Development and control of a vectored water-jet-based spherical underwater vehicle

Guo, Shuxiang; Lin, Xichuan; Tanaka, Koujirou; Hata, Seiji

doi:10.1109/icinfa.2010.5512106

Cited by 31 publications

(7 citation statements)

References 8 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…Here, the jet force is not a DOF associated since the water-jet pressure is constant. After one year, it is possible to see the evolution of this concept in [54] (2010), where the architecture concept with three pumped-water-jet-based RT evolved for a prototype in construction. And, finally, a real spherical underwater robot (SUR) is presented with the three pumped-water-jet-based RT in [55] (2012, see Figure 8a).…”

Section: Advances In Reconfigurable Vectorial Thrustersmentioning

confidence: 99%

Advances in Reconfigurable Vectorial Thrusters for Adaptive Underwater Robots

Gasparoto

Chocron

Benbouzid

et al. 2021

JMSE

View full text Add to dashboard Cite

Manoeuvrability is one of the essential keys in the development of improved autonomous underwater vehicles for challenging missions. In the last years, more researches were dedicated to the development of new hulls shapes and thrusters to assure more manoeuvrability. The present review explores various enabling technologies used to implement the vectorial thrusters (VT), based on water-jet or propellers. The proposals are analysed in terms of added degrees of freedom, mechanisms, number of necessary actuators, water-tightness, electromagnetomechanical complexity, feasibility, etc. The usage of magnetic coupling thrusters (conventional or reconfigurable) is analysed in details since they can assure the development of competitive full waterproof reconfigurable thrusters, which is a frictionless, flexible, safe, and low-maintenance solution. The current limitations (as for instance the use of non conductive hull) are discussed and ideas are proposed for the improvement of this new generation of underwater thrusters, as extending the magnetic coupling usage to obtain a fully contactless vector thrust transmission.

show abstract

Section: Advances In Reconfigurable Vectorial Thrustersmentioning

confidence: 99%

Advances in Reconfigurable Vectorial Thrusters for Adaptive Underwater Robots

Gasparoto

Chocron

Benbouzid

et al. 2021

JMSE

View full text Add to dashboard Cite

show abstract

“…In our previous researches, we proposed a spherical underwater robot which uses multiple water-jet propellers as its propulsion system [7], [8]. And we also presented the modeling of the water-jet propeller in [9].…”

Section: Introductionmentioning

confidence: 99%

Underwater experiments of a water-jet-based spherical underwater robot

Lin

Guo

Tanaka

et al. 2011

2011 IEEE International Conference on Mechatronics and Automation

Self Cite

View full text Add to dashboard Cite

In this paper we present the underwater experiments for spherical underwater robot which is developed in our laboratory. First, we give a brief illustration for the dynamics modeling of single water-jet propeller. Then, the coordination of multiple water-jet propellers is introduced. Based on the coordination, we discuss the transforms of three basic motions, surge, heave and yaw. To evaluate the characteristics of these basic motions, we carry out different experiments for each basic motions. And finally, we give the experimental results and analysis for the results.

show abstract

“…An underwater spherical robot was developed, URIS (2003), which was equipped with four external propellers [16]. In 2012, a new type of spherical robot was developed with three jetting-water devices and six servo motors, which can change the directions of jetting water [17][18][19]. And the movement analysis in water was deeply studied for these spherical underwater robots.…”

Section: Introductionmentioning

confidence: 99%

Fluctuation characteristics and rolling control for an underactuated spherical underwater exploration robot

Li¹,

Yang²,

Liu³

2017

J. vibroeng.

View full text Add to dashboard Cite

Compared with other underwater exploration robots, Spherical underwater robot has an outstanding advantage for the underwater exploration, whose spherical shell has the excellent resiliency to protect the internal electronic components. In addition, this steering resistance is very small to move flexibly. In this paper, a type of spherical underwater robot with the pendulums and a propeller was studied on moving at the water bottom in a rolling manner. The structure and force were analyzed to understand that the hydrodynamic force's affection on the robot's rolling at the water bottom. A mathematical model was established with the mass parameters and speeding parameters. The virtual simulation environment was established in Adams software. Furthermore, the coupling fluctuation characteristics of the speed, swing angle and the torque were studied by the simulation and the experiment in a pool. The study proved that this robot not only can use the propeller to move in water, but also can roll at the water bottom by driving the spherical shell. Especially, the result also can be obtained that the robot can roll at water bottom stably by increasing the pendulum mass and lowering the motor speed.

show abstract

Development and control of a vectored water-jet-based spherical underwater vehicle

Cited by 31 publications

References 8 publications

Advances in Reconfigurable Vectorial Thrusters for Adaptive Underwater Robots

Advances in Reconfigurable Vectorial Thrusters for Adaptive Underwater Robots

Underwater experiments of a water-jet-based spherical underwater robot

Fluctuation characteristics and rolling control for an underactuated spherical underwater exploration robot

Contact Info

Product

Resources

About