Conceptual design and implementation of an Arctic under-ice legged/gliding morphing robot
文献类型：会议论文
| 作者 | Meng LS(孟令帅)3,4 ; Zhang W(张玮)2; Lin Y(林扬)3,4; Gu HT(谷海涛)3,4; Gao DY(高东勇)1; Su, Tsung-Chow5
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| 出版日期 | 2021 |
| 会议日期 | July 15-17, 2021 |
| 会议地点 | Dalian, China |
| 关键词 | Morphing robot Stability analysis Computational Fluid Dynamics (CFD) Working principle |
| 页码 | 43-50 |
| 英文摘要 | With rising temperatures and complete melting of Arctic ice expected by 2050, an increasing interest in exploiting Arctic resources and protecting the Arctic from exploitation requires advanced technology be deployed to achieve long duration environmental monitoring and data collection. This will provide the necessary knowledge to guide the development of the Arctic in the coming decades. Here, we have concept designed and implemented for the first time an autonomous underwater morphing robot prototype known as First Arctic Under-ice Ocean Walking Laboratory (FAU-OWL) for long duration environmental monitoring and data collection in the Arctic. This underwater robot is capable of skiing or being anchored upside-down under a sheet of ice using buoyancy control in combination with suction cups and can travel long distances by morphing its legs into wings in order to glide as well as walk. In this paper, the detailed structure, working modes, energy supplement and equipped sensors were explained, and then the dynamics of FAU-OWL under different working modes was studied. Besides, the hydrodynamic characteristics of FAU-OWL were analyzed using computational fluid dynamics (CFD) software known as Star-CCM. Finally, the working principle of FAU-OWL under different working modes in combination with the test situation was described in detail. |
| 产权排序 | 1 |
| 会议录 | 2021 6th International Conference on Automation, Control and Robotics Engineering (CACRE)
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| 会议录出版者 | IEEE |
| 会议录出版地 | New York |
| 语种 | 英语 |
| ISBN号 | 978-1-6654-3576-5 |
| 源URL | [http://ir.sia.cn/handle/173321/29897]  |
| 专题 | 沈阳自动化研究所_海洋信息技术装备中心 |
| 通讯作者 | Meng LS(孟令帅) |
| 作者单位 | 1.College of Mechanical Engineering, Shenyang University of Technology, Shenyang, China 2.Naval Research Academy, Beijng, China 3.Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences, Shenyang, China 4.State Key Laboratory of Robotics,Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China 5.Ocean and Mechanical Engineering, Florida Atlantic University, Boca Raton, USA |
| 推荐引用方式 GB/T 7714 | Meng LS,Zhang W,Lin Y,et al. Conceptual design and implementation of an Arctic under-ice legged/gliding morphing robot[C]. 见:. Dalian, China. July 15-17, 2021. |
入库方式： OAI收割
来源：沈阳自动化研究所
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