Modelling and control of bioinspired robotic fish underwater vehicle and its propulsion mechanism

Modeling and Control of a Bioinspired Robotic Fish Underwater Vehicle and its Propulsion Mechanism ABHRA ROY CHOWDHURY (M.Tech., Indian Institute of Technology B.H.U., Varanasi India) A THESIS SUBMITTED FOR THE DEGREE OF DOCTOR OF PHILOSOPHY DEPARTMENT OF ELECTRICAL AND COMPUTER ENGINEERING NATIONAL UNIVERSITY OF SINGAPORE 2014 I)eclaration hereby declare that this thesis is my original work and it has been written by me in its entirety I have duly acknowledged all I the sources of information which have been used in the thesis This thesis has also not been submitted for any degree in any university previously NAMtr: Abhra Roy Chowdhury DATtr: 16 lL2 12074 Acknowledgements I take this opportunity to infinitely thank my supervisor, Assoc Prof Dr Sanjib Kumar Panda, by including me as a PhD student in his esteemed Electric Machines and Drives (EMDL) research group He has reposed tremendous faith in me and always encouraged by letting me explore my own ideas He has been extremely kind, considerate and supportive for the entirety of my thesis work Moreover, he gave me the opportunity to go to many conferences and workshops as well as take an active part in the STARFISH2 project He always took the time to promote my work during his presentations to the industry and academia Furthermore, he is a wonderful human being to know and to work with, being friendly and supportive even in his busy schedule I have learnt from him to be independent, inquisitive, open-minded and most importantly patient in research I admire him for many reasons but the most important habit I have tried to inculcate from him is the positive attitude and work-life balance I would also like to immensely thank Dr Sangit Sasidhar for the great collaboration I had found with him for a main part of my thesis I wish to express my sincere gratitude to Mr Y C Woo, and Mr M Chandra of Electrical Machines and Drives lab, NUS, for their constant and selfless support Their continuous support have made a noticeable contribution towards my research progress I would like to thank Mr Alok Agrawal, Mr Vinoth Kumar, Mr ACKNOWLEDGEMENTS Bhuneshwar Prasad for their key contributions for the hardware development of the project I would like to acknowledge useful suggestions and feedback given by Dr Rajesh Kumar of MNIT Jaipur, Dr Wang Xue, Dr Manasa Behera of Tropical Marine Science Institute (TMSI) NUS, Mr Shailabh Suman of Acoustic Research Lab NUS, Assoc Prof Mandar Chitre of Acoustic Research Lab NUS, Dr Pablo Alvaro Valdivia of Singapore-MIT Alliance for Research and Technology (SMART), Assoc Professor Marcelo H Ang Jr., Professor Xu Jianxin and Assoc Professor Abdullah Al Mamun of Department of Electrical and Computer Engineering I sincerely thank the office of Defense Science and Technology Agency (DSTA), under the Ministry of Defense (Singapore) for their support of the present research I wholeheartedly thank Dr Parikshit, Subhash, Saurabh, Dr Zhaoqin, Dr Chinh, Tran, Jeevan, Jayantika, Kalpani, Amit, Sicong and all my colleagues in Electrical Machine and Drives Laboratory for useful discussions and assistances Pursuing my research would not have been possible without a good circle of friends around me in Singapore I wholeheartedly thank all of them for all the great times during the period of my study It certainly helped me a lot in these last four years I would like to express all my gratitude to my parents Mrs Sati Roy Chowdhury and Mr Smaran Roy Chowdhury for their unfailing support, unconditional love and unbound patience This thesis would not have been possible without them I would like to dedicate this thesis to my parents Last but certainly not least, I would like to thank the Almighty for helping me to learn innumerable life lessons and showing me the