This paper presents a biologically inspired fish-robot driven by a single flexible magnetic actuator with a rotating magnetic field in a three-axis Helmholtz coil. Generally, magnetic fish-robots are powered by alternating and gradient magnetic fields, which provide a single motion such as bending the fish-robot's fins. On the other hand, a flexible magnetic actuator driven by an external rotat...

This paper considers the task of trajectory stabilization for a fish-like robot by means of feedback. We use oscillatory control inputs and apply correction signals at the endpoints of each periodic input signal. Such a strategy can be proven to cause the system to converge to a desired trajectory. We present a specific model of a planar carangiform fish, and verify the stabilization results wi...

Based on analyses of motion control on biomimetic robot fish, this paper promotes an innovative theory of curve fitting which is an idea employed from Physics, and applies it on calculation of link-based robot fish’s motion parameters by simulation. Its efficiency and availability is proved via analyzing of the results.

We describe an experimental testbed which we have constructed to study carangiform fish-like swimming. We mimic a carangiform fish with a three-link robot, the tailfin link of which acts as a flat-plate hydrofoil. We experiment with sinusoidal signals to the joint actuators. The experimental results agree well with a simulation assuming quasi-steady flow around the tailfin. 1. Motivation Many f...

Object search is one of the typical tasks for remotely-controlled service robots. Although object recognition technologies have been well developed, an efficient search strategy (or viewpoint planning method) is still an issue. This paper describes a new approach to human-robot collaborative remote object search. An analogy for our approach is ride on shoulders; a user controls a fish-eye camer...

The breathtaking motions of natural groups such as bird flocks and fish schools have been a major inspiration for research in the development of control algorithms for multi-robot systems. A main thrust of research in this area is to understand how the interconnections among individual behaviors result in high-performing group behaviors. In this dissertation, we are concerned with how individua...

There has been a spurt of interest in recent years in the area of group coordination and cooperative control among different research communities, involving biology, robotics, artificial intelligence, advanced control, sensor network, etc (Ögren et al., 2004; Kumar et al., 2005; Pettersen et al., 2006). As we know, fish shoals, bird flocks, etc exhibit typical aggregation behaviours, in which c...

This paper presents new low-cost systems for the automation of some fish farm operations. Particularly, computer vision is applied to noncontact fish weight estimation. Stereo vision systems with synchronised convergent cameras are employed to perform fish 3-D segmentation in tanks and sea cages. Several pre-processing algorithms are applied to compensate illumination local variations. The appr...