Collaboration and Task Planning of Turtle-Inspired Multiple Amphibious Spherical Robots

Enhancing Underwater Images of a Bionic Horseshoe Crab Robot Using an Artificial Lateral Inhibition Network

This paper proposes an underwater image enhancement technology based on an artificial lateral inhibition network (ALIN) generated in the compound eye of a bionic horseshoe crab robot (BHCR). The concept of a horizontal suppression network is applied to underwater image processing with the aim of achieving low energy consumption, high efficiency processing, and adaptability to limited computing resources. The lateral inhibition network has the effect of "enhancing the center and suppressing the surroundings". In this paper, a pattern recognition algorithm is used to compare and analyze the images obtained by an artificial lateral inhibition network and eight main underwater enhancement algorithms (white balance, histogram equalization, multi-scale Retinex, and dark channel). Therefore, we can evaluate the application of the artificial lateral inhibition network in underwater image enhancement and the deficiency of the algorithm. The experimental results show that the ALIN plays an obvious role in enhancing the important information in underwater image processing technology. Compared with other algorithms, this algorithm can effectively improve the contrast between the highlight area and the shadow area in underwater image processing, solve the problem that the information of the characteristic points of the collected image is not prominent, and achieve the unique effect of suppressing the intensity of other pixel points without information. Finally, we conduct target recognition verification experiments to assess the ALIN's performance in identifying targets underwater with the BHCR in static water environments. The experiments confirm that the BHCR can maneuver underwater using multiple degrees of freedom (MDOF) and successfully acquire underwater targets.

Multicooperation of Turtle-inspired amphibious spherical robots

It is challenging to achieve high-speed and accurate multicooperation of turtle-inspired amphibious spherical robots (ASRs) in turbid water and confined spaces when the robots are underwater movement with multiple degrees of freedom (MDOF). This paper innovatively proposes a control strategy for modelling and experimental platforms that can communicate and cooperate between multiple robots. First, a novel underwater kinematic model using the unit quaternion (UQ) algorithm is proposed based on attitude interpolation to realize MDOF movement. Then, the ASRs use a camera acquisition compartment to realize underwater target recognition and tracking by adjusting their motion trajectory. Finally, multirobot cooperation and three-dimensional (3-D) movement experiments using ASRs verifies the effectiveness of the proposed cooperation mode and 3-D underwater movement according to the control strategy implemented. The control strategy and experimental results presented in this paper can inspire the efficient communication and cooperation of multiple bionic robots, which are currently popular research topics.

Bio-inspired designs: leveraging biological brilliance in mechanical engineering-an overview

Nature's evolutionary mastery has perfected design over the years, yielding organisms superbly adapted to their surroundings. This research delves into the promising domain of bio-inspired designs, poised to revolutionize mechanical engineering. Leveraging insights drawn from prior conversations, we categorize innovations influenced by life on land, in water, and through the air, emphasizing their pivotal contributions to mechanical properties. Our comprehensive review reveals a wealth of bio-inspired designs that have already made substantial inroads in mechanical engineering. From avian-inspired lightweight yet robust materials to hydrodynamically optimized forms borrowed from marine creatures, these innovations hold immense potential for enhancing mechanical systems. In conclusion, this study underscores the transformative potential of bio-inspired designs, offering improved mechanical characteristics and the promise of sustainability and efficiency across a broad spectrum of applications. This research envisions a future where bio-inspired designs shape the mechanical landscape, fostering a more harmonious coexistence between human technology and the natural world.

Dynamic Analysis and Path Planning of a Turtle-Inspired Amphibious Spherical Robot

A dynamic path-planning algorithm based on a general constrained optimization problem (GCOP) model and a sequential quadratic programming (SQP) method with sensor input is proposed in this paper. In an unknown underwater space, the turtle-inspired amphibious spherical robot (ASR) can realise the path-planning control movement and achieve collision avoidance. Due to the special underwater environments, thrusters and diamond parallel legs (DPLs) are installed in the lower hemisphere to realise accurate motion control. A propulsion model for a novel water-jet thruster based on experimental analysis and a modified Denavit-Hartenberg (MDH) algorithm are developed for multiple degrees of freedom (MDOF) to realize high-precision and high-speed motion control. Simulations and experiments verify that the effectiveness of the GCOP and SQP algorithms can realize reasonable path planning and make it possible to improve the flexibility of underwater movement with a small estimation error.