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Grasping Marine Products With Hybrid-Driven Underwater Vehicle-Manipulator System | |
Cai, Mingxue1![]() ![]() ![]() ![]() ![]() ![]() | |
发表期刊 | IEEE Transactions on Automation Science and Engineering
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ISSN | 1545-5955 |
2020 | |
卷号 | 17期号:无页码:无 |
摘要 | This article presents the comprehensive framework for a hybrid-driven underwater vehicle-manipulator system (HD-UVMS) to grasp marine products on the seabed. The purpose of the proposed hybrid-driven propulsion system is to improve the swimming ability of the HD-UVMS by using thrusters and enhance the stability of its pose adjustment mechanism via two unique long fin propulsors. The control mode for the thrusters and long fin propulsors is based on a fuzzy logic control method. Subsequently, a lightweight manipulator is developed to grasp marine products. The open-closed angle and current controls for the gripper help to avoid damaging marine products. A vision system is installed to enable the HD-UVMS to gradually approach marine products with the aid of monocular vision and grasp them with the aid of binocular vision. A detailed method for monocular passive ranging and stereo matching, in accordance with real-time metrics, is elaborated. Finally, relevant experiments are conducted in an indoor pool and under real sea condition to assess the effectiveness of the proposed framework. |
关键词 | Hybrid-driven Underwater Vehicle-manipulator System (Hd-uvms) Robot Control System Underwater Manipulation |
学科领域 | 工学 |
学科门类 | 控制科学与工程 |
DOI | 10.1109/TASE.2019.2957782 |
关键词[WOS] | CLOUDS ; ROBOT |
URL | 查看原文 |
收录类别 | SCI |
语种 | 英语 |
资助项目 | National Natural Science Foundation of China[61703401] ; National Natural Science Foundation of China[U1806204] ; National Natural Science Foundation of China[U1713222] ; National Natural Science Foundation of China[U1913209] ; Foundation for Innovative Research Groups of the National Natural Science Foundation of China[61421004] ; Beijing Municipal Natural Science Foundation[JQ19020] ; Youth Innovation Promotion Association, Chinese Academy of Sciences |
项目资助者 | National Natural Science Foundation of China ; Foundation for Innovative Research Groups of the National Natural Science Foundation of China ; Beijing Municipal Natural Science Foundation ; Youth Innovation Promotion Association, Chinese Academy of Sciences |
WOS研究方向 | Automation & Control Systems |
WOS类目 | Automation & Control Systems |
WOS记录号 | WOS:000545379200029 |
出版者 | IEEE |
七大方向——子方向分类 | 智能机器人 |
引用统计 | |
文献类型 | 期刊论文 |
条目标识符 | http://ir.ia.ac.cn/handle/173211/38545 |
专题 | 复杂系统认知与决策实验室_先进机器人 |
通讯作者 | Wang, Yu |
作者单位 | 1.Institute of Automation, Chinese Academy of Sciences 2.Department of Electronic Engineering, Tsinghua University |
第一作者单位 | 中国科学院自动化研究所 |
通讯作者单位 | 中国科学院自动化研究所 |
推荐引用方式 GB/T 7714 | Cai, Mingxue,Wang, Yu,Wang, Shuo,et al. Grasping Marine Products With Hybrid-Driven Underwater Vehicle-Manipulator System[J]. IEEE Transactions on Automation Science and Engineering,2020,17(无):无. |
APA | Cai, Mingxue,Wang, Yu,Wang, Shuo,Wang, Rui,Ren, Yong,&Tan, Min.(2020).Grasping Marine Products With Hybrid-Driven Underwater Vehicle-Manipulator System.IEEE Transactions on Automation Science and Engineering,17(无),无. |
MLA | Cai, Mingxue,et al."Grasping Marine Products With Hybrid-Driven Underwater Vehicle-Manipulator System".IEEE Transactions on Automation Science and Engineering 17.无(2020):无. |
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文件名称/大小 | 文献类型 | 版本类型 | 开放类型 | 使用许可 | ||
Grasping Marine Prod(5519KB) | 期刊 | 开放获取 | CC BY-NC-SA | 浏览 下载 |
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