direction during the course of my research iii Contents Summary xi List of Figures xiii List of Tables xvii List of Acronyms xix List of Symbols xxi Introduction 1.1 Background 1.2 The STARFISH Project 1.3 Fish Swimming Mode Classification 1.4 Related Work 12 1.5 Motivation and Problem Statement 20 1.5.1 Challenge 1: Bio-inspiration from Fish Swimming Modes for Underwater Vehicle Propulsion and Maneuvering 22 1.5.2 Challenge 2: Improvement of Energy Efficiency vis-avis the Capability of Propellers 23 v CONTENTS 1.5.3 Challenge 3: Stealth and Noise Signature left by AUVs 1.5.4 25 Challenge 4: Bio-inspired Control and Navigation System of Underwater Vehicles 26 1.5.5 Challenge 5: Learning from Group Behaviour and Distributed Senses of Aquatic Animals 28 1.6 Thesis Contributions 30 1.6.1 Dynamics modeling of the robotic fish based on biology inspired principle 30 1.6.2 Kinematics modeling of the robotic fish and mathematical input waveform design under Lighthill framework 30 1.6.3 Hydrodynamic Modeling matched with Kinematics of actual fish 31 1.6.4 1.6.5 1.7 Control Design Methodologies and Comparison 32 Behaviour based control architecture 32 Overview of the Thesis 33 Dynamic Modeling of the Robotic Fish 39 2.1 Introduction 39 2.2 System Model 42 2.2.1 Robotic Fish (Anterior) Head 48 2.2.2 Robotic Fish (Posterior) 2-Link caudal tail as Thruster 50 2.2.2.1 Velocity and Acceleration vectors 51 2.2.2.2 Forces and Torques 52 vi CONTENTS 2.2.2.3 Hydrodynamic Forces: Added Mass (Lighthill’s Reactive Force) 52 2.2.2.4 2.2.2.5 2.3 Buoyancy Force 64 2.2.2.6 2.2.3 Pressure Drag (Resistive) Force 63 Control forces and Servo motor Dynamics 64 Equation of Motion in Earth-fixed Frame 65 Conclusion 69 Kinematic Modeling of the Robotic Fish based on Lighthill’s Slender Body Theory 71 3.1 Introduction 71 3.2 Lighthill s Slender Body Theory based Mathematical Framework 75 3.2.1 Oscillating Sine with Linear Amplitude Wave 78 3.2.2 Undulatory Lighthill Quadratic Amplitude Body Wave 3.2.3 Undulatory Lighthill Cubic Amplitude Body Wave 81 3.2.4 Non-Uniform Rational B-spline (NURB) Quadratic and 80 Cubic Body Wave (Tadpole-like Motion) 82 3.2.5 Undulatory SINC and DIRIC Body Wave 86 3.2.6 Undulatory Anguilliform Body Wave (EEL-like Maneuvering Model) 88 3.3 Lighthill Control Parameters 92 3.3.1 Tail Beat frequency (TBF) Based Control 93 3.3.2 Caudal Amplitude (CA) Based Control 96 vii CONTENTS 3.3.3 Propulsive Wavelength (PW) and Propulsive Body-wave Speed Effects 98 3.3.4 Yaw Angle effects 101 3.3.5 Determination of Lighthill’s Coefficients 105 3.4 Experimental Results and Discussions 106 3.5 Operating Region (ORE) 114 3.6 Conclusion 118 Hydrodynamics Modeling of the Robotic Fish 121 4.1 Introduction 121 4.2 CFD Modeling of Lighthill s theory based Undulatory Motion 125 4.3 Simulation Results and Discussion 133 4.3.1 4.3.2 Tail-beat frequency (TBF) Effects 142 4.3.3 4.4 Pressure and Velocity Field Distributions 133 Caudal Amplitude (CA) Effects 145 Conclusion 149 Control System Design of the Robotic Fish 151 5.1 Introduction 151 5.2 Control Methodologies 155 5.2.1 Computed Torque Control Method with Dynamic PD compensation 157 5.2.2 Computed Feed-forward Control Method with Dynamic PD compensation 160 viii CONTENTS 5.2.3 Computed Feed-forward plus Computed Torque Method 162 5.3 Experimental Results and Discussion 165 5.4 Conclusion 177 Behaviour Based Control Design of the Robotic Fish 181 6.1 Introduction 181 6.2 Kinematics based Brain Map and Control Architecture 190 6.2.1 6.2.2 6.3 Distance based Priority / Action Selection 192 Error based Priority / Action Selection 194 Kinematics Behaviour based High level Control 196 6.3.1 Tail Beat Frequency (TBF ) and Phase Shift 197 6.3.2 Caudal Amplitude (CA) Shift 198 6.3.3 Mixed Parameters Shift 199 6.4 Central Pattern Generator (CPG) Model 201 6.5 Inverse Dynamics Based Low Level Control 204 