Nezha-Mini: Design and Locomotion of a Miniature Low-Cost Hybrid Aerial Underwater Vehicle

Bi, Yuanbo; Jin, Yufei; Lyu, Chenxin; Zeng, Zheng; Lian, Lian

doi:10.1109/lra.2022.3176438

Cited by 18 publications

(6 citation statements)

References 21 publications

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“…MHAUV exiting the sea with waves was studied in [42], ocean waves were simulated by superimposing two representative regular waves with characteristic amplitudes and frequencies, and the wave disturbance was divided into periodic wave force by the fuselage and instantaneous impact by the propeller. In further research [43], the vehicle-wave coupling response was developed by applying the Airy wave theory and the algorithm called Surfing was proposed to take off from the water surface during the wave window, which were validated by simulations and pool experiments. Takeoff and landing control of MHAUV at the disturbed water surface were studied in [37], which modeled and analyzed the effects of wind, wave and external forces on MHAUV.…”

Section: Related Workmentioning

confidence: 99%

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Trajectory Tracking Control of Fixed-Wing Hybrid Aerial Underwater Vehicle Subject to Wind and Wave Disturbances

Li,

Jin,

et al. 2024

J Intell Robot Syst

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The hybrid aerial underwater vehicle (HAUV) could operate in the air and underwater might provide a great convenience for aerial and underwater exploration, and the fixed-wing HAUV (FHAUV) has time, space and cost advantages in future large-scale applications, while the large difference between the aerial and underwater environments is a challenge to control, especially in the air/water transition. However, for FHAUV control, there is a lack of research on phenomena or problems caused by large changes in the air/water transition. In addition, the effects of wind, wave, other factors and conditions on motion control are not investigated. This paper presents the first control study on the above issues. The motion model of FHAUV is developed, with the effects of wind and wave disturbances. Then, this paper improves a cascade gain scheduling (CGS) PID for different media environments (air and water) and proposes a cascade state feedback (CSF) control strategy to address the convergence problem of FHAUV control caused by large speed change in the air/water transition. In the comparisons of the two control schemes in various tracking cases including trajectory slopes, reference speeds, wind and wave disturbances, CSF has a better control effect, convergence rate and robustness; the key factors and conditions of the air/water transition are investigated, the critical relations and feasible domains of the trajectory slopes and reference speeds that the FHAUV must meet to successfully exit the water and enter the air are obtained, the critical slope decreases as the reference speed increases, and the feasible domain of CSF is larger than that of CGS, revealing that CSF is superior than CGS for exiting the water.

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Section: Related Workmentioning

confidence: 99%

“…At the water surface, VTOL ensures a stable and reliable air/water transition. MHAUV mainly includes quadrotor structures [11][12][13][14], but also hybrid structures [15][16][17]. However, the slow flight speed and high energy consumption of MHAUV make it limited in time and space for operation.…”

Section: Introductionmentioning

confidence: 99%

Trajectory Tracking Control of Fixed-Wing Hybrid Aerial Underwater Vehicle Subject to Wind and Wave Disturbances

Li,

Jin,

et al. 2024

J Intell Robot Syst

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“…Both of these successfully enabled cross-domain locomotion. To enhance the underwater movement capability of aerial-aquatic vehicles, Yuanbo Bi [12], Chen Q [13], and Horn [14] have made advancements by integrating quad rotors with underwater propellers. This integration has led to improved performance and propulsion efficiency in different fluid media.…”

Section: Introductionmentioning

confidence: 99%

Design and Demonstration of a Tandem Dual-Rotor Aerial–Aquatic Vehicle

Wu,

Shao,

et al. 2024

Drones

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Aerial–aquatic vehicles (AAVs) hold great promise for marine applications, offering adaptability to diverse environments by seamlessly transitioning between underwater and aerial operations. Nevertheless, the design of AAVs poses inherent challenges, owing to the distinct characteristics of different fluid media. This article introduces a novel solution in the form of a tandem dual-rotor aerial–aquatic vehicle, strategically engineered to overcome these challenges. The proposed vehicle boasts a slender and streamlined body, enhancing its underwater mobility while utilizing a tandem rotor for aerial maneuvers. Outdoor scene tests were conducted to assess the tandem dual-rotor AAV’s diverse capabilities, including flying, hovering, and executing repeated cross-media locomotion. Notably, its versatility was further demonstrated through swift surface swimming on water. In addition to aerial evaluations, an underwater experiment was undertaken to evaluate the AAV’s ability to traverse narrow underwater passages. This capability was successfully validated through the creation of a narrow underwater gap. The comprehensive exploration of the tandem dual-rotor AAV’s potential is presented in this article, encompassing its foundational principles, overall design, simulation analysis, and avionics system design. The preliminary research and design outlined herein offer a proof of concept for the tandem dual-rotor AAV, establishing a robust foundation for AAVs seeking optimal performance in both water and air environments. This contribution serves as a valuable reference solution for the advancement of AAV technology.

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“…One is mounted at the nose to control the vehicle's pitch. Two others are mounted at the tail to drive the vehicle forward and control the vehicle's heading (Bi et al, 2022). The aerial–aquatic hitchhiking robot flies like a multirotor in the air and uses a biological remora disc to hitchhike on different surfaces to stay or move underwater.…”

Section: Introductionmentioning

confidence: 99%

Nezha‐IV: A hybrid aerial underwater vehicle in real ocean environments

Jin,

Bi,

Lyu

et al. 2023

Journal of Field Robotics

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Hybrid aerial underwater vehicles (HAUVs) that are capable of autonomously operating in both the aerial and underwater environments with repeated rapid transitions have received great interest in recent years. Current HAUV prototypes cannot fully cope with the unstructured, harsh, and hazardous ocean environments considering the high‐pressure and the strong hydrodynamic perturbations. This work reports on the HAUV, Nezha‐IV, with all basic functions validated in a real ocean environment. Nezha‐IV has four aerial propellers and eight underwater thrusters. It is not only capable of maneuvering delicately during flight and underwater but can also perform dynamic transitions under rough sea conditions. We present the design, construction, control, and oceanic testing of Nezha‐IV and demonstrate reliability and robustness, especially during the transition phases. Performance estimation and results gathered from tests in the South China Sea show that Nezha‐IV can operate at various depths ranging from 0 to 50 m at a velocity of 1 kt for 22 min and hover in the air for 15 min or cruise at a velocity of 10 m/s for 7.2 km in 12 min. This project contributes to the field of HAUV with (i) a HAUV capable of dynamic locomotion with high stability in both media and during transitions; (ii) identification of challenges during water–air transition in harsh sea conditions, and a reliable transition strategy that helps the development of fully autonomous HAUVs; (iii) a modular, foldable, and impact‐resistant HAUV structure; (iv) vehicle's capability proved by extensive tests in dynamic ocean environment.

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Nezha-Mini: Design and Locomotion of a Miniature Low-Cost Hybrid Aerial Underwater Vehicle

Cited by 18 publications

References 21 publications

Trajectory Tracking Control of Fixed-Wing Hybrid Aerial Underwater Vehicle Subject to Wind and Wave Disturbances

Trajectory Tracking Control of Fixed-Wing Hybrid Aerial Underwater Vehicle Subject to Wind and Wave Disturbances

Design and Demonstration of a Tandem Dual-Rotor Aerial–Aquatic Vehicle

Nezha‐IV: A hybrid aerial underwater vehicle in real ocean environments

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