent years. Some of thefirst researches on this field are ROV (Remotely Operated Vehicle), AUV (Autonomous Underwater Vehicle). Lately, a new type of underwater robot which is biomechanical robot is mostly concerned. One of the typical types of this one isfish robot. In this paper, firstly a dynamic model of 3-joint (4 links) Carangiform fish robot type is presented. Secondly, the surveys about the influences of input torque functions’ parameters such as: phase angle, frequency and amplitude to the velocity of fish robot by simulation method are introduced. Lastly, fish robot’s maximum velocity is optimized by using the combination of Genetic Algorithm (GA) and Hill Climbing Algorithm (HCA). GA is used to create the initial optimal parameters set for the input functions of the system. Then, this set will be optimized one more time by using HCA to be sure that the final parameters set are the “near” global optimization result for the system. Finally, somesimulation results are presented to prove the effectiveness of the proposed algorithm.
A Study on Turning Motion Control of a 3-Joint Fish Robot Using Sliding Mode Based Controllers
Tuong Quan Vo,Hyoung Seok Kim,Byung Ryong Lee 제어로봇시스템학회 2010 제어로봇시스템학회 국제학술대회 논문집 Vol.2010 No.10
The fish robot is a new type of biomimetic underwater robot. Because it moves silently, saves energy, and is flexible in its operation in comparison to other kinds of underwater robot such as ROVs (Remotely Operated Vehicles) or AUVs (Autonomous Underwater Vechicles) or UUV (Unmanned Underwater Vehicle) and etc, the fish robot can be applied to many underwater research projects in recent years. In this paper, a model of 3-joint (4 links) Carangiform fish robot type is presented at initial. Then, the dynamic model of fish robot is developed which is based on Lagrange’s method. This dynamic model also includes the heading motion of fish robot which is not covered much in other researches. Then, the Sliding Mode Controller (SMC) and the Fuzzy Sliding Mode Controller (FSMC) are proposed to control the straight motion and turning motion of fish robot. Finally, some numerical simulations are conducted to show the feasibility and the merit of the proposed controllers.
Parameter Optimization of Fish Robot’s Smooth Gaiting Using Hill Climbing – Genetic Algorithm
Tuong Quan Vo,Hyoung Seok Kim,Byung Ryong Lee 제어로봇시스템학회 2008 제어로봇시스템학회 국제학술대회 논문집 Vol.2008 No.10
Recently, the underwater robotics research field has been developed quickly in some kinds of robot such as: ROV (Remotely Operated Vehicle), AUV (Autonomous Underwater Vehicle) or UUV (Unmanned Underwater Vehicle) and etc. These types of underwater robot mostly use propeller or thruster to generate the propulsion force in order to create the movement for robot. However, the research about one kind of autonomous robot called fish robot still remain at low level of technology and there are many thing need to be done in this robot type. Fish robot usually uses its body’ oscillation or its fins’oscillation to create the movement for it self in underwater environment. In this paper, a model of 3-joint (4 links) fish robot type is presented. This fish robot’ smooth gait or smooth motion is optimized by using the combination of Hill Climbing Algorithm (HCA) and Genetic Algorithm (GA). HCA is used to generate the good initial population for GA and then GA is used to find the optimal parameters set that make fish robot has a smooth gait or smooth motion. Finally, some simulation results are presented to prove this application.
Smooth gait optimization of a fish robot using the genetic-hill climbing algorithm
Vo, Tuong Quan,Kim, Hyoung Seok,Lee, Byung Ryong Cambridge University Press 2012 Robotica Vol.30 No.2
<B>SUMMARY</B><P>This paper presents a model of a three-joint (four links) carangiform fish robot. The smooth gait or smooth motion of a fish robot is optimized by using a combination of the Genetic Algorithm (GA) and the Hill Climbing Algorithm (HCA) with respect to its dynamic system. Genetic algorithm is used to create an initial set of optimal parameters for the two input torque functions of the system. This set is then optimized by using HCA to ensure that the final set of optimal parameters is a “near” global optimization result. Finally, the simulation results are presented in order to demonstrate that the proposed method is effective.</P>
3 자유도 물고기 로봇의 동적해석 및 운동파라미터 최적화에 관한 연구
김형석(HyoungSeok Kim),Vo Tuong Quan,이병룡(ByungRyong Lee),유호영 대한기계학회 2009 大韓機械學會論文集A Vol.33 No.10
Recently, the technologies of mobile robots have been growing rapidly in the fields such as cleaning robot, explosive ordnance disposal robot, patrol robot, etc. However, the researches about the autonomous underwater robots have not been done so much, and they still remain at the low level of technology. This paper describes a model of 3-joint (4 links) fish robot type. Then we calculate the dynamic motion equation of this fish robot and use Singular Value Decomposition (SVD) method to reduce the divergence of fish robot’s motion when it operates in the underwater environment. And also, we analysis response characteristic of fish robot according to the parameters of input torque function and compare characteristic of fish robot with 3 joint and fish robot with 2 joint. Next, fish robot’s maximum velocity is optimized by using the combination of Hill Climbing Algorithm (HCA) and Genetic Algorithm (GA). HCA is used to generate the good initial population for GA and then use GA is used to find the optimal parameters set that give maximum propulsion power in order to make fish robot swim at the fastest velocity.
A Study on the Propulsive Motion Characteristics of 3-Joint Fish Robot
Hyoung-Seok Kim,Tuong Quan Vo,Byung-Ryong Lee 제어로봇시스템학회 2010 제어로봇시스템학회 국제학술대회 논문집 Vol.2010 No.10
We derived a dynamic motion equation of fish robot with 3-joints to analyze the propulsive motion characteristics according to the parameters variation of input torque function. Then, the parameters of input torque function are optimized by Genetic Algorithm (GA). And a fish robot with 1.2m length, 0.18m width and 0.18m height is developed for experiments. Finally, the dynamic motion equation of fish robot is verified by comparing the responses of simulation and experimental results for the input torque functions.