Cover Image

SOPHIBIAN: an amphi-underwater robot

Multiple highly manoeuvrable robots have become the focus of heated discussion lately, especially in applications involving disaster rescue, military missions and underwater or extra-terrestrial explorations. The surroundings concerned are harsh and hazardous terrains, and predictably the malfunctio...

Full description

Saved in:
Bibliographic Details
Main Author: Toha, Siti Fauziah
Format: Copyright
Language:English
English
Published: 2020
Subjects:
T Technology (General)
Online Access:http://irep.iium.edu.my/81713/1/81713_SOPHIBIAN%20an%20amphi-underwater%20robot_WORK.pdf
http://irep.iium.edu.my/81713/12/81713%20SOPHIBIAN%20CR1.pdf
http://irep.iium.edu.my/81713/
Tags: Add Tag
No Tags, Be the first to tag this record!
id my.iium.irep.81713
record_format dspace
spelling my.iium.irep.817132020-12-22T07:50:00Z http://irep.iium.edu.my/81713/ SOPHIBIAN: an amphi-underwater robot Toha, Siti Fauziah T Technology (General) Multiple highly manoeuvrable robots have become the focus of heated discussion lately, especially in applications involving disaster rescue, military missions and underwater or extra-terrestrial explorations. The surroundings concerned are harsh and hazardous terrains, and predictably the malfunction rate is high. Thus a highly robust autonomous robot that could manoeuvre not only on all terrain but also underwater is of prime importance. One of the most crucial aspects of the legged robot is to optimize the executing patterns of leg-joint angles which is known as gaits. Synthesizing gaits by manual tuning control is a complex and time-consuming task which becomes even more challenging when the vehicles operates underwater. However, the mechanism presented in the literature are focusing on individual mechanism either on-land or underwater gait configuration. In fact, both mechanisms are tackled separately whereas, in a typical application such as surveillance and disaster management, both mechanisms can be integrated and executed appropriately to fulfill bigger objectives in a better optimized relocate position, as well as in faster completion time. When operating on both land and underwater, any motion of the limbs could apply forces to the robot. Efficient gait identification must therefore be modelled to mitigate these unwanted forces while meeting the desired gait properties. This research proposed automatic gait synthesis system for a hybrid amphi-underwater robot. The system utilizes an exponential momentum ant colony optimization which provides randomization and attractive parameter adaptation during the iteration process. The resulting will improve significantly not only maneuvering time but also optimizing total energy usage during operating cycle. 2020-08-25 Copyright NonPeerReviewed application/pdf en http://irep.iium.edu.my/81713/1/81713_SOPHIBIAN%20an%20amphi-underwater%20robot_WORK.pdf application/pdf en http://irep.iium.edu.my/81713/12/81713%20SOPHIBIAN%20CR1.pdf Toha, Siti Fauziah (2020) SOPHIBIAN: an amphi-underwater robot. [Copyright] (Unpublished)
institution Universiti Islam Antarabangsa Malaysia
building IIUM Library
collection Institutional Repository
continent Asia
country Malaysia
content_provider International Islamic University Malaysia
content_source IIUM Repository (IREP)
url_provider http://irep.iium.edu.my/
language English
English
topic T Technology (General)
spellingShingle T Technology (General)
Toha, Siti Fauziah
SOPHIBIAN: an amphi-underwater robot
description Multiple highly manoeuvrable robots have become the focus of heated discussion lately, especially in applications involving disaster rescue, military missions and underwater or extra-terrestrial explorations. The surroundings concerned are harsh and hazardous terrains, and predictably the malfunction rate is high. Thus a highly robust autonomous robot that could manoeuvre not only on all terrain but also underwater is of prime importance. One of the most crucial aspects of the legged robot is to optimize the executing patterns of leg-joint angles which is known as gaits. Synthesizing gaits by manual tuning control is a complex and time-consuming task which becomes even more challenging when the vehicles operates underwater. However, the mechanism presented in the literature are focusing on individual mechanism either on-land or underwater gait configuration. In fact, both mechanisms are tackled separately whereas, in a typical application such as surveillance and disaster management, both mechanisms can be integrated and executed appropriately to fulfill bigger objectives in a better optimized relocate position, as well as in faster completion time. When operating on both land and underwater, any motion of the limbs could apply forces to the robot. Efficient gait identification must therefore be modelled to mitigate these unwanted forces while meeting the desired gait properties. This research proposed automatic gait synthesis system for a hybrid amphi-underwater robot. The system utilizes an exponential momentum ant colony optimization which provides randomization and attractive parameter adaptation during the iteration process. The resulting will improve significantly not only maneuvering time but also optimizing total energy usage during operating cycle.
format Copyright
author Toha, Siti Fauziah
author_facet Toha, Siti Fauziah
author_sort Toha, Siti Fauziah
title SOPHIBIAN: an amphi-underwater robot
title_short SOPHIBIAN: an amphi-underwater robot
title_full SOPHIBIAN: an amphi-underwater robot
title_fullStr SOPHIBIAN: an amphi-underwater robot
title_full_unstemmed SOPHIBIAN: an amphi-underwater robot
title_sort sophibian: an amphi-underwater robot
publishDate 2020
url http://irep.iium.edu.my/81713/1/81713_SOPHIBIAN%20an%20amphi-underwater%20robot_WORK.pdf
http://irep.iium.edu.my/81713/12/81713%20SOPHIBIAN%20CR1.pdf
http://irep.iium.edu.my/81713/
_version_ 1687393080134598656
score 13.211869

Similar Items