Design and implementation of underwater search for salvage robot power system

2021 ◽  
pp. 1-10
Author(s):  
Junbing Qian ◽  
Zhongru Xu ◽  
Yongyou Luo ◽  
Nan Pan ◽  
Yi Liu
Keyword(s):  
Electronic Device ◽  
Water Pressure ◽  
Wind Waves ◽  
Water Area ◽  
Underwater Robot ◽  
Underwater Robots ◽  
Automatic Stabilization ◽  
Shallow Water Area ◽  
Dynamics And Control ◽  
And Control

Most of the underwater salvage operations work in shallow waters. The underwater environment is complex and varied. There are many risks and unpredictable conditions such as turbulence, eddies, wind, waves and deep water pressure. The motion and control cause serious interference, and the flexibility of automatic stabilization and multi-dimensional motion under external disturbances is increasingly becoming a key element in the design process of underwater robots. In this paper, the structure, driving and control design of an underwater dynamic search and underwater robot based on 6-DOF driving is proposed, and its dynamics and control system are analyzed. Different from the traditional underwater robot technology, the method proposed in this paper is more suitable for shallow water area and multi DOF driving control technology. The driving structure and electronic device of the robot are introduced. Several experiments were carried out in the controlled environment. The experimental results demonstrate the correctness and effectiveness of the design and analysis.

The Structure Design of the Mini Underwater Robot

2013 ◽  
Vol 307 ◽  
pp. 121-125 ◽  
Author(s):  
Yu Feng Wei ◽  
Fang Liu ◽  
Fei Hu ◽  
Fan Rang Kong
Keyword(s):  
Shallow Water ◽  
Water Area ◽  
Structure Design ◽  
Underwater Robot ◽  
High Definition ◽  
Theoretical Support ◽  
Shallow Water Area ◽  
Underwater Movement

A kind of mini underwater robot is introduced in this artical. Aim at the situation of shallow water area(5m~30m)，we analyzed and designed the structure of the whole robot pertinently, and calculated the underwater movement resistance, which thereby could give theoretical support on the choice of thrusters. The robot detects the underwater situation effectively by high definition camera that installed in the front of the robot, and achieves lifting and turning movement though 3 propellers. The manipulator installed in above of the robot could grab underwater objects effectively.

scholarly journals Application of On-Board Evolutionary Algorithms to Underwater Robots to Optimally Replan Missions with Energy Constraints

2012 ◽  
Vol 2012 ◽  
pp. 1-10 ◽  
Author(s):  
M. L. Seto
Keyword(s):  
Autonomous Underwater Vehicles ◽  
Underwater Robots ◽  
Knowledge Based ◽  
Available Energy ◽  
Mission Success ◽  
Cognitive Capability ◽  
Dynamics And Control ◽  
On Line ◽  
Local Water ◽  
And Control

The objective is to show that on-board mission replanning for an AUV sensor coverage mission, based on available energy, enhances mission success. Autonomous underwater vehicles (AUVs) are tasked to increasingly long deployments, consequently energy management issues are timely and relevant. Energy shortages can occur if the AUV unexpectedly travels against stronger currents, is not trimmed for the local water salinity has to get back on course, and so forth. An on-board knowledge-based agent, based on a genetic algorithm, was designed and validated to replan a near-optimal AUV survey mission. It considers the measured AUV energy consumption, attitudes, speed over ground, and known response to proposed missions through on-line dynamics and control predictions. For the case studied, the replanned mission improves the survey area coverage by a factor of 2 for an energy budget, that is, a factor of 2 less than planned. The contribution is a novel on-board cognitive capability in the form of an agent that monitors the energy and intelligently replans missions based on energy considerations with evolutionary methods.

scholarly journals Robotic Fish

2016 ◽  
Vol 138 (03) ◽  
pp. S2-S5 ◽  
Author(s):  
Feitian Zhang ◽  
Francis D. Lagor ◽  
Hong Lei ◽  
Xiaobo Tan ◽  
Derek A. Paley
Keyword(s):  
Robotic Fish ◽  
Flexible Robot ◽  
Feedback Controls ◽  
Underwater Robots ◽  
Loop Control ◽  
Distributed Sensor ◽  
Flow Sensing ◽  
Ongoing Work ◽  
Dynamics And Control ◽  
And Control

This article reviews different research and development work on robotic fishes. The Collective Dynamics and Control Laboratory at the University of Maryland has constructed two robotic fish to study bio-inspired flow sensing and control of underwater vehicles. Bio-inspired flow sensing and flow-relative control using distributed sensor measurements have been described and demonstrated with two underwater robots. Prototypes of the robotic fish have been designed for experiments to include a rigid airfoil-shaped robot and a flexible, self-propelled robot. The closed-loop control of the flexible robot comprised feedforward and feedback controls. The feedforward term accelerates the convergence of the tracking control, and the feedback term improves the tracking performance by reducing the steady-state error. Rheotaxis and speed-control experiments have demonstrated the effectiveness of the flow sensing and control algorithms. In ongoing work, teams are investigating a novel actuation approach using an internal reaction wheel for flexible fish propulsion.

scholarly journals NUMERICAL CALCULATION OF WIND WAVES IN SHALLOW WATER

1966 ◽  
Vol 1 (10) ◽  
pp. 3 ◽  
Author(s):  
Takeshi Ijima ◽  
Frederick L.W. Tang
Keyword(s):  
Shallow Water ◽  
Integration Method ◽  
Graphical Method ◽  
Wind Waves ◽  
Water Area ◽  
Western Coast ◽  
Numerical Integration Method ◽  
Shallow Water Area ◽  
Electronic Computers ◽  
The Waves

