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A highly mobile ducted underwater robot for subsea infrastructure inspection
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
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
会议录名称6th Annual IEEE International Conference on Cyber Technology in Automation, Control and Intelligent Systems, IEEE-CYBER 2016
出版者IEEE
出版地Piscataway, NJ, USA
2016
页码397-400
收录类别EI ; CPCI(ISTP)
EI收录号20164302940202
WOS记录号WOS:000389835200073
产权排序1
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
引用统计
文献类型会议论文
条目标识符http://ir.sia.cn/handle/173321/19308
专题海洋信息技术装备中心
通讯作者Ma YT(马艳彤)
作者单位1.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China
2.Northeastern University, Shenyang, China
3.University of Chinese Academy of Sciences, Beijing, China
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GB/T 7714
Ma YT,Ye RD,Zheng R,et al. A highly mobile ducted underwater robot for subsea infrastructure inspection[C]. Piscataway, NJ, USA:IEEE,2016:397-400.
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