Bionics Group - ربات عروس دریایی شناگر
Bionics Group

این وبلاگ وابسته به یك گروه علمی می باشد كه بر روی رفتار های حیوانات و استفاده از آن در علم رباتیك كار می كند.

مدیر وبلاگ : پیمان بخشنده نژاد

ربات عروس دریایی شناگر

یکشنبه 29 فروردین 1389  ساعت: 02:58 ب.ظ

نوع مطلب :فاز دوم ،


با عرض پوزش از دوستان عزیز که این مطلب به صورت زبان اصلی قرار داده شده است.تا چند روز آینده ترجمه این مطلب را نیز می گذارم .

Bionic jellyfish demonstrate swarming behaviour

Eight FinRay Effect® tentacles provide incredibly lifelike movement through water

Behavioural characteristics may prove key to automation of the future

Esslingen, Germany, June 4, 2008 --- Festo, in conjunction with the specialist display technology company, Effekt-Technik GmbH, has developed a bionic jellyfish - known as AquaJelly - to demonstrate swarming behaviour. Each AquaJelly is able to sense various aspects of its environment and to function completely autonomously, but is also endowed with communicative faculties that enable it to cooperate with other members of the group, and thereby behave as a system with a higher order of development.

Festo has created the AquaJelly as part of its ongoing research programme into advanced automation. The company believes that by extending the principles of swarming behaviour to automation, many small autonomous or partly autonomous intelligent systems could work together to solve large-scale problems through strategic cooperation. The AquaJelly also provide a visually arresting demonstration of state-of-the-art animatronic technology.

Jellyfish are fascinating creatures that consist of approximately 99 percent water. Over the course of millions of years, they have efficiently adapted to the most varied of environments in both salt and fresh water. The construction of an artificial jellyfish can at best only be seen as an attempt to gain further insights into these fascinating marine creatures and to learn from them.

AquaJelly is an artificial autonomous jellyfish with an electric drive unit and an intelligent adaptive mechanism that emulates swarming behaviour. It consists of a translucent hemisphere, a central watertight body and eight tentacles for propulsion. The AquaJelly's translucent hemispherical dome houses an annular control board with integrated, pressure, tight and radio sensors. The orientation of the propulsion system is constantly monitored by a processor. The control board also contains 8 white and 8 blue LEDs, which together with the sensors allow communication between several AquaJellies.

On the outside, AquaJelly has two concentric silver rings coated with conductive metal paint; connected to these is a charging control unit that supplies the jellyfish with energy. When AquaJelly approaches a charging station located above the water surface, it is drawn towards it and supplied with electricity. The charging station itself consists of a Festo vacuum generator with integrated contact points for transferral of the energy for charging. The AquaJelly communicate with the charging station to ensure that each jellyfish is supplied with sufficient energy.

The central component of AquaJelly is a watertight laser-sintered body that houses a central electric motor, the two lithium-ion polymer accumulator batteries, the charging control unit and the actuators for the swash plate. A full recharging procedure takes around three hours. Via two cranks, the electric motor powers drive plates attached to the top and the underside of the watertight body; the cranks are configured at a 60-degree angle. Connected to the drive plates are eight rhombic joints which set the tentacles in wavelike motion. The tentacles are designed as structures based on the FinRay Effect® - a construction derived from the functional anatomy of a fish's fin. The actual structure consists of two alternating tension and pressure flanks connected by ribs. lf a flank is put under tension, the geometrical structure automatically bends in the direction of the applied force. The delayed activation of the eight tentacles via the rhombic joints gives rise to a regular wavelike motion, which generates propulsion. The tentacles together produce a peristaltic forward motion similar to that of their biological model. Festo are exploring using this principle for automation tasks including a very fast and efficient divert system and a novel gripper finger.

Controlling AquaJelly's motion in three-dimensional space is effected by weight displacement. For this purpose, two actuators integrated into the central watertight body control a swash plate, which in turn operates a four-armed pendulum that can be moved in four spatial directions. When the pendulum moves in a particular direction, AquaJelly's centre of mass is displaced accordingly - the jellyfish then moves in the direction of the pendulum's displacement. By means of this peristaltic motion, AquaJelly can move in any spatial direction.

The jellyfish's sensor system comprises three components that use different media. A pressure sensor makes it possible to determine AquaJelly's depth in the tank to within a few millimetres. AquaJelly is thus aware of its precise position at all times and can position itself within a specific pressure zone. It also relies on the pressure sensor for recharging, since this is the only way it can strategically swim to the surface. For communication at the water's surface AquaJelly uses the energy-saving ZigBee® short-range radio system, which enables it to exchange data with the charging station and to signal to other AquaJellies at the surface that the station is occupied. The radio waves penetrate to a physically determined minimal depth, and AquaJelly must decide within a narrowly defined range which charging station it will approach.

