[1]董慧芳,汪明*,张燕鲁,等.仿生机器鱼监控系统设计与实现[J].山东建筑大学学报,2018,(02):53-60.[doi:10.12077/sdjz.2018.33.02.009]
 Dong Huifang,Wang Ming*,Zhang Yanlu,et al.Design and implementation of bionic robot fish monitoring system[J].Journal of Shandong jianzhu university,2018,(02):53-60.[doi:10.12077/sdjz.2018.33.02.009]
点击复制

仿生机器鱼监控系统设计与实现()
分享到:

《山东建筑大学学报》[ISSN:1673-7644/CN:37-1449/TU]

卷:
期数:
2018年02期
页码:
53-60
栏目:
研究论文
出版日期:
2018-04-15

文章信息/Info

Title:
Design and implementation of bionic robot fish monitoring system
文章编号:
1673-7644(2018)02-0053-08
作者:
董慧芳汪明*张燕鲁李旭张仁昊
(山东建筑大学 信息与电气工程学院,山东 济南 250101)
Author(s):
Dong Huifang Wang Ming* Zhang Yanlu et al.
(School of Information and Electrical Engineering, Shandong Jianzhu University, Jinan 250101, China)
关键词:
仿生机器鱼监控系统设计多模态运动无线通信
Keywords:
bionic robot fish monitoring system design multimodal motion wireless communication
分类号:
TN92
DOI:
10.12077/sdjz.2018.33.02.009
文献标志码:
A
摘要:
仿生机器鱼作为一种高效的水下推进机器人,在水域探测、开发、安防等方面具有广阔的潜在应用前景。仿生机器鱼监控系统的设计是仿生机器鱼游动机理和运动控制的重要基础。文章围绕监控系统的硬件、软件、无线通信与系统界面,设计了一种仿生机器鱼监控系统,搭建了仿生机器鱼监控系统实验测试平台,并对其测试结果进行分析。结果表明:仿生机器鱼根据系统中的输入命令能够做出相应的动作,同时系统界面上产生不同运动模态下的曲线;仿生机器鱼执行命令时实时向监控计算机发送返回值,实现两者之间的无线通信协议;监控计算机与仿生机器鱼可以实现稳定交换游动控制命令、游动模式、游动姿态等数据,运行效果良好。
Abstract:
Bionic robotic fish as an efficient underwater propulsion robot has broad potential application prospects in the area of water exploration, development, security and so on. The design of bionic robot fish monitoring system is an important basis for swimming mechanism and motion control of bionic robot fish. The paper has designed and developed a bionic robotic fish monitoring system. It provids the design of system hardware, software, wireless communication and system interface, and builds an experimental test platform for the bionic robotic fish monitoring system. The experimental results show that the bionic machine fish can make the corresponding action according to the input command in the system, and produce the curves under different motion modes on the system interface. When the bionic machine fish executes the command, it sends the return value to the monitoring computer in real time, and it realizes the wireless communication protocol between the two. The monitoring computer and bionic robotic fish can exchange data of swimming control commands, swimming mode, and bionic robot fish posture. It has a good operation effect.

参考文献/References:

[1]孙飞虎,喻俊志,徐德.具有嵌入式视觉的仿生机器鱼头部的平稳性控制[J].机器人,2015,37(2):188-195.[2]刘煦,林信桐.机器鱼运动控制模式的优化[J].科技视界,2016(15):141.[3]Zhou C, Low K H. Design and locomotion control of a biomimetic underwater vehicle with fin propulsion[J]. IEEE/ASME Transactions on Mechatronics, 2012, 17(1):25-35.[4]王进,蒋定立,邓欣,等.仿生学习的机器鱼运动模式分析[J].重庆大学学报,2015,38(6):138-146. [5]Hu Y, Liang J, Wang T. Parameter synthesis of coupled nonlinear oscillators for CPGbased robotic locomotion[J].IEEE Transactions on Industrial Electronics, 2014, 61(11):6183-6191.[6]梁建宏,王田苗,魏洪兴,等.水下仿生机器鱼的研究进展II—小型实验机器鱼的研制[J].机器人,2002,24(3):234-238. [7]Barrett D S, Triantafyllou M S, Yue D K P, et al. Drag reduction in fishlike locomotion[J]. Journal of Fluid Mechanics, 1999, 192(392):183-212.[8]Yu J, Tan M, Chen J, et al. A survey on CPGinspired control models and system implementation[J]. IEEE Transactions on Neural Networks & Learning Systems, 2017, 25(3):441-456.[9]Tan M. Dynamic modeling of a CPGgoverned multijoint robotic fish[J]. Advanced Robotics, 2013, 27(4):275-285.[10]喻俊志,王硕,谭民.多仿生机器鱼控制与协调[J].机器人技术与应用,2003(3):27-35. [11]汪明,喻俊志,谭民,等.机器海豚多模态游动CPG控制[J].自动化学报,2014(9):1933-1941. [12]梁建宏,郑卫丰,文力,等.两关节仿生水下航行器SPC-Ⅲ的推进与机动性[J].机器人,2010,32(6):726-731, 740.[13]吴正兴,喻俊志,苏宗帅,等.仿生机器鱼S形起动的控制与实现[J].自动化学报,2013,39(11):1914-1922. [14]葛阳.基于433MHz射频通信的智能家居系统研究与设计[D].成都:电子科技大学,2016. [15]Yu J, Chen S, Wu Z,et al. On a miniature freeswimming robotic fish with multiple sensors[J]. International Journal of Advanced Robotic Systems, 2016, 13: 257-352.[16]Yu J, Wu Z, Wang M,et al. CPG network optimization for a biomimetic robotic fish via PSO[J]. IEEE Transactions on Neural Networks & Learning Systems, 2016, 27(9):1962-1968.[17]勾慧兰,刘光超.基于STM32的最小系统及串口通信的实现[J].工业控制计算机,2012,25(9):26-28. [18]尹舜,黄晓祥,谢光直,等.基于STM32无线通信系统的设计[J].信息通信,2015(8):179. [19]罗斌.Visual C++编程技巧精选500例[M].北京:中国水利水电出版社,2005.[20]葛阳,李大刚.智能家居433 MHz射频通信协议栈设计与网关实现[J].电信科学,2015,31(9):137-143. [21]孙飞虎.基于嵌入式视觉的仿生机器鱼跟踪控制[D].北京:中国科学院大学,2015.

备注/Memo

备注/Memo:
收稿日期:2018-03-07 基金项目:国家自然科学基金项目(61573226, 61273326)作者简介:董慧芳(1994-),女,在读硕士,主要从事仿生机器人等方面的研究.E-mail:337346484@qq.com 通讯作者*:汪明(1976-),男,教授,博士,主要从事智能控制与建筑节能、仿生机器人等方面的研究.E-mail:xclwm@sdjzu.edu.cn
更新日期/Last Update: 2018-05-04