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This work presents an approach for maneuvering and controlling a biomimetic autonomous underwater vehicle (BAUV). The BAUV swims forward by oscillating its body and caudal fin. It turns by bending its body and caudal fin toward the intended direction of motion. A body-spline function is specified by a set of parameters. Genetic algorithms are then used to(More)
The work describes a compliance control scheme for the caudal joint motion of a biomimetic autonomous underwater vehicle (BAUV). The purpose of the control method is to use the motor power more effectively for propulsion. A symmetric foil executing large-amplitude sway and yaw motions in a flow imitates a flapping tail fin which is used as the propulsive(More)
The paper describes a hiomimetic autonomous underwater vehicle (BAUV) that mimics the shape and behavior of fish. The swimming motion of the BAUV is achieved using an oscillating body. The body spline is specified by a set of parameters, which are utilized using Genetic Algorithms (GAS) by evaluating a fitness fnnction over several swimming trials in a(More)
The purpose of this study is to develop a navigation and control system for a biomimetic-autonomous underwater vehicle (BAUV) to track a target. A Bayesian method, using an extended Kalman filter, combining localization and environmental mapping by a BAUV is implemented. This strategy selects the best sensor measurement by choosing one of several(More)
This talk addresses two different designs of underwater robots: a bay monitoring flatfish type autonomous underwater vehicle (AUV), and a fleet of robotic fish that swims in an exhibition tank. Both of them are for the live demonstration of underwater robotics technology in a museum of marine science and technology in Keelung, Taiwan. Hydrodynamic(More)
PVDF sensors are used to measure the dynamic pressure surrounding a biomimetic autonomous underwater vehicle (BAUV). To track the motion of a periodically oscillating source by following the pressure generated by the source motion, the BAUV estimates pressure derived by its own, and subtract those information to find the signals of the source motion.(More)
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