Development and Control of an Underwater Vehicle-Manipulator System Propelled by Flexible Flippers for Grasping Marine Organisms

doi:10.1109/TIE.2021.3070505

CORC > 自动化研究所 > 中国科学院自动化研究所 > 复杂系统管理与控制国家重点实验室 > 先进机器人控制团队

	Development and Control of an Underwater Vehicle-Manipulator System Propelled by Flexible Flippers for Grasping Marine Organisms
	Wang, Yu 1; Cai, Mingxue 1,2; Wang, Shuo 1,3,4; Bai, Xuejian 1; Wang, Rui 1; Tan, Min 1,3
刊名	IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS
	2022-04-01
卷号	69 期号:4 页码:3898-3908
关键词	Organisms Wires Sensors Grasping Switches Grippers Propulsion Flipper propulsor locomotion control underwater robotic grasping underwater vehicle-manipulator system (UVMS)
ISSN号	0278-0046
DOI	10.1109/TIE.2021.3070505
通讯作者	Cai, Mingxue(im_caimingxue@163.com)
英文摘要	Robots have the potential to assist and complement humans in the exploration of hostile environments. For example, underwater vehicle-manipulator systems (UVMSs) have been researched and applied in underwater operations. Motivated by the need for collecting marine organisms cultivated in shallow sea aquafarm, a lightweight and portable UVMS propelled by flexible flippers (named, F-UVMS), rather than typical propellers or jet-based propulsion systems, is investigated. To this end, integrative mechatronic design of F-UVMS is first presented, involving six flipper propulsors for generating thrust in a flapping way, a four-degree-of-freedom arm for grasping, and a certain amount of onboard sensors for environment perception. A thrust-power measurement platform is established to evaluate thrust-power relationship for different sizes and stiffness of flippers. Meanwhile, the locomotion modalities of F-UVMS are analyzed. A framework based on the nonlinear model-predictive control method is implemented to govern autonomous tracking marine organisms. The capabilities of F-UVMS are validated through a series of experiments in laboratory pool and field missions in real sea conditions.
资助项目	National Key Research and Development Program of China[2020YFC1512202] ; Youth Innovation Promotion Association of the Chinese Academy of Sciences (CAS)[2018162] ; National Natural Science Foundation of China[U1713222] ; National Natural Science Foundation of China[62073316] ; National Natural Science Foundation of China[U1806204] ; National Natural Science Foundation of China[62033013] ; key projects of foreign cooperation of CAS[173211KYSB20200020]
WOS关键词	TRACKING CONTROL ; TRIDENT ; AUV
WOS研究方向	Automation & Control Systems ; Engineering ; Instruments & Instrumentation
语种	英语
出版者	IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
WOS记录号	WOS:000733446400065
资助机构	National Key Research and Development Program of China ; Youth Innovation Promotion Association of the Chinese Academy of Sciences (CAS) ; National Natural Science Foundation of China ; key projects of foreign cooperation of CAS
内容类型	期刊论文
源URL	[http://ir.ia.ac.cn/handle/173211/47127]
专题	自动化研究所_复杂系统管理与控制国家重点实验室_先进机器人控制团队
通讯作者	Cai, Mingxue
作者单位	1.Chinese Acad Sci, State Key Lab Management & Control Complex Syst, Inst Automat, Beijing 100190, Peoples R China 2.Univ Hong Kong, Dept Mech Engn, Hong Kong, Peoples R China 3.Univ Chinese Acad Sci, Beijing 100049, Peoples R China 4.CAS Ctr Excellence Brain Sci & Intelligence Techn, Shanghai 200031, Peoples R China
推荐引用方式 GB/T 7714	Wang, Yu,Cai, Mingxue,Wang, Shuo,et al. Development and Control of an Underwater Vehicle-Manipulator System Propelled by Flexible Flippers for Grasping Marine Organisms[J]. IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS,2022,69(4):3898-3908.
APA	Wang, Yu,Cai, Mingxue,Wang, Shuo,Bai, Xuejian,Wang, Rui,&Tan, Min.(2022).Development and Control of an Underwater Vehicle-Manipulator System Propelled by Flexible Flippers for Grasping Marine Organisms.IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS,69(4),3898-3908.
MLA	Wang, Yu,et al."Development and Control of an Underwater Vehicle-Manipulator System Propelled by Flexible Flippers for Grasping Marine Organisms".IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS 69.4(2022):3898-3908.