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Fin
Actuated Autonomous Underwater Vehicle
The robots are each powered by four servos. Two are
located in the rear of the robot and power the two links of the tail
assembly. The other two servos control the motion of the forward fins; their
motion is fully independent of one another. To be able to orient itself, the
robot has a depth gauge (a pressure sensor) and a 3-D magnetic compass. The fish is tuned to be neutrally buoyant;
that is, when placed at some depth, it will neither float nor sink. Due to
pressure changes and compression/decompression resulting in volume changes of
the vehicle, the buoyancy is not constant. A current device under development
is a buoyancy tuner to adjust buoyancy as the robot moves to different
depths. For purposes of development and testing, an
instrumented tank has been built in the lab.
The tank is an above-ground swimming pool 8ft deep, 8ft wide and 20ft
long. Underwater cameras connected to
an external computer provide the ability to track the vehicles in the water
in real time. This data is processed
for 3D position information and transmitted via RC broadcast to all vehicles
in the tank. The broadcast information
contains vehicle identification codes and can also include information for
simulated vehicles to provide a group effectively much larger than the
existing three vehicles. |
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Videos of the first two prototypes in action are below. Movies are in wmv or avi format. Note that our server has some issues with wmv files. If the video will not stream correctly, please right click and save the video to your computer. We apologize for the inconvenience. Robofish 1.0 & 2.0
(wmv)
· Robofish 2.0:Heading and Depth Control · Robofish 2.0: Depth Control in the new indoor tank. · Robofish 1.0 & 2.0: Heading Control in the outdoor pool. ·
Robofish 1.0:
Pectoral Dolphin movement in the outdoor pool. Robofish 2.0 (avi)
· Robofish 2.0, Depth Heading (13Mb avi) · Robofish 2.0, Heading and Depth Control (6.7Mb avi) Robofish 1.0 (avi/mpg)
· Robofish 1.0, Depth Heading (21Mb avi) · Pectoral Dolphin Locomotion (16Mb avi) · Robofish 1.0 Depth Control (16M mpg) |
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Click on the thumbnails for a larger view. Pop-up blocking software may interfere with this page. If clicking on a thumbnail does not pop up a high resolution photo, turn off the blocking software and try again. |
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Last updated on: Monday, August 07, 2006 3:40 Send
questions or comments to morgansen@aa.washington.edu |
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