{'fraction_non_alphanumeric': 0.02252816020025031, 'fraction_numerical': 0.0, 'mean_word_length': 5.25, 'pattern_counts': {'":': 0, '<': 0, '<?xml version=': 0, '>': 0, 'https://': 0, 'lorem ipsum': 0, 'www.': 0, 'xml': 0}, 'pii_count': 0, 'substrings_counts': 0, 'word_list_counts': {'cursed_substrings.json': 0, 'profanity_word_list.json': 0, 'sexual_word_list.json': 0, 'zh_pornsignals.json': 0}}
Course and Depth Control for a Biomimetic Underwater Vehicle - RobCutt-I

This paper presents the design and fabrication of a new type of Biomimetic Underwater Vehicle (BUV) inspired by cuttlefish: the RobCutt-I. The Rob Cutt-I has good maneuverability and can perform multiple motion modes, especially submerging or surfacing vertically in the water. A course controller and a depth controller for the RobCutt-I were proposed based on the Active Disturbance Rejection Control (ADRC) technique. Experiments conducted on the RobCutt-I prototype validated the feasibility and effectiveness of the mechanism and control system. Simulations and experiments conducted on the Rob Cutt-I prototype showed that both the course controller and depth controller give better performance than the PID controller.