CONTENTS
5.1 Introduction .................................................................................................. 86
5.2 Inspired from Nature .................................................................................. 87
5.3 Biologically Inspired Design ...................................................................... 89
5.4 Layered Control Architecture .................................................................... 90
5.4.1 Cognitive Layer ................................................................................ 92
5.4.2 Behavior Layer.................................................................................. 92
5.4.3 Swim Pattern Layer ......................................................................... 93
5.5 Robotic Fish for Pollution Detection at Port............................................. 95
5.5.1 System Configuration ...................................................................... 95
5.5.2 Bio-Inspired Coverage of Pollutants ............................................. 97
5.6 Summary ..................................................................................................... 101
Acknowledgments .............................................................................................. 102
References ............................................................................................................. 103
5
A School of Robotic Fish for
Pollution Detection in Port
Huosheng Hu, John Oyekan, and Dongbing Gu
University of Essex
Colchester, UK
Abstract
Natural selection has made fish beautiful swimmers with high efficiency and perfect maneuvering abilities. No man-made aquatic systems are currently able to match such performance. To build a robot
to realize fish-like propulsion and maneuvering abilities requires a full
understanding of fish muscle structure, hydrodynamics, and how to
mimic. This chapter overviews the robotic fish research at Essex, which
is focused on the biologically inspired design of autonomous robotic
fish as well as their applications to pollution detection in port. Our
efforts and experience in building a number of generations of robotic
fishes to navigate in a three-dimensional unstructured environment are
described, including the successful launch of an EU FP7 project SHOAL
since March 2009. Finally, a brief summary and future research directions are outlined.
85
5.1 Introduction .................................................................................................. 86
5.2 Inspired from Nature .................................................................................. 87
5.3 Biologically Inspired Design ...................................................................... 89
5.4 Layered Control Architecture .................................................................... 90
5.4.1 Cognitive Layer ................................................................................ 92
5.4.2 Behavior Layer.................................................................................. 92
5.4.3 Swim Pattern Layer ......................................................................... 93
5.5 Robotic Fish for Pollution Detection at Port............................................. 95
5.5.1 System Configuration ...................................................................... 95
5.5.2 Bio-Inspired Coverage of Pollutants ............................................. 97
5.6 Summary ..................................................................................................... 101
Acknowledgments .............................................................................................. 102
References ............................................................................................................. 103
5
A School of Robotic Fish for
Pollution Detection in Port
Huosheng Hu, John Oyekan, and Dongbing Gu
University of Essex
Colchester, UK
Abstract
Natural selection has made fish beautiful swimmers with high efficiency and perfect maneuvering abilities. No man-made aquatic systems are currently able to match such performance. To build a robot
to realize fish-like propulsion and maneuvering abilities requires a full
understanding of fish muscle structure, hydrodynamics, and how to
mimic. This chapter overviews the robotic fish research at Essex, which
is focused on the biologically inspired design of autonomous robotic
fish as well as their applications to pollution detection in port. Our
efforts and experience in building a number of generations of robotic
fishes to navigate in a three-dimensional unstructured environment are
described, including the successful launch of an EU FP7 project SHOAL
since March 2009. Finally, a brief summary and future research directions are outlined.
85