Yogo Takada, Keisuke Koyama, and Takahiro Usami
Department of Mechanical and Physical Engineering, Osaka City University, 3-3-138 Sugimoto, Sumiyoshi-ku, Osaka 558-8585, Japan
Based on our robotic fish studies since 2003, this paper introduces a FPGA offline control underwater searcher (FOCUS) and a bream robot equipped with advanced mechanism (BREAM). The performance of the first FOCUS prototype, built in 2011, is now being improved. FOCUS has 2 cameras and fieldprogrammable gate arrays (FPGAs) with high arithmetic processing capabilities. The appearance of the FOCUS is so cute. The two FOCUS types now available are an autonomous underwater vehicle (AUV) and a remotely operated vehicle (ROV). BREAM, in contrast, is an entertainment robot prototype designed for Asutamuland Tokushima exhibition. BREAM has four joints based on analytical computational fluid dynamics (CFD) results showing that robotic fish with multiple joints achieve better propulsion performance than that with single joint. Two of the four joints are used for propulsion and two are used for turning the prototype. RC-FOCUS is also exhibited at Asutamuland Tokushima, together with BREAM.
-  Y. Takada, T. Nakamura, K. Koyama, and T. Tajiri, “Target Following Control of Small Fish Robot FOCUS Based on Color Information,” JSME, Series C, Vol.78, No.792, pp. 2924-2934, 2012.
-  Y. Takada, T. Nakamura, K. Koyama, and T. Wakisaka, “Selfposition Estimation of Small Fish Robot Based on Visual Information from Camera,” J. of Japan Institution of Marine Engineering, Vol.47, No.3, pp. 437-443, 2012.
-  Y. Takada, Y. Nakanishi, R Araki, and T. Wakisaka, “Investigation of Propulsive Force and Water Flow around a Small Fish Robot by PIV Measurement and Three-dimensional Numerical Analysis,” JSME, Series C, Vol.76, No.763, pp. 665-672, 2010.
-  Y. Takada, T. Ochiai, N. Fukuzaki, T. Tajiri, and T. Wakisaka, “Analysis of Flow around Robotic Fish by Three-dimensional Fluid-structure Interaction Simulation and Evaluation of Propulsive Performance,” J. of Aero Aqua Bio-mechanisms, Vol.3, No.1, pp. 57-64, 2013.
-  Y. Takada, R. Araki, T. Ochiai, T. Tajiri, and T. Wakisaka, “Effects of Tail Fin Flexibility on Propulsive Performance in Small Fish Robots (Investigation by Fluid-Structure Interaction Analysis Considering Elastic Deformation of Tail Fin),” JSME, Series C, Vol.77, No.778, pp. 2351-2362, 2011.