6.6 Modulated Pattern Generators (MPG) Model 212 6.6.0.1 Caudal Amplitude (CA) Parameter Modulation213 6.6.0.2 Tail-beat Frequency (TBF ) Parameter Modulation 216 6.7 Conclusion 217 Conclusions and Future Works 221 7.1 Final Conclusions 221 7.2 Future Work 227 ix CONTENTS 7.2.1 Sensory-inspiration of aquatic animals 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Kumar, R Kumar and S K Panda “Implementation of a BCF Mode Bio-mimetic Robotic Fish Underwater Vehicle based on Lighthill Mathematical Model” IEEE RAS ICROS International Conference on Control, Automation and Systems (ICCAS),ICC Jeju, Korea, pp : 437- 442, 2012 [147] A Roy Chowdhury, B Prasad, V Kumar, R Kumar and S K Panda “Finding an Improved Operating Region for a Bio-inspired Robotic Fish Underwater Vehicle in the Lighthill framework” IEEE RAS International Conference on Robotics and Biomimetics (ROBIO), pp 44-50, 2013 [148] A Roy Chowdhury, V Kumar, B Prasad, R Kumar and S K Panda “Kinematic Study and Implementation of a Bio-inspired Robotic Fish Underwater Vehicle in a Lighthill Mathematical Framework” Robotics and Biomimetics, Springer, pp 1-16, 2014 [149] A Roy Chowdhury, B Prasad, V Kumar, R Kumar and S K Panda “Inverse Dynamics Kinematic Control of a Bio-inspired RoboticFish Underwater Vehicle Propulsion based on Lighthills Slender Body Model” IEEE OES MTS OCEANS Taipei, Taiwan, pp.32-38, 2014 [150] A Roy Chowdhury, V Kumar, B Prasad, R Kumar and S K Panda “Model-Based Control of a BCF Mode Carangiform Bioinspired Robotic Fish” MTS Journal - Emerging Leaders: A Special Issue Volume 48, Number 4, pp 36-50, July/August 2014 249 BIBLIOGRAPHY [151] A Roy Chowdhury, B Prasad, V Kumar, R Kumar and S K Panda “Bio-harmonized Dynamics Model for a Biology Inspired Carangiform Robotic Fish Underwater Vehicle” 19th IFAC World Congress, Vol 19, Capetown, pp.7258-7265 , 2014 [152] A Roy Chowdhury and S.K.Panda “Kinematic Parameter based Behavior Modelling and Control of a Bio-inspired Robotic fish” Proceedings of 53rd SICE Annual Conference, Sapporo, pp 82-88, 2014 [153] A Roy Chowdhury and S.K.Panda “Biomimicking a Brain-map based Carangiform Swimming Behavior in a BCF Mode Robotic-Fish Underwater Vehicle” Chapter 35, Mechanisms and Machine Science, Advances on Theory and Practice of Robots and Manipulators, 20th CISMIFToMM Symposium ROMANSY, Moscow), Volume 22, pp 311-319, 2014 [154] John A Bullinaria “From biological models to the evolution of robot control systems” Philosophical Transactions of Royal Society A 361, pp 2145-2164, 2003 [155] J Liu and H Hu “Biological Inspiration: From Carangiform Fish to Multi-Joint Robotic Fish” Journal of Bionic Engineering, Volume 7, Issue 1, pp 35-48, 2010 [156] G K Taylor, R L Nudds, and A L R Thomas “ Flying and swimming animals cruise at a Strouhal number tuned for high power efficiency” Nature, Vol 425, pp 707-711, 2003 250 Publications Journals: Published Abhra Roy Chowdhury, V Kumar, B Prasad, R Kumar and S K Panda “Model Based Control of a BCF Mode Carangiform Bioinspired Robotic Fish” MTS Journal - Emerging Leaders: A Special Issue Volume 48, Number 4, pp 36-50, July/August 2014 Abhra Roy Chowdhury, V Kumar, B Prasad, R Kumar and S K Panda “Kinematic Study and Implementation of a Bio-inspired Robotic Fish Underwater Vehicle in a Lighthill Mathematical Framework Robotics and Biomimetics, Springer, pp 1-15, November 2014 Accepted Abhra Roy Chowdhury, V Kumar, B Prasad, R Kumar and S K Panda “Hydrodynamics Study of a BCF Mode Bio-inspired RoboticFish Underwater Vehicle using Lighthill’s slender body Model Framework ” Journal of Marine Science and Technology Abhra Roy Chowdhury, V Kumar, B Prasad, R Kumar and S K Panda “Brain-map based Carangiform Swimming Behavior Modeling and Control in a Robotic Fish Underwater Vehicle” International Journal of Advanced Robotic Systems Submitted for Review PUBLICATIONS Abhra