CASIA OpenIR
Underwater Bioinspired Propulsion: From Inspection to Manipulation
Wang, Yu1; Wang, Rui1; Wang, Shuo1,2,3; Tan, Min1,2; Yu, Junzhi1,4
Source PublicationIEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS
ISSN0278-0046
2020-09-01
Volume67Issue:9Pages:7629-7638
Abstract

This article presents the design of a biomimetic underwater vehicle-manipulator system (BUVMS) with bioinspired long-fin propulsion and its control methods. The kinematic analysis of bioinspired long-fin propulsion is conducted, and the maximum thrust of this propulsion derived from our thrust measurement platform can be up to 25 N. Bioinspired long-fin propulsion is introduced to construct the BUVMS for inspection and manipulation tasks, and the system architecture of the BUVMS is described. Moreover, real-time dynamic dubins-helix path planning and tracking of the biomimetic vehicle are proposed to realize the arrival of the desired pose. The tracking error is less than 0.23 body length. Finally, coordinated control between the biomimetic vehicle and the manipulator is developed to achieve autonomous manipulation. The reaction of the manipulator served as feedforward compensation is added into the closed-loop control of the biomimetic vehicle. The experimental results are provided to illustrate the validity of the proposed methods.

KeywordPropulsion Manipulators Sports Path planning Underwater vehicles Inspection Bioinspired propulsion coordinated control underwater vehicle-manipulator system underwater manipulation
DOI10.1109/TIE.2019.2944082
WOS KeywordEXPERIMENTAL VALIDATION ; VEHICLE
Indexed BySCI
Language英语
Funding ProjectNational Key Research and Development Program of China[2017YFB1300101] ; National Natural Science Foundation of China[61703401]
Funding OrganizationNational Key Research and Development Program of China ; National Natural Science Foundation of China
WOS Research AreaAutomation & Control Systems ; Engineering ; Instruments & Instrumentation
WOS SubjectAutomation & Control Systems ; Engineering, Electrical & Electronic ; Instruments & Instrumentation
WOS IDWOS:000536291000047
PublisherIEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
Citation statistics
Cited Times:9[WOS]   [WOS Record]     [Related Records in WOS]
Document Type期刊论文
Identifierhttp://ir.ia.ac.cn/handle/173211/39543
Collection中国科学院自动化研究所
Corresponding AuthorWang, Shuo
Affiliation1.Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100190, Peoples R China
2.Univ Chinese Acad Sci, Beijing 100049, Peoples R China
3.CAS Ctr Excellence Brain Sci & Intelligence Techn, Shanghai 200031, Peoples R China
4.Peking Univ, Coll Engn, Dept Mech & Engn Sci, State Key Lab Turbulence & Complex Syst, Beijing 100871, Peoples R China
First Author AffilicationInstitute of Automation, Chinese Academy of Sciences
Corresponding Author AffilicationInstitute of Automation, Chinese Academy of Sciences
Recommended Citation
GB/T 7714
Wang, Yu,Wang, Rui,Wang, Shuo,et al. Underwater Bioinspired Propulsion: From Inspection to Manipulation[J]. IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS,2020,67(9):7629-7638.
APA Wang, Yu,Wang, Rui,Wang, Shuo,Tan, Min,&Yu, Junzhi.(2020).Underwater Bioinspired Propulsion: From Inspection to Manipulation.IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS,67(9),7629-7638.
MLA Wang, Yu,et al."Underwater Bioinspired Propulsion: From Inspection to Manipulation".IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS 67.9(2020):7629-7638.
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