Richard James Clapham

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This paper presents a novel robotic fish, iSplash-I, with full-body coordination and high performance carangiform swimming motion. The proposed full-body length swimming motion coordinates anterior, mid-body and posterior displacements in an attempt to reduce the large kinematic errors in the existing free swimming robotic fish. It optimizes forces around(More)
This paper introduces a new robotic fish, iSplash-II, capable of outperforming real carangiform fish in terms of average maximum velocity (measured in body lengths/ second) and endurance, the duration that top speed is maintained. A new fabrication technique and mechanical drive system were developed, effectively transmitting large forces at high(More)
This paper presents a millimeter scale robotic fish, namely iSplash-MICRO, able to accurately generate the posterior undulatory pattern of the carangiform swimming mode, at intensively high frequencies. Furthermore an investigation into anterior stabilization was made in an attempt to reduce the large kinematic errors and optimize forces around the center(More)
This manuscript is a review over the published articles on edge detection. At first, it provides theoretical background, and then reviews wide range of methods of edge detection in different categorizes. The review also studies the relationship between categories, and presents evaluations regarding to their application, performance, and implementation. It(More)
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