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水下滑翔机器人系统研究
Alternative TitleResearch Progress in Underwater Gliders
俞建成; 张奇峰; 吴利红; 李硕; 张艾群
Department水下机器人研究室
Source Publication海洋技术
ISSN1003-2029
2006
Volume25Issue:1Pages:6-10,19
Contribution Rank1
Funding Organization国家自然科学基金资助项目(60405010);;辽宁省自然科学基金资助项目(20041025)
Keyword水下机器人 水下滑翔机器人 海洋环境监测 运动学
Abstract水下滑翔机器人是一种新型的水下机器人,可以作为水下监测平台用于大范围、长时间的大尺度海洋环境监测作业。文中调查了水下滑翔机器人的国内外发展现状,分析了其可能的应用领域。详细介绍了中国科学院沈阳自动化研究所开发的水下滑翔机器人系统,包括载体外形优化设计、载体结构设计和控制系统设计。分析了水下滑翔机器人定常滑翔运动和空间螺旋会转运动的运动性能。
Other AbstractUnderwater gliders,as a new kind of underwater vehicle,can be used as underwater monitoring platform for long-range,long-time and large-scale ocean environment monitoring.Firstly,this paper describes the survey of the development status of underwater gliders at home and abroad,and analyses its potential application fields.Secondly,an underwater glider system,being developed by Shenyang Institute of Automation,Chinese Academy of Sciences,is presented in particular.The underwater glider system design includes system general design,body shell optimal design,actuator design and control system design.Two types of underwater gliders' locomotion,constant gliding motion and space helix turning motion,are studied,and its motion performances are analyzed at the same time.
Language中文
Document Type期刊论文
Identifierhttp://ir.sia.cn/handle/173321/3584
Collection水下机器人研究室
Corresponding Author俞建成
Affiliation1.中国科学院沈阳自动化研究所
2.中国科学院研究生院
Recommended Citation
GB/T 7714
俞建成,张奇峰,吴利红,等. 水下滑翔机器人系统研究[J]. 海洋技术,2006,25(1):6-10,19.
APA 俞建成,张奇峰,吴利红,李硕,&张艾群.(2006).水下滑翔机器人系统研究.海洋技术,25(1),6-10,19.
MLA 俞建成,et al."水下滑翔机器人系统研究".海洋技术 25.1(2006):6-10,19.
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