Control-Configured Underwater Robots for Precision Multi-Axis Maneuvering

用于精密多轴操纵的控制配置水下机器人

• 批准号: 1363391
• 负责人: Haruhiko Asada
• 金额: $ 37.5万
• 依托单位: Massachusetts Institute of Technology
• 依托单位国家: 美国
• 项目类别: Standard Grant
• 财政年份: 2014
• 资助国家: 美国
• 起止时间: 2014-07-01 至 2017-06-30
• 项目状态: 已结题
• 来源: https://www.nsf.gov/awardsearch/showAward?AWD_ID=1363391&HistoricalAwards=false
• 关键词: Control; Configured; Underwater; Robots; Precision

The goal of this project is to establish a new design and control method for highly maneuverable underwater robots to perform inspection of underwater structures. Compact, egg-shaped robots will allow us to bring inspection instruments to those complex underwater structures that have seldom been inspected. Those include reactor internals of nuclear power plants and the equipment of hydro-dams, both of which require access to dangerous sites for inspection and monitoring. Furthermore, the highly maneuverable robot can be applied to port security, offshore facility monitoring, and cable network maintenance. Collaborations with energy industries and others will be sought for disseminating the new design method.The project will study egg-shaped robots, having no rudders and appendages. The compact and smooth body shape allows the robot to access complex underwater structures with multi-axis jets. The spheroidal vehicle, however, is hydro-dynamically unstable and thereby not appropriate from the traditional submarine design viewpoint. This project will argue that the vehicle instability can be exploited for quick turning and agile movements, a design concept similar to Control-Configured Vehicles in aeronautics, and how such vehicles can be designed optimally from the dynamics and control viewpoint. The project aims to stabilize the vehicle, yet maximize the maneuvering capability, through the design of high-speed water valves, effective configuration of multi-axis jets, optimization of the vehicle body shape, and control synthesis.

该项目的目的是建立一种新的设计和控制方法，用于高度操纵的水下机器人对水下结构进行检查。紧凑的蛋形机器人将使我们能够为那些很少检查的复杂水下结构带来检查仪器。其中包括核电站的反应堆内部和水电设备，两者都需要进入危险地点进行检查和监测。此外，可以将高度机动的机器人应用于端口安全性，离岸设施监视和有线网络维护。将寻求与能源行业和其他工业的合作，以传播新的设计方法。该项目将研究蛋形的机器人，没有舵和附属物。紧凑而光滑的身体形状使机器人可以使用多轴喷气机进入复杂的水下结构。但是，球形车在动态上是不稳定的，因此从传统的潜艇设计角度不适合。该项目将争辩说，可以利用车辆的不稳定性来快速转动和敏捷运动，一种类似于航空中控制配置的车辆的设计概念，以及如何从动态和控制观点来最佳地设计此类车辆。该项目旨在通过设计高速水阀，有效的多轴喷气机的有效配置，对车身形状的优化和控制合成来稳定车辆，并最大程度地发挥作用。