Nevertheless, the principal communication medium under water is light. AquaJelly is fitted with eleven infrared light-emitting diodes (LEDs) located on a ring inside its dome. These LEDs have a 20 degree aperture angle and use pulsed infrared signals. AquaJelly can communicate within an almost spherical surrounding space to a distance of about 80 cm. When it receives a positional signal from another approaching jellyfish, for example, AquaJelly can thus take evasive action in good time. In addition to the sensors that monitor its surroundings, AquaJelly is also fitted with an internal sensor system that monitors its energy condition and a solenoid switch that enables it to register the orientation of the propulsion system.

Each jellyfish decides autonomously on the basis of the prevailing conditions - which for example can depend on the charge condition, the propulsion system's orientation or the proximity of another AquaJelly - what action is to be taken. Although the overall behaviour of a swarm of AquaJellies is emergent, i.e. arises without predetermined control, it results solely from a suitable choice of simple rules of behaviour for individual AquaJellies and represents a collective behaviour pattern that maximises the number of living jellyfish.

AquaJelly exists within a spatially bound scenario with only a limited number of charging stations. In order to survive, the various AquaJellies must thus strive for an ideal, evenly distributed utilisation of these stations, in order to maximise the number of living jellyfish in the swarm. To secure the existence of the swarm in the water tank it is crucial to make maximum use of the space available, i.e. to avoid collision with other jellyfish and to utilise the charging stations in a well-coordinated manner.

See the AquaJellies in action at

Technical data

* 1 x microprocessor - communication by light - ATmega158, 8 MHz pulse, RAM 1 kbyte, flash memory 16 kbyte, 512 EEPROM
* 1 x microprocessor - motor control - ATmega168, 8 MHz pulse, RAM 1 kbyte, flash memory 16 kbyte, 512 EEPROM
* 1 x microprocessor - radio communication - ZigBit module from Meshnetics (ATmega 1281V RAM 8 kbyte, flash memory 128 kbyte, EEPROM 4 kbyte + transceiver AT86RF230RF)
* The electronic system operates at 3.6 V; the microprocessors communicate via an l2C bus.
* 1 x pressure + temperature sensor. Manufacturer: VTl, type: SCP 1000, Precision: < 1 mm water depth
* 11 x infrared transmission LEDs, total transmission power approx. 2 mW
* 11 x infrared receiver units (PCM)
* 1 x efficient, automatic accumulator battery monitor with integrated safety cut-off with Hot Swap® controller - LiPo protector - manufacturer: MAXIM, type: DS 2764; charge regulation - manufacturer: Texas Instruments, type: BQ 24100; Hot Swap® controller - manufacturer: Linear Technology, type: LfC421.L
* 1 x individually designed control board (round)
* 1 x H-bridge power stage for main motor. Manufacturer: STMicroelectronics, type: 1298, load capacity up to 3 A
* 2 x actuators for directional steering, controlled directly by microprocessors
* Digital 3-axis acceleration sensor for 3D inclination control. Manufacturer: ST Microelectronics, type: LlS302DL
* Accumulator batteries: lithium polymer, 4.2 V; capacity 4,000 mA
* Motor: coreless motor, 3 V
* Transmission: upstream epicyclic gear set, ratio 1:

نوشته شده توسط:بهزاد ذویوسفین

ویرایش:دوشنبه 30 فروردین 138909:12 ق.ظ

where to buy cialis online
جمعه 16 آذر 1397 01:00 ق.ظ

Regards. Excellent stuff.
order cialis from india cialis pills boards how does cialis work cialis online cialis 20 mg effectiveness tadalafil prix cialis once a da canadian drugs generic cialis link for you cialis price generic low dose cialis
buy cialis online no prescription
پنجشنبه 15 آذر 1397 05:32 ق.ظ

Whoa a lot of very good material!
cialis baratos compran uk where do you buy cialis rezeptfrei cialis apotheke are there generic cialis tadalafil 20 mg cialis kaufen bankberweisung how does cialis work cialis 20 mg effectiveness buy cialis online legal cialis prezzo di mercato
Cialis generic
چهارشنبه 14 آذر 1397 11:28 ق.ظ

Terrific info. Thank you!
pastillas cialis y alcoho cialis farmacias guadalajara we recommend cialis best buy generic cialis at the pharmacy cialis in sconto generic for cialis cialis professional yohimbe buy cialis sample pack cialis generico in farmacia cialis 5 mg buy
buy cialis with no prescription
چهارشنبه 14 آذر 1397 12:02 ق.ظ