For the purpose of estimating the waves raised by typhoons approaching continental shelf and inland seas, one of the authors (I960) devised graphical method to the forecasting the waves in the fetches travelling over shallow water area in I960. The method has been widely adopted to evaluate the waves of the bays and inland seas in Japan and the western coast of Taiwan, since it was proved that calculated results considerably agreed with measured records. On the account of the spread of electronic computers, numerical analysis will be more expedient than graphical operations nowadays. Wilson s numerical integration method (I96I)(I962) has been extended to facilitate the calculation of the waves of shallow water area. The procedures of calculation are described and example of hindcasting of waves in typhoon by the machine run are also submitted in this paper.

scholarly journals Design and Control of Underwater Robots with Rotating Thrusters

2016 ◽  
Vol 5 (4) ◽  
pp. 284
Author(s):  
Ali Jebelli ◽  
M. C.E. Yagoub ◽  
B. S. Dhillon
Keyword(s):  
Degrees Of Freedom ◽  
Energy Change ◽  
Underwater Robot ◽  
Robot Design ◽  
Minimal Energy ◽  
Underwater Robots ◽  
Robust Approach ◽  
New Type ◽  
Linear Force ◽  
And Control

Among other robots, underwater robot design involves critical control issues due to complex non-linear force and turns controlling. In this paper, a robust approach was proposed to efficiently control the behavior of an underwater robot through five degrees of freedom. Also, by designing a new type of a pair of thruster with the ability to 360 degree rotation along with a mass shifter, it gives this possibility to the robot that easily and with a minimal energy, change its depth quickly, preserving its balance best possible at the same time.

scholarly journals EXPERIMENTAL STUDIES ON THE GENERATION OF WAVES IN SHALLOW WATER

1970 ◽  
Vol 1 (12) ◽  
pp. 11
Author(s):  
C.T. Kuo ◽  
Frederick L.W. Tang
Keyword(s):  
Shallow Water ◽  
Wind Waves ◽  
Wave Length ◽  
Experimental Studies ◽  
Water Area ◽  
Western Coast ◽  
Shallow Water Area ◽  
Series Of Experiments ◽  
Taiwan Straits ◽  
China Coast

The seas in front of China coast such as Yellow Sea, East China Sea and Taiwan Straits are all located on continental shelf. In consequence, waves approaching these coasts are generated in shallow water area in comparsion with wave length. The authors has developed tangible calculation procedures for evaluating the wave features in such areas in stationary or moving fetches (l). However, the basical formulas of calculation are derived from experimental data of Bretschneider and Thijsse. In order to investigate the generating process of shallow water wind waves and obtain more detailed informations for correcting calculation criteria, a series of experiments have been performed at a wind tunnel of 75 meters in length. Various investigations on the relationships between waves and wind as well as water depth ar4 to be submitted in this paper. In addition, the situation of wind wave coexistance with regular wave is studied from experiments, because it resembles the superposition of refracted and local wind waves on the western coast of Taiwan.

Resistance Monitor and Control for Vacuum Evaporation of Metals and Carbon

1976 ◽  
Vol 34 ◽  
pp. 572-573
Author(s):  
Russell L. Steere ◽  
Eric F. Erbe ◽  
J. Michael Moseley
Keyword(s):  
Electronic Device ◽  
Point Sources ◽  
High Contrast ◽  
Variable Resistor ◽  
Quality Of Results ◽  
Low Contrast ◽  
Evaporation Source ◽  
And Control ◽  
At Will

We have designed and built an electronic device which compares the resistance of a defined area of vacuum evaporated material with a variable resistor. When the two resistances are matched, the device automatically disconnects the primary side of the substrate transformer and stops further evaporation.This approach to controlled evaporation in conjunction with the modified guns and evaporation source permits reliably reproducible multiple Pt shadow films from a single Pt wrapped carbon point source. The reproducibility from consecutive C point sources is also reliable. Furthermore, the device we have developed permits us to select a predetermined resistance so that low contrast high-resolution shadows, heavy high contrast shadows, or any grade in between can be selected at will. The reproducibility and quality of results are demonstrated in Figures 1-4 which represent evaporations at various settings of the variable resistor.

PROJECT ON ELECTRONIC STEERING SYSYTEM

2018 ◽  
Vol 4 (5) ◽  
pp. 7
Author(s):  
Shivam Dwivedi ◽  
Prof. Vikas Gupta
Keyword(s):  
Steering System ◽  
Essential Elements ◽  
Variable Pressure ◽  
Passenger Cars ◽  
Control Techniques ◽  
Steering Mechanism ◽  
Dynamics And Control ◽  
Active Research ◽  
Electronic Steering ◽  
And Control

As the four-wheel steering (4WS) system has great potentials, many researchers' attention was attracted to this technique and active research was made. As a result, passenger cars equipped with 4WS systems were put on the market a few years ago. This report tries to identify the essential elements of the 4WS technology in terms of vehicle dynamics and control techniques. Based on the findings of this investigation, the report gives a mechanism of electronically controlling the steering system depending on the variable pressure applied on it. This enhances the controlling and smoothens the operation of steering mechanism.

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