A highly mobile ducted underwater robot for subsea infrastructure inspection
文献类型：会议论文
| 作者 | Ma YT(马艳彤); Ye RD(叶瑞夺); Zheng R(郑荣) ; Geng LB(耿令波); Yang Y(杨翊)
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| 出版日期 | 2016 |
| 会议名称 | 6th Annual IEEE International Conference on Cyber Technology in Automation, Control and Intelligent Systems, IEEE-CYBER 2016 |
| 会议日期 | June 19-22, 2016 |
| 会议地点 | Chengdu, China |
| 关键词 | ducted underwater robot propulsion system kinematic analysis and modeling CFD |
| 页码 | 397-400 |
| 通讯作者 | 马艳彤 |
| 中文摘要 | With the repaid development of different kinds of offshore structures, there is a great need for the frequent inspection of them. Underwater robot is very qualified of these tasks especially on such occasions that cost and risk are the critical factors. However, the inefficient maneuvering of those traditional underwater robots at low speed makes it unsuitable for thorough inspection tasks as well as tasks in restricted areas which require the robot frequent change its orientation when it is slow even still. In this paper, a new concept underwater robot is proposed. The robot is composed of a propeller for propulsion, a pair of counter rotating rudders to neutralize the reverse torque of the propeller, four steering rudders for the maneuvering of the robot and a pressure hull to encapsulate power and control system. The structural design and motion principle of the robot is given in detail. The kinematic and the dynamic equations of the robot are established. The flow field of the robot is also analyzed using Computational Fluid Dynamics (CFD) technique. |
| 收录类别 | EI ; CPCI（ISTP） |
| 产权排序 | 1 |
| 会议录 | 6th Annual IEEE International Conference on Cyber Technology in Automation, Control and Intelligent Systems, IEEE-CYBER 2016
 |
| 会议录出版者 | IEEE |
| 会议录出版地 | Piscataway, NJ, USA |
| 语种 | 英语 |
| ISSN号 | 2379-7711 |
| ISBN号 | 978-1-5090-2732-3 |
| WOS记录号 | WOS:000389835200073 |
| 源URL | [http://ir.sia.cn/handle/173321/19308]  |
| 专题 | 沈阳自动化研究所_海洋信息技术装备中心 |
| 推荐引用方式 GB/T 7714 | Ma YT,Ye RD,Zheng R,et al. A highly mobile ducted underwater robot for subsea infrastructure inspection[C]. 见:6th Annual IEEE International Conference on Cyber Technology in Automation, Control and Intelligent Systems, IEEE-CYBER 2016. Chengdu, China. June 19-22, 2016. |
入库方式： OAI收割
来源：沈阳自动化研究所
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