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When the foils of the robot fish at MIT were adjusted and reconfigured to generate a Strouhal number in this range, its efficiency jumped higher than 86 percent. This is a major improvement compared to propellers that generate efficiencies around 40 percent.

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Instead of setting and using variables, you could sprinkle the actual numbers through the program. There are bene ts to using variables instead of numbers. First, it makes the program read better. Set Power AC 4.0 isn t quite as clear as Set Power AC PowerHigh. More importantly, variables make the program easier to modify. What if you want to have high power be 8 instead of 5 Change the variable at the

There are two basic underwater robot projects outlined in this chapter. One involves modifying a toy submarine, the other building a robotic fish from scratch.

Downloaded from Digital Engineering Library @ McGraw-Hill (www.digitalengineeringlibrary.com) Copyright 2004 The McGraw-Hill Companies. All rights reserved. Any use is subject to the Terms of Use as given at the website.

Fig. 13-5.

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There are a number of companies that make and sell hobby model submarines. Depending upon the degree of sophistication of the model, it usually is radio controlled (R/C) and is capable of submerging and surfacing (see Fig. 13.2). In modifying a toy submarine, forget about R/C and jump to wire control and using an umbilical cord to the submarine. The umbilical cord can carry power as well as command and control signals. These hobby submarines can be modified to create small telepresence systems. The primary modification is the addition of a color video camera. Most of these hobby submarines have open compartments where electronics gear can be stored (see Fig. 13.3). Many of the systems used in the telerobotic car built in Chap. 9 can be implemented here. The one difference is the use of wire control instead of R/C. Because these are toy subs, you will probably not let them loose in open water. The tiny propulsion motors in these submarines

BumperCar program 1 (part 1).

6

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need calm water to function. Of course, these could be a starting point for more robust systems. Are there any applications of these toy submarines beyond the experience gained from building and using basic underwater telepresence systems I could imagine 10 or more toy telepresence submarines released in a swimming pool, each submarine being remotely controlled by one person. I m sure a number of underwater or space scenarios could be created for game play.

top of the program. Without the variable, you would have to nd each instance of the power value 5 and change them all. Note the dotted lines around the rst four program blocks. These blocks are all part of a single conceptual action, initialize variables. We could collect these into a subroutine called Initialize and make the owchart smaller without losing much of its meaning.

As stated earlier, most mechanisms that mimic fishlike movement are grossly inefficient. This model is no exception. However, information gleaned from resources like MIT can be incorporated into the model (not done here) to improve overall efficiency. And if one plans on building like-animal androids, this is as good a place to start as any. Rotary solenoid The robotic fish pivots on the use of a rotary solenoid (see Fig. 13.4). When activated, the solenoid rotates its top plate about 30 degrees. A spring returns the plate to its original position when deactivated. The solenoid s top plate has at least two 3/48 threaded holes that may be used for mounting objects to it. The bottom of the solenoid

Fig. 13-6.

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