报告内容摘要

Autonomous robots are playing an increasingly important role in surveying and monitoring underwater environments.  In this talk I will present a new type of underwater robots, termed gliding robotic fish, which adopts the salient features of both underwater gliders and robotic fish. Like underwater gliders, it is capable of energy-efficient gliding; on the other hand, it can swim and maneuver with an actively controlled tail fin. In particular, I will focus on how the tail is used in concert with the gliding mechanism to realize novel, energy-efficient spiral motion in the three-dimensional space, a useful application of which is the sampling of water columns. Modeling and feedback control of the spiral motion will be presented, along with experimental results from sampling harmful algae distribution in Wintergreen Lake, Michigan. Finally, I will briefly discuss two ongoing multi-investigator projects that use schools of gliding robotic fish to monitor and understand harmful algal blooms, and to track the movement of acoustically tagged live fish in the Great Lakes, respectively.

报告人简介

Department of Electrical and Computer Engineering

Michigan State University, East Lansing, MI 48824 USA

Dr. Xiaobo Tan is an Associate Professor in the Department of Electrical and Computer Engineering and Department of Mechanical Engineering (by courtesy) at Michigan State University (MSU). He received his bachelor’s and master’s degrees in automatic control from Tsinghua University, China, in 1995 and 1998, respectively, and his Ph.D. degree in electrical and computer engineering from the University of Maryland, College Park, in 2002. His research interests include bio-inspired underwater robots and their application to environmental sensing, electroactive polymer sensors and actuators, and modeling and control of systems with hysteresis.  Dr. Tan directs an NSF Research Experiences for Teachers (RET) Site on Robotics Engineering at MSU. He serves on the editorial boards of Automatica, IEEE/ASME Transactions on Mechatronics, and International Journal of Advanced Robotic Systems. He served as the Program Chair of the 2011 International Conference on Advanced Robotics, and is currently serving as the Finance Chair of the 2015 American Control Conference.  Dr. Tan has (co)authored one book (Biomimetic Robotic Artificial Muscles) and over 60 journal papers, and holds one US patent with two more pending. He is a recipient of the NSF CAREER Award (2006), MSU Teacher-Scholar Award (2010), and several Best Paper Awards.

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