Effectively spoken of course. !
cialis 20 mg best price cialis bula cialis generico milano cialis australian price cialis generico en mexico we recommend cheapest cialis cialis 200 dollar savings card cialis without a doctor's prescription only best offers cialis use cialis great britain
buy cialis online us pharmacy
سه شنبه 13 آذر 1397 01:03 ب.ظ

Terrific info. Appreciate it!
look here cialis order on line cialis e hiv generic cialis review uk purchase once a day cialis cialis pills price each cialis free trial cialis 20 mg cut in half cialis generico cialis 20mg generic cialis pro
Generic cialis
سه شنبه 13 آذر 1397 01:34 ق.ظ

Appreciate it, Quite a lot of info.

female cialis no prescription cialis 20 mg cialis et insomni compare prices cialis uk viagra or cialis cialis generico en mexico cialis ahumada cialis 200 dollar savings card cialis diario compra cialis mit grapefruitsaft
buy cialis cheap
دوشنبه 12 آذر 1397 12:32 ب.ظ

Thank you. Lots of stuff!

when can i take another cialis tadalafil 20 mg cialis dosage acquistare cialis internet cialis sans ordonnance 200 cialis coupon cialis uk acheter cialis kamagra cialis 30 day trial coupon pastillas cialis y alcoho
Cialis pills
دوشنبه 12 آذر 1397 01:14 ق.ظ

Cheers, A good amount of write ups.

chinese cialis 50 mg cialis professional from usa tadalafil 20 mg opinioni cialis generico cialis prices enter site very cheap cialis cialis for daily use click here take cialis cialis 100mg suppliers generic cialis soft gels
Cialis 20 mg
یکشنبه 11 آذر 1397 12:07 ب.ظ

Wonderful facts. With thanks!
cialis for bph cialis uk next day enter site natural cialis cialis 5mg prix buy cialis cheap 10 mg we recommend cialis info tadalafil 20mg online prescriptions cialis estudios de cialis genricos cialis venta a domicilio
buy cialis
یکشنبه 11 آذر 1397 01:06 ق.ظ

Tips certainly taken.!
cialis daily cialis 200 dollar savings card how do cialis pills work dosagem ideal cialis the best site cialis tablets import cialis cialis for sale generic cialis levitra cialis dosage recommendations cialis 05
Buy cialis
شنبه 10 آذر 1397 11:55 ق.ظ

Nicely put. Many thanks!
cialis 100mg suppliers tadalafil when will generic cialis be available cialis online holland cialis soft tabs for sale cialis daily online prescriptions cialis effetti del cialis cialis pills price each generic low dose cialis
Buy cialis
شنبه 10 آذر 1397 12:38 ق.ظ

Valuable postings. With thanks!
cialis generico postepay we like it cialis price cialis for bph cialis en mexico precio cialis price in bangalore acquisto online cialis we choice cialis pfizer india buy cialis online i recommend cialis generico wow cialis 20
buy cialis us pharmacy
جمعه 9 آذر 1397 01:09 ب.ظ

Awesome information, Kudos!
cost of cialis per pill cipla cialis online acquistare cialis internet we use it 50 mg cialis dose buy cialis online nz cipla cialis online online prescriptions cialis acheter cialis kamagra cialis 20 mg cialis 30 day trial coupon
buy cialis
جمعه 9 آذر 1397 01:32 ق.ظ

Nicely put, Regards.
click here cialis daily uk cialis side effects dangers enter site natural cialis cialis farmacias guadalajara cialis venta a domicilio brand cialis nl buy cheap cialis in uk order generic cialis online cialis online deutschland cialis 20 mg
buy cialis germany
پنجشنبه 8 آذر 1397 02:11 ب.ظ

Good data. Thanks!
how do cialis pills work miglior cialis generico cialis 5 mg buy viagra vs cialis vs levitra cialis 5 mg cialis kaufen bankberweisung enter site 20 mg cialis cost cialis para que sirve cialis canadian drugs cialis generico postepay
buy cialis us pharmacy
پنجشنبه 8 آذر 1397 01:54 ق.ظ

Kudos. I appreciate this!
cialis online nederland miglior cialis generico cialis generico online cialis 10mg prix pharmaci what is cialis cialis official site viagra vs cialis vs levitra only now cialis for sale in us click here take cialis compare prices cialis uk
buy cialis germany
چهارشنبه 7 آذر 1397 01:27 ب.ظ

You said it perfectly..
cialis diario compra cialis online india cialis 100mg cost low dose cialis blood pressure cialis online cialis sans ordonnance we choice free trial of cialis precios de cialis generico cialis generico postepay ou acheter du cialis pas cher
Cialis prices
چهارشنبه 7 آذر 1397 01:29 ق.ظ

