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Since we re looking at methods of locomotion in water, we might as well include paddles and rows. Ducks use their webbed feet as paddles when swimming through water. Water beetles use their legs as oars and row themselves along like tiny boats.
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Studies at MIT lead researchers to use a fluid dynamic parameter known as the Strouhal number. For fish, the number is calculated by multiplying the frequency of the tail flapping back and forth by the width of the vortex created in the water divided by the fish s speed. A number of species of fish were studied. The results were that maximum efficiency is found when the Strouhal number lies between 0.25 and 0.35.
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13.2 Toy submarine ready for conversion to TROV
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When the foils of the robot fish at MIT were adjusted and reconfigured to generate a Strouhal number in this range, its efficiency jumped higher than 86 percent. This is a major improvement compared to propellers that generate efficiencies around 40 percent.
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There are two basic underwater robot projects outlined in this chapter. One involves modifying a toy submarine, the other building a robotic fish from scratch.
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Submarine
There are a number of companies that make and sell hobby model submarines. Depending upon the degree of sophistication of the model, it usually is radio controlled (R/C) and is capable of submerging and surfacing (see Fig. 13.2). In modifying a toy submarine, forget about R/C and jump to wire control and using an umbilical cord to the submarine. The umbilical cord can carry power as well as command and control signals. These hobby submarines can be modified to create small telepresence systems. The primary modification is the addition of a color video camera. Most of these hobby submarines have open compartments where electronics gear can be stored (see Fig. 13.3). Many of the systems used in the telerobotic car built in Chap. 9 can be implemented here. The one difference is the use of wire control instead of R/C. Because these are toy subs, you will probably not let them loose in open water. The tiny propulsion motors in these submarines
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13.3 Open compartment for housing electronics
need calm water to function. Of course, these could be a starting point for more robust systems. Are there any applications of these toy submarines beyond the experience gained from building and using basic underwater telepresence systems I could imagine 10 or more toy telepresence submarines released in a swimming pool, each submarine being remotely controlled by one person. I m sure a number of underwater or space scenarios could be created for game play.
Swimming by use of a tail
As stated earlier, most mechanisms that mimic fishlike movement are grossly inefficient. This model is no exception. However, information gleaned from resources like MIT can be incorporated into the model (not done here) to improve overall efficiency. And if one plans on building like-animal androids, this is as good a place to start as any. Rotary solenoid The robotic fish pivots on the use of a rotary solenoid (see Fig. 13.4). When activated, the solenoid rotates its top plate about 30 degrees. A spring returns the plate to its original position when deactivated. The solenoid s top plate has at least two 3/48 threaded holes that may be used for mounting objects to it. The bottom of the solenoid
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Underwater bots
13.4 Rotary solenoid
+V +V +9V +V R1 R2 +V R5 6 555 2 Timer R4 3 Q1 C1 R3 R6 C2 5 C3 1 4 Q3 +V 7 8 R7 Rotary Solenoid
13.5 Schematic of electronics
has two protruding 3/48 threaded rods that can be used for mounting the solenoid. The solenoid is not as powerful as I would like, but it is strong enough to provide underwater propulsion. Electronics The electronic circuit uses a unijunction transistor Q1 (UJT 2646) to generate a slow stream of pulses (see Fig. 13.5). The timing of the pulses is determined by C1 and R1. The pulses pass through R4 to the base of Q2. Q2 is an NPN transistor 2N2222. The purpose of Q2 is to invert the pulse signal for input to IC1 pin 2. IC1 is a 555 timer configured in monostable mode. IC1 shapes the pulse width. The output of the 555 timers switches Q3 on and off. Q3 controls the current to the rotary solenoid that is used in the robotic fish.
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