Improvement and Evaluation for the Stability of Mobile Spherical Underwater Robots (SUR III)

An, Ruochen; Guo, Shuxiang; Gu, Shenyan; Zheng, Liang

doi:10.1109/icma.2019.8816247

Cited by 6 publications

(2 citation statements)

References 28 publications

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“…Autonomous underwater vehicles (AUVs) and their actuation technologies have advanced significantly, leading to their applications in underwater research (Marcin et al, 2020), detection (Iscar et al, 2018), search and rescue operations (Venkatesan, 2016), and underwater acoustic communication (Brik, 2011). Existing AUVs typically rely on motor actuation to achieve underwater navigation, such as propeller propulsion (An et al, 2019), jet propulsion (Xin et al, 2013), hydraulic propulsion (Zhou et al, 2013), and vector propulsion (Nagashima et al, 2006). Although simple locomotion tasks have been achieved by applying the motor actuation, further improvements are needed to complete the multiphase jumping that requires transiently high payload output.…”

Section: Introductionmentioning

confidence: 99%

Leaping fishbot by combustion and propulsion hybrid actuation

He,

Lin,

Yang

et al. 2023

Journal of Field Robotics

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Autonomous underwater vehicles have been extensively developed in the past decades and deployed for various ocean research activities. While the leaping‐out motions of underwater creatures have motivated the development of underwater robots with the motion ability to jump out of water, the dynamics of such jumping robots have not been fully described. In this study, we developed a leaping fishbot, a flying fish‐inspired underwater soft robot that can leap out of the water and further sail on the surface using the combustion and propulsion hybrid actuation. Specifically, the fishbot uses the transient driving method, in which a premixed oxygen–propane gas generates an instant pushing impulse to launch the robot out of the water at a transiently high speed while the attached jetting propellers provide a sustained thrust as it swims on the water surface at a stable velocity. A series of flume experiments and solid–fluid hybrid computational fluid dynamics numerical simulations were conducted to study the kinematic performance of the robot. Experimental results established a quantitative relationship between the kinematic performance, gas amount, and launch angle. The numerical results accurately predicted the water–air multiphase jumping motions, the numerical result of kinematic was significantly agreeing with the experimental results, the error in the horizontal direction is less than 15%, and that in the vertical direction is less than 10%. We further analyzed the flow field generated by the leaping fishbot to gain a better understanding of the velocity and vortex distribution around it. Our research findings provide valuable insights into bionic application of underwater robots in the future.

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Section: Introductionmentioning

confidence: 99%

Leaping fishbot by combustion and propulsion hybrid actuation

He,

Lin,

Yang

et al. 2023

Journal of Field Robotics

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“…Since these robots can protect the equipment inside the sphere, they also provide an advantage for underwater applications. However, the same driving principle or differently can be used when traveling underwater such as water-jet propulsion or propeller [7][8][9]. The steering hydrodynamic force can be reduced as the robot is in a spherical shape which increases the moving flexibility [10].…”

Section: Introductionmentioning

confidence: 99%

Spherical Amphibian Robot Design with Novel Driving Principle

Bahar

Abdullah

Aras

et al. 2021

Lecture Notes in Electrical Engineering

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The advantage of spherical robots is utilized in the development of amphibian robots. It leverages the spherical advantage in terms of mobility and concealment to operate underwater. The main issue when developing the robot is that the robot is not conceal properly. Mainly when travel underwater. Robot that applied propeller as the actuator capable to conceal the equipment but different actuator needed for terrestrial locomotion. Therefore, a suitable combination of both terrestrial and underwater actuators that capable to perform multiple motion axis with minimal energy consumption is crucially needed. The objective of this paper is to represent a novel amphibian spherical robot design with its driving principle in terrestrial and underwater motion. The proposed spherical robot consists of 4 motor and 1 water pump. Terrestrial motion applied servo motor to roll the sphere in surge while yawing motion was control by a pendulum that rotates around the x-axis controlled by another servo motor. When travel underwater, surge motion was achieved by using the propeller and ballast will maintain the depth. To change the thrust direction, servo motor will rotate the sphere body to a certain degree which makes it possible to perform heave and surge motion at the same time. Diving and floating motion utilized the variable ballast and the propeller to optimize the robot energy usage and performance. The flow test shows that the resistance is higher when the size is bigger. The hydrodynamic forces act to the robot is the same in all directions. Therefore, the proposed robot should experience the same magnitude of noise in all directions when traveling underwater.

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Task Planning and Collaboration of Jellyfish-inspired Multiple Spherical Underwater Robots

Guo

et al. 2022

J Bionic Eng

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Improvement and Evaluation for the Stability of Mobile Spherical Underwater Robots (SUR III)

Cited by 6 publications

References 28 publications

Leaping fishbot by combustion and propulsion hybrid actuation

Leaping fishbot by combustion and propulsion hybrid actuation

Spherical Amphibian Robot Design with Novel Driving Principle

Task Planning and Collaboration of Jellyfish-inspired Multiple Spherical Underwater Robots

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