Roy Chowdhury, V Kumar, B Prasad, R Kumar and S K Panda “From the Real BCF Fish to a Bio-inspired Robotic Fish Underwater Vehicle: Kinematic Study and Implementation in the Lighthill framework ” Abhra Roy Chowdhury, V Kumar, B Prasad, R Kumar and S K Panda “Formulation of a Bio-inspired Robotic Fish Underwater Vehicle Dynamics and Control based on Lighthills Slender Body theory ” Book Chapters: Published Abhra Roy Chowdhury, V Kumar, B Prasad, R Kumar and S K Panda “Biomimicking a Brain-map based Carangiform Swimming Behavior in a BCF Mode Robotic-Fish Underwater Vehicle” Chapter 35, Mechanisms and Machine Science, Advances on Theory and Practice of Robots and Manipulators, Springer, Volume 22, pp 311-319, 2014 Accepted Abhra Roy Chowdhury, V Kumar, B Prasad, R Kumar and S K Panda “Locomotion Behavior Modelling and Control of a Bio-inspired Robotic fish.” Biomimetic and Biohybrid Systems, Lecture Notes in Artificial Intelligence series, Springer, Proceedings of Living Machines Conference, Milan 2014 Conference Proceedings: Published Abhra Roy Chowdhury, V Kumar, B Prasad, R Kumar and S K Panda “Design, modeling and open-loop control of a BCF mode 252 PUBLICATIONS bio-mimetic Robotic Fish” IEEE RAS International Symposium on Safety, Security, and Rescue Robotics (SSRR), Kyoto University, Kyoto Japan pp 226-231, 2011 Abhra Roy Chowdhury, V Kumar, B Prasad, R Kumar and S K Panda “Implementation of a BCF Mode Bio-mimetic Robotic Fish Underwater Vehicle based on Lighthill Mathematical Model ” IEEE RAS ICROS International Conference on Control, Automation and Systems (ICCAS), ICC Jeju, Korea, pp 437-442, 2012 (Student Best Paper Award) Abhra Roy Chowdhury, V Kumar, B Prasad, R Kumar and S K Panda “Kinematics study and implementation of a biomimetic roboticfish underwater vehicle based on Lighthill slender body model ” IEEE OES Autonomous Underwater Vehicles (AUV), National Oceanography Centre, Southampton UK, pp 1-6, 2012 Abhra Roy Chowdhury, V Kumar, B Prasad, R Kumar and S K Panda “Finding an Improved Operating Region for a Bio-inspired Robotic Fish Underwater Vehicle in the Lighthill framework ” IEEE RAS International Conference on Robotics and Biomimetics (ROBIO), Shenzhen, pp 44-50, 2013 Abhra Roy Chowdhury, V Kumar, B Prasad, R Kumar and S K Panda “Inverse Dynamics Kinematic Control of a Bio-inspired RoboticFish Underwater Vehicle Propulsion based on Lighthills Slender Body Model ” IEEE OES MTS OCEANS Taipei, Taiwan, pp.32-38, 2014 Abhra Roy Chowdhury, V Kumar, B Prasad, R Kumar and S K Panda “Bio-harmonized Dynamics Model for a Biology Inspired Carangiform Robotic Fish Underwater Vehicle” 19th World Congress of the International Federation of Automatic Control IFAC, Cape town, Vol 19, pp 7258-7265, 2014 253 PUBLICATIONS Abhra Roy Chowdhury, V Kumar, B Prasad, R Kumar and S K Panda “Kinematic Parameter based Behavior Modelling and Control of a Bio-inspired Robotic fish” 53rd SICE Annual Conference, Sapporo, Japan, pp 82-88, 2014.(International Student Best Paper Award) Abhra Roy Chowdhury and S K Panda “Finding Answers to Biological Control Methods using Modulated Patterns: An Application to Bioinspired Robotic Fish” IEEE International Conference on Robotics and Automation (ICRA), Seattle, USA, 2015 254 ... Computed-Torque Control (CTM) Model of Robotic fish 158 xiv LIST OF FIGURES 5.2 Feed-forward Control (FF) Model of Robotic fish 161 5.3 Feed-forward plus Computed Torque Control (FF) Model of Robotic. .. suitable to both vehicular morphology and methods of locomotion The study of underwater evolution of life and its plethora of locomotion modes has long been a subject of interest to the Biological Community... system of propulsion for the autonomous underwater vehicles The tuna was selected as a model for its speed (a blue fin tuna can go up to 74 km/h) and its accelerations It is a question of understanding