Underwater Vehicles

For the latest twenty to thirty years, a significant number of AUVs has been created for the solving of wide spectrum of scientific and applied tasks of ocean development and research. For the short time period the AUVs have shown the efficiency at performance of complex search and inspection works and opened a number of new important applications. Initially the information about AUVs had mainly review-advertising character but now more attention is paid to practical achievements, problems and systems technologies. AUVs are losing their prototype status and have become a fully operational, reliable and effective tool and modern multi-purpose AUVs represent the new class of underwater robotic objects with inherent tasks and practical applications, particular features of technology, systems structure and functional properties

A Concept Paper on Smart River Monitoring System for Sustainability in River

River is a major source of water in Malaysia and one of the major threats to its sustainability is pollution. The existing methods for monitoring of water quality in rivers are manual monitoring and continuous monitoring. These methods are costly and less efficient. Hence, we propose a smart river monitoring system (SRMS) that uses unmanned aerial vehicles (UAVs) or drones and low power wide area (LPWA) communication technology. The Internet of Things (IoT) and data analytic are promising techniques which provide real-time monitoring and enhances efficiency. However, due to the span of river that needs to be monitored, conventional communication technology such as Wi-Fi, Zigbee, Bluetooth are not suitable. Hence, there is the need for LPWA communication technology. We discuss the application of LPWA and UAV for sustainability of rivers in Malaysia as a case study. Preliminary results show that the use of UAV will increase the efficiency of measuring the water quality parameters compared to manual monitoring method. Also, real-time monitoring enables us to study the changes in water quality. Finally, we provide future direction in the application of UAV and LPWA for sustainability in river

Developing High Performance Linear Carangiform Swimming

This thesis examines the linear swimming motion of Carangiform fish, and investigates how to improve the swimming performance of robotic fish within the fields of kinematic modeling and mechanical engineering, in a successful attempt to replicate the high performance of real fish. Intensive research was conducted in order to study the Carangiform swimming motion, where observational studies of the common carp were undertaken. Firstly, a full-body length Carangiform swimming motion is proposed to coordinate the anterior, mid-body and posterior displacements in an attempt to reduce the large kinematic errors in the existing free swimming robotic fish. It optimizes the forces around the centre of mass and initiates the starting moment of added mass upstream therefore increasing performance, in terms of swimming speed. The introduced pattern is experimentally tested against the traditional approach (of posterior confined body motion). A first generation robotic fish is devised with a novel mechanical drive system operating in the two swimming patterns. It is shown conclusively that by coordinating the full-body length of the Carangiform swimming motion a significant increase in linear swimming speed is gained over the traditional posterior confined wave form and reduces the large kinematic errors seen in existing free swimming robotic fish (Achieving the cruising speeds of real fish). Based on the experimental results of the first generation, a further three robotic fish are developed: (A) iSplash-OPTIMIZE: it becomes clear that further tuning of the kinematic parameters may provide a greater performance increase in the distance travelled per tail beat. (B) iSplash-II: it shows that combining the critical aspects of the mechanical drive system of iSplash-I with higher frequencies and higher productive forces can significantly increase maximum velocity. This prototype is able to outperform real Carangiform fish in terms of average maximum velocity (measured in body lengths/ second) and endurance, the duration that top speed is maintained. (C) iSplash-MICRO: it verifies that the mechanical drive system could be reduced in scale to improve navigational exploration, whilst retaining high-speed swimming performance. A small robotic fish is detailed with an equivalent maximum velocity (BL/s) to real fish

Energy Based Control System Designs for Underactuated Robot Fish Propulsion

In nature through millions of years of evolution fish and cetaceans have developed fast efficient and highly manoeuvrable methods of marine propulsion. A recent explosion in demand for sub sea robotics, for conducting tasks such as sub sea exploration and survey has left developers desiring to capture some of the novel mechanisms evolved by fish and cetaceans to increase the efficiency of speed and manoeuvrability of sub sea robots. Research has revealed that interactions with vortices and other unsteady fluid effects play a significant role in the efficiency of fish and cetaceans. However attempts to duplicate this with robotic fish have been limited by the difficulty of predicting or sensing such uncertain fluid effects. This study aims to develop a gait generation method for a robotic fish with a degree of passivity which could allow the body to dynamically interact with and potentially synchronise with vortices within the flow without the need to actually sense them. In this study this is achieved through the development of a novel energy based gait generation tactic, where the gait of the robotic fish is determined through regulation of the state energy rather than absolute state position. Rather than treating fluid interactions as undesirable disturbances and `fighting' them to maintain a rigid geometric defined gait, energy based control allows the disturbances to the system generated by vortices in the surrounding flow to contribute to the energy of the system and hence the dynamic motion. Three different energy controllers are presented within this thesis, a deadbeat energy controller equivalent to an analytically optimised model predictive controller, a $H_\infty$ disturbance rejecting controller with a novel gradient decent optimisation and finally a error feedback controller with a novel alternative error metric. The controllers were tested on a robotic fish simulation platform developed within this project. The simulation platform consisted of the solution of a series of ordinary differential equations for solid body dynamics coupled with a finite element incompressible fluid dynamic simulation of the surrounding flow. results demonstrated the effectiveness of the energy based control approach and illustrate the importance of choice of controller in performance