<p style="text-align: justify">Coral reef system has important influence on human production and life. With continuous expansion of human activities to the ocean, the population has decreased in recent years and the function of coral reef ecosystem declines gradually. However, there is still a lack of effective dynamic monitoring methods. As a novel biomimetic underwater vehicle, with excellent maneuverability and low noise, the robotic shark is good at the tasks mentioned above such as monitoring the temperature, dissolved oxygen and PH value of the water environment, tracking and observing the life habits of important marine organisms.</p><p style="text-align: justify">In this paper, the mechatronic design of a novel robotic shark for coral reef detection is presented. Through mimicking a real great white shark, a well-streamlined body shape is obtained. To obtain good maneuverability, a barycenter regulating device is designed to assist the posture adjustment of the robotic shark at low speed. The robotic shark is mainly divided into four parts, a three-joint propulsion system, a barycenter regulating device, a control cabinet and a sensory cabinet. Based on STAR-CCM+ software, the lift coefficients and drag coefficients of pectoral fin are simulated in different angles of attack using overlapping grid technique. Based on Newton-Euler approach, a dynamic model with particular consideration of pectoral fins for three-dimensional motion is established. A CPG controller is used to generate rhythmic motion of each joint. Furthermore, based on the dynamic model, the moving trajectory of spiral motion is simulated based on differential actions of pectoral fins.</p>

Mechatronic Design and Maneuverability Analysis of a Novel  Robotic Shark for Coral Reef Detection

Paper Proceedings: https://asmedigitalcollection.asme.org/OMAE/OMAE2021/volume/85116

OMAE 2021

Supporting the need among researchers worldwide for additional online and multimedia content, ASME now offers the ASME Conference Video Collection. This platform will collect and provide long-term access to conference presentation videos, encompassing all technology areas within ASME's technical conference and events program. About 30,000-40,000 engineers across all mechanical engineering and related disciplines participate in ASME conferences each year. This includes authors of approximately 6,000 to 8,000 technical papers published by ASME, the majority of whom also submit video presentations for our virtual conferences. The video collection will be available as an add-on to existing product packages or as a separate subscription.