Towards a Gliding Robotic Dolphin: Design, Modeling, and Experiments

Wu, Zhengxing; Yu, Junzhi; Yuan, Jun; Tan, Min

doi:10.1109/tmech.2019.2891290

Cited by 69 publications

(22 citation statements)

References 29 publications

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“…One should not forget about the underwater dynamics that can lead to huge turbulences. ese underwater [11]. Discussing the previous works related to UUV, in [14], the author addressed the behavior by using SMC.…”

Section: Unmanned Underwater Vehicle Equipped With Manipulator Designmentioning

confidence: 99%

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Recent Advancements in Autonomous Robots and Their Technical Analysis

Liu

2021

Mathematical Problems in Engineering

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The purpose of this paper is to discuss and present a technical analysis of the recent advancements in autonomous robots equipped with a manipulator. The autonomous robots include unmanned aerial vehicle (UAV), unmanned underwater vehicle (UUV), and unmanned ground vehicle (UGV). A manipulator can make an autonomous robot more adaptable and robust but it can also affect its performance as well. Several issues can arise because of the installation of a manipulator like the robot becoming unstable due to the extra weight, slow convergence, and errors in the path planning. Therefore, this study presents the numerous recent techniques that are in use to counter the aforementioned problems. The methodology and approach used in this paper are to first present the dynamic model of the autonomous robot. Then, the study offers a performance analysis of the specific robot in question. Finally, the paper formulates the limitations of the recently proposed techniques in the form of a table for each vehicle. The key findings of this study are a comprehensive review of the aforesaid techniques and their technical analysis. The unique contribution of this study is to present some of the limitations that these methods have so the researcher can better select the method according to the mission requirement.

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Section: Unmanned Underwater Vehicle Equipped With Manipulator Designmentioning

confidence: 99%

“…In addition to this, the paper addresses the constraints such as the occurrence of time delays and exogenous disturbances in a system. e idea for embedding the UUV with a manipulator is introduced many times, that is, [11,12]. is is because of enabling an ability to grasp the target in water.…”

Section: Introductionmentioning

confidence: 99%

Recent Advancements in Autonomous Robots and Their Technical Analysis

Liu

2021

Mathematical Problems in Engineering

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“…An underwater snake-like robot is a bionic underwater vehicle with a chain structure, which adopts multiple swimming gaits by changing its body shape. Although benefiting from many degrees of freedom (DOF) and strong maneuverability [9,10], the short range and poor endurance have limited the practical application of these and other bio-inspired robots [11]. Recently, researchers have integrated the innovations and technologies of traditional and bionic underwater robots to improve the shortcomings of the existing robots.…”

Section: Introductionmentioning

confidence: 99%

Unscented Kalman-filter-based sliding mode control for an underwater gliding snake-like robot

Tang

Chang

et al. 2019

Sci. China Inf. Sci.

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With its strong endurance and high maneuverability, an underwater gliding snake-like robot (UGSR) is a strong potential candidate for aquatic exploration and monitoring. The major feature of the UGSR, which distinguishes it from other snake-like robots, is long range and long operation duration by gliding. This study establishes a gliding motion control system for the UGSR based on a sliding mode controller (SMC). The control system stabilizes the system and suppresses the uncertainties and unknown disturbances. In this strategy, chattering is reduced based on the reaching law method. To circumvent the difficulty of velocity measurements, a nonlinear observer based on an unscented Kalman filter (UKF) is employed for state estimation and random noise handling. The effectiveness of the proposed controller and observer is verified by simulating the UKF-based SMC closed-loop system.

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“…Biomimetic and bioinspired propulsions [16][17][18][19][20][21], It is immediate that the propulsion architecture of a vehicle determines its set of possible motion directions, as well as influences the ability to control the movement.…”

mentioning

confidence: 99%

“…However, this option offers low manoeuvrability. Biomimetic and bioinspired propulsions ( Figure 2), i.e., mimicked or inspired, receptively, come from natural propulsion mechanisms present in marine life, such as dolphins and whales fins as in [17,18], or eel-like [19], or fishes as in [20,21]. These propulsion systems are usually made with many DOFs of actuation (e.g., Figure 2a), which are difficult to implement and control.…”

mentioning

confidence: 99%

Advances in Reconfigurable Vectorial Thrusters for Adaptive Underwater Robots

Gasparoto

Chocron

Benbouzid

et al. 2021

JMSE

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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.

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Towards a Gliding Robotic Dolphin: Design, Modeling, and Experiments

Cited by 69 publications

References 29 publications

Recent Advancements in Autonomous Robots and Their Technical Analysis

Recent Advancements in Autonomous Robots and Their Technical Analysis

Unscented Kalman-filter-based sliding mode control for an underwater gliding snake-like robot

Advances in Reconfigurable Vectorial Thrusters for Adaptive Underwater Robots

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