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Underwater robots are developed for variety needs such as transportation, exploration and mapping. Fish as underwater organism has developed and adapt to it’s surrounding such that it develop the best way to swim. This research is conducted as preparation to find the best possible tail shape desi...
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| Format: | Final Project |
| Language: | Indonesia |
| Online Access: | https://digilib.itb.ac.id/gdl/view/22408 |
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| Institution: | Institut Teknologi Bandung |
| Language: | Indonesia |
| Summary: | Underwater robots are developed for variety needs such as transportation, exploration and mapping. Fish as underwater organism has developed and adapt to it’s surrounding such that it develop the best way to swim. This research is conducted as preparation to find the best possible tail shape design with varying degree of different parameter. <br />
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The goal of this research is to design the data acquisition system from robotic fish tail. Physical paramater that is going to be measured is the velocity of flow from the water tunnel, frequency of movement from the fish tail and the force acting on the fish. Robotic fish tail frequency is recorded using rotary encoder, while the flow velocity is recorded with pitot tube that is connected to flow sensor. The force acting on robotic fish is recorded using load cell. <br />
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The flow velocity is calibrated by with the water tunnel motor frequency. The result can be state as an equation: flow velocity (m/s) = 0.15*motor frequecy(Hz) + 0.0975 (Hysterisis is 4.03%). Characteristics of DC motor can be drawn with 𝜔 = −18.063𝑇 + 6309.3. <br />
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The test results obtained that the load cell is capable of reading x-axis force, y-axis force and torque. On the measurement of force x there is a hysteresis about 1.34%, the measurement of force y by 1.17%, and a torque measurement by 3.17%. |
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