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题名:
A highly mobile ducted underwater robot for subsea infrastructure inspection
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)
作者部门: 海洋信息技术装备中心
通讯作者: 马艳彤
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
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
出版日期: 2016
页码: 397-400
收录类别: EI ; CPCI(ISTP)
ISSN号: 2379-7711
ISBN号: 978-1-5090-2732-3
关键词: ducted underwater robot ; propulsion system ; kinematic analysis and modeling ; CFD
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.
语种: 英语
产权排序: 1
EI收录号: 20164302940202
WOS记录号: WOS:000389835200073
Citation statistics:
内容类型: 会议论文
URI标识: http://ir.sia.cn/handle/173321/19308
Appears in Collections:海洋信息技术装备中心_会议论文

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Recommended Citation:
Ma YT,Ye RD,Zheng R,et al. A highly mobile ducted underwater robot for subsea infrastructure inspection[C]. 6th Annual IEEE International Conference on Cyber Technology in Automation, Control and Intelligent Systems, IEEE-CYBER 2016. Chengdu, China. June 19-22, 2016.A highly mobile ducted underwater robot for subsea infrastructure inspection.
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