With rising temperatures and complete melting of Arctic ice expected by 2050, an increasing interest in exploiting Arctic resources and protecting the Arctic from exploitation requires advanced technology be deployed ...
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ISBN:
(纸本)9781665435765
With rising temperatures and complete melting of Arctic ice expected by 2050, an increasing interest in exploiting Arctic resources and protecting the Arctic from exploitation requires advanced technology be deployed to achieve long duration environmental monitoring and data collection. This will provide the necessary knowledge to guide the development of the Arctic in the coming decades. Here, we have concept designed and implemented for the first time an autonomous underwater morphing robot prototype known as First Arctic Under-ice Ocean Walking Laboratory (FAU-OWL) for long duration environmental monitoring and data collection in the Arctic. This underwater robot is capable of skiing or being anchored upside-down under a sheet of ice using buoyancy control in combination with suction cups and can travel long distances by morphing its legs into wings in order to glide as well as walk. In this paper, the detailed structure, working modes, energy supplement and equipped sensors were explained, and then the dynamics of FAU-OWL under different working modes was studied. Besides, the hydrodynamic characteristics of FAU-OWL were analyzed using computational fluid dynamics (CFD) software known as Star-CCM. Finally, the working principle of FAU-OWL under different working modes in combination with the test situation was described in detail.
With rising temperatures and complete melting of Arctic ice expected by 2050,an increasing interest in exploiting Arctic resources and protecting the Arctic from exploitation requires advanced technology be deployed t...
详细信息
With rising temperatures and complete melting of Arctic ice expected by 2050,an increasing interest in exploiting Arctic resources and protecting the Arctic from exploitation requires advanced technology be deployed to achieve long duration environmental monitoring and data *** will provide the necessary knowledge to guide the development of the Arctic in the coming ***,we have concept designed and implemented for the first time an autonomous underwater morphing robot prototype known as First Arctic Under-ice Ocean Walking Laboratory(FAU-OWL) for long duration environmental monitoring and data collection in the *** underwater robot is capable of skiing or being anchored upside-down under a sheet of ice using buoyancy control in combination with suction cups and can travel long distances by morphing its legs into wings in order to glide as well as *** this paper,the detailed structure,working modes,energy supplement and equipped sensors were explained,and then the dynamics of FAU-OWL under different working modes was ***,the hydrodynamic characteristics of FAU-OWL were analyzed using computational fluid dynamics(CFD) software known as ***,the working principle of FAU-OWL under different working modes in combination with the test situation was described in detail.
Inchworm, a kind of caterpillar, traverses various terrains by moving its center of mass (COM) with simple two-anchor crawling locomotion. Because of this advantage, many soft locomotion robots were developed to mimic...
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ISBN:
(纸本)9781538692608
Inchworm, a kind of caterpillar, traverses various terrains by moving its center of mass (COM) with simple two-anchor crawling locomotion. Because of this advantage, many soft locomotion robots were developed to mimic this inchworm-like two-anchor crawling. However, most of these developed inchworm robots have difficulties in moving its COM in the vertical height direction, so these robots face difficulties in overcoming discrete high terrain, like stairs. In this paper, we propose a flexible sheet-based inchworm robot (Loco-sheet) that employs a novel locomotion mode made by morphing to overcome discrete high terrains, like stairs. In this novel mode, called the S-shape locomotion mode, the robot changes its body shape into an 'S' to lift the COM up, by exploiting bending stiffness of the flexible sheet to climb stairs. The bending stiffness of the sheet was designed to be sufficient to lift up the COM. The robot also does two-anchor crawling, called the omega-shape locomotion mode, to pass through low gaps. Loco-sheet is designed with anisotropic friction wheels and a mass distribution advantageous for omega-shaped locomotion without slippage. morphing between two modes is reversible. Motor-tendon driven actuation system allows the robot to pull the far end of the sheet from the actuator to fold the body, and allows the robot to operate untethered from an external power supply with small volume actuators. The robot climbs a 90 mm stair, passes through 72 mm low gaps, and travels flat surfaces. Therefore, Loco-sheet is suitable for traveling a variety of undefined environments.
The aerial robot presented here for the first time was based on a quadrotor structure, which is capable of unique morphing performances based on an actuated elastic mechanism. Like birds, which are able to negotiate n...
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The aerial robot presented here for the first time was based on a quadrotor structure, which is capable of unique morphing performances based on an actuated elastic mechanism. Like birds, which are able to negotiate narrow apertures despite their relatively large wingspan, our Quad-morphing robot was able to pass through a narrow gap at a high forward speed of 2.5 m.s(-1) by swiftly folding up the structure supporting its propellers. A control strategy was developed to deal with the loss of controllability on the roll axis resulting from the folding process, while keeping the robot stable until it has crossed the gap. In addition, a complete recovery procedure was also implemented to stabilize the robot after the unfolding process. A new metric was also used to quantify the gain in terms of the gap-crossing ability in comparison with that observed with classical quadrotors with rigid bodies. The performances of these morphing robots are presented, and experiments performed with a real flying robot passing through a small aperture by reducing its wingspan by 48% are described and discussed.
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