SIA OpenIR  > 水下机器人研究室
自主水下机器人深海热液羽流追踪仿真环境
Alternative TitleA Simulation Environment for Deep-Sea Hydrothermal Plume Tracing with Autonomous Underwater Vehicles
田宇; 李伟; 张艾群
Department水下机器人研究室
Source Publication机器人
ISSN1002-0446
2012
Volume34Issue:2Pages:159-169,196
Indexed ByEI ; CSCD
EI Accession number20121514940973
CSCD IDCSCD:4506005
Contribution Rank1
Funding Organization国家自然科学基金资助项目(61075085,41106085); 机器人学国家重点实验室自主课题(2009-Z03)
Keyword自主水下机器人 海底热液喷口定位 羽流追踪 湍羽流仿真
Abstract提出用自主水下机器人(autonomous underwateer vehicle,AUV)基于仿生行为追踪深海热液羽流,进而快速、精确定位海底热液喷口;并针对AUV追踪深海热液羽流的仿生控制策略研究需要,设计、实现了一个计算机仿真环境.首先介绍了基于AUV的深海热液羽流追踪和该仿真环境的模块化构成,然后给出了仿真环境中的流场和羽流仿真模块所采用的仿真模型及其高效的数值求解算法,和为便于蒙特卡洛仿真而设置的一组随机初始条件和边界条件,以及介绍了控制系统仿真模块采用的一种基于行为的模块化的AUV控制系统体系结构.该仿真环境体现了AUV追踪热液羽流的仿生控制策略研究的问题复杂性因素,包括流场非均匀和非定常,羽流分布不规则、不连续、空间尺度大,羽流轴线弯曲,以及羽流含有浮力上升部分和包含非守恒示踪物质,并且具有较好的可视化效果.同时,该仿真环境具有较高的计算效率,适合于实时仿真和蒙特卡洛仿真研究.分析和演示表明,该仿真环境满足研究需要,为AUV追踪深海热液羽流的仿生控制策略研究提供了有力的支持.
Other AbstractFor using an autonomous underwater vehicle(AUV) to localize seafloor hydrothermal vents fast and accurately, a biomimetic approach to hydrothermal plume tracing is proposed.And to support the investigation of AUV’s biologicallyinspired control strategies,a graphical simulation environment is designed and developed.In this paper,hydrothermal plume tracing with AUVs and the modular architecture of the simulation environment are firstly introduced and described.Then,the modules of hydrothermal plume and flow field in simulation environment are modeled,and the efficient numerical solution algorithms are given.To facilitate Monte Carlo simulation,a set of stochastic initial and boundary conditions are set.And the modular behavior-based AUV control system architecture employed in the control system module is mainly described. The simulation environment addresses the key factors that complicate the investigation of AUV’s biologically-inspired control strategies for the hydrothermal plume tracing,including the current field being non-uniform and non-steady,the plume distribution being irregular,intermittent and of large scale,the plume centreline being meandrous,and the plume containing buoyant part and nonconservative tracer.In addition,this simulation environment achieves good visual effect and high computational efficiency,which allows it to be suitable for real-time simulation and Monte Carlo simulation studies.The presented simulation environment provides sufficient support for the investigation of AUVs biologically-inspired control strategies for hydrothermal plume tracing. 
Language中文
Citation statistics
Cited Times:1[CSCD]   [CSCD Record]
Document Type期刊论文
Identifierhttp://ir.sia.cn/handle/173321/9985
Collection水下机器人研究室
Affiliation1.中国科学院沈阳自动化研究所机器人学国家重点实验室
2.中国科学院研究生院
Recommended Citation
GB/T 7714
田宇,李伟,张艾群. 自主水下机器人深海热液羽流追踪仿真环境[J]. 机器人,2012,34(2):159-169,196.
APA 田宇,李伟,&张艾群.(2012).自主水下机器人深海热液羽流追踪仿真环境.机器人,34(2),159-169,196.
MLA 田宇,et al."自主水下机器人深海热液羽流追踪仿真环境".机器人 34.2(2012):159-169,196.
Files in This Item: Download All
File Name/Size DocType Version Access License
自主水下机器人深海热液羽流追踪仿真环境.(1735KB)期刊论文作者接受稿开放获取ODC PDDLView Download
Related Services
Recommend this item
Bookmark
Usage statistics
Export to Endnote
Google Scholar
Similar articles in Google Scholar
[田宇]'s Articles
[李伟]'s Articles
[张艾群]'s Articles
Baidu academic
Similar articles in Baidu academic
[田宇]'s Articles
[李伟]'s Articles
[张艾群]'s Articles
Bing Scholar
Similar articles in Bing Scholar
[田宇]'s Articles
[李伟]'s Articles
[张艾群]'s Articles
Terms of Use
No data!
Social Bookmark/Share
File name: 自主水下机器人深海热液羽流追踪仿真环境.pdf
Format: Adobe PDF
All comments (0)
No comment.
 

Items in the repository are protected by copyright, with all rights reserved, unless otherwise indicated.