Experimental test bench for investigation of flow control around unmanned underwater robot

作     者：Galushko, Ilya D. Salmina, Vera A. Gafurov, Salimzhan A. Stadnik, Dmitry M. Ilukhin, Vladimir N. 

作者机构：Samara National Research University Samara443086 Russia Innopolis University Center for Technologies of Robotics and Mechatronics Components Innopolis420500 Russia 

出 版 物：《IFAC-PapersOnLine》 

年 卷 期：2018年第51卷第30期

页      面：604-609页

核心收录：

基　　金：This work was supported by the Ministry of Education and Science of the Russian Federation (Grant # 1.7914.2017/8.9). This research has been also supported by Russian Ministry of Education and Science within the Federal Target Program grant (research grant ID RFMEFI60917X0100) 

主　　题：Energy efficiency Acoustic impedance Acoustic noise Anisotropy Pneumatics Robots Underwater acoustics Aerodynamic surfaces Anisotropic bodies Experimental test benches Noise and vibration Pressure pulsation Test benches Underwater robotics Variable geometry 

摘      要：For underwater robots in the past three decades, the problem of energy efficiency and acoustic noiselessness has arisen sharply. The solution of these problems is inextricably linked with the solution of the problems of dynamics and vibroacoustics arising in the flow of a liquid under the flow of underwater bodies. These problems include the problem of the pressure pulsations occurrence and velocity distributed over the surface of the object, as well as noise and vibrations caused by these pulsations. To create energy-efficient and low-noise underwater robots, it is necessary to create methods for influencing the structure of wall currents and the shape of the aerodynamic surfaces of the robot in order to reduce its surface friction, as well as impedance. In this paper, we consider the development of an experimental bench for testing the main executive systems of an underwater robot with an anisotropic hull, including a buoyancy variation system, a trim and roll change system, and a hull geometry changing system. © 2016