You actually suggested that exceptionally well.
no prescription cialis cheap precios cialis peru cialis y deporte cialis uk next day cialis 100 mg 30 tablet cialis bula dosagem ideal cialis we like it cialis price rezeptfrei cialis apotheke generic cialis
buy levitra
پنجشنبه 19 مهر 1397 06:04 ق.ظ

Beneficial facts. Thanks a lot.
levitra 10 mg kopen levitra online levitra generic levitra buy levitra generic buy levitra online levitra 10 mg kopen levitra online buy levitra online levitra
buy cheap cialis coupon
سه شنبه 10 مهر 1397 04:24 ق.ظ

Nicely put. Regards!
cialis arginine interactio miglior cialis generico cialis arginine interactio cialis generic availability cuanto cuesta cialis yaho american pharmacy cialis effetti del cialis cialis great britain cialis generico non 5 mg cialis generici
canadian pharmacies online prescriptions
شنبه 31 شهریور 1397 04:36 ب.ظ

Regards. Plenty of stuff.

canadian prescription drugstore canadian online pharmacies legitimate online drug store canadian pharmacy viagra online canadian pharmacy online canadian discount pharmacies most reliable canadian pharmacies aarp recommended canadian online pharmacies canadian pharmacy king drugstore online reviews
چهارشنبه 28 شهریور 1397 05:14 ب.ظ

Superb tips. Thanks a lot!
i recommend cialis generico import cialis 5 mg cialis coupon printable miglior cialis generico rezeptfrei cialis apotheke cialis 05 cost of cialis cvs walgreens price for cialis cialis 5 mg schweiz cialis y deporte
پنجشنبه 15 شهریور 1397 02:12 ق.ظ

Wow tons of valuable advice.
cialis efficacit click here take cialis cialis 20mg preis cf click here take cialis cialis side effects dangers cialis online nederland enter site 20 mg cialis cost cialis prezzo di mercato cialis for sale prices for cialis 50mg
سه شنبه 13 شهریور 1397 06:08 ب.ظ

Amazing knowledge. Many thanks.
drugs for sale in mexico canadian pharmacy viagra canadian pharmacy uk delivery online pharmacies legitimate most reliable canadian online pharmacies pharmacy near me global pharmacy canada north west pharmacies canada canada vagra drugs for sale
can i buy viagra at cvs
سه شنبه 13 شهریور 1397 02:42 ق.ظ

Many thanks! I like this.
viagra pharmacy viagra cheap viagra buy viagra online with prescription how can i buy viagra online buy viagra online safely safest place to buy viagra online buy viagra online ireland where buy viagra buy viagra online paypal how to buy viagra online safely buy viagra europe
دوشنبه 12 شهریور 1397 12:33 ق.ظ

Incredible a good deal of terrific tips!
precios de cialis generico cialis 20 mg buy original cialis cialis sicuro in linea cialis sale online cialis wir preise cialis generico in farmacia venta de cialis canada 5 mg cialis pharmacie en ligne cialis for bph
یکشنبه 11 شهریور 1397 11:32 ق.ظ

Wow a lot of valuable advice!
cialis 30 day trial coupon generic cialis tadalafil buy cialis online cheapest click here to buy cialis prezzo cialis a buon mercato cialis kaufen prezzo cialis a buon mercato cialis 10mg prix pharmaci tadalafil generic cialis taglich
سه شنبه 23 مرداد 1397 02:11 ق.ظ

Many thanks! I enjoy this!
order viagra without rx online buy viagra mastercard viagra price buy viagra prescription viagra cheap online uk buy viagra without prescription uk buy sildenafil tablets online price on viagra order viagra online with prescription buying viagra online forum
is there generic cialis
یکشنبه 21 مرداد 1397 10:42 ب.ظ

With thanks! Good stuff.
cialis et insomni no prescription cialis cheap order cialis from india cialis side effects cialis herbs cialis super kamagra cialis savings card cialis for sale in europa wow cialis tadalafil 100mg cialis official site
Generic cialis
پنجشنبه 20 اردیبهشت 1397 03:01 ق.ظ

Kudos! Lots of stuff.

cialis kaufen wo cialis tablets click here to buy cialis non 5 mg cialis generici cialis generico milano india cialis 100mg cost cialis dosage amounts buy cialis wow cialis 20 cialis for sale in europa
نمایش نظرات 1 تا 30

آرشیو موضوعی


آخرین پستها



  • آیا انسان می تواند از خلقت های خدا الگو برداری كند و مانند آن را بسازد؟

آمار وبلاگ

  • کل بازدید :
  • بازدید امروز :
  • بازدید دیروز :
  • بازدید این ماه :
  • بازدید ماه قبل :
  • تعداد نویسندگان :
  • تعداد کل پست ها :
  • آخرین بازدید :
  • آخرین بروز رسانی :

اَبر برچسبها