水下机器人作业机械手的研究与发展

水下作业机械手是水下机器人核心组成部分，研究第二、第三代水下机械手技术是水下机器人的重要课题，本文仅就水下作业机械手当前的发展状态，设计原则及智能化技术的研究，提出有关看法，仅供研究水下机械手课题展开讨论。     

水下滑翔机器人系统研究

水下滑翔机器人是一种新型的水下机器人,可以作为水下监测平台用于大范围、长时间的大尺度海洋环境监测作业。文中调查了水下滑翔机器人的国内外发展现状,分析了其可能的应用领域。详细介绍了中国科学院沈阳自动化研究所开发的水下滑翔机器人系统,包括载体外形优化设计、载体结构设计和控制系统设计。分析了水下滑翔机器人定常滑翔运动和空间螺旋会转运动的运动性能。     

基于扑翼原理的帆板摇帆推进模型研究

比较鸟类扑翼飞行与帆板摇帆运动在结构、运动过程、气动升力构成和外界环境条件等方面的相似性,提出基于扑翼原理的帆板摇帆推进机理,建立帆板摇帆过程的扑翼运动描述模型。该模型的建立为帆板摇帆运动推进机理的进一步研究奠定基础。     

水下滑翔机海上试验研究

介绍了水下滑翔机工程样机"海翔1"号2015年在南海的海上试验情况,包括试验对象、试验海区、试验步骤和试验数据分析等。本次试验最大下潜深度达到503.7 m,最大垂直速度为0.15m/s,最大水平航速为0.33 m/s,水中航行里程总计41.2 km。在4级海况下完成了通信定位、数据传输、布放与回收作业,搭载了CTD、叶绿素和溶解氧浓度传感器进行海洋环境参数测量,获得了500 m深度剖面内的温度、电导率、叶绿素浓度和溶解氧浓度参数信息。本次海上试验为水下滑翔机产品设计定型和示范应用奠定基础。     

“探索者”号无缆自治水下机器人的信息系统

本文主要介绍“探索者”号无缆自治水下机器人信息系统及构成，它分为水上、水下两大部分、最后，详细介绍了水上信息系统的特点。     

水下机器人-机械手系统构建与研究

描述了一水下机器人——机械手系统研究平台的搭建,详细介绍了三功能水下电动机械手的设计与实验,给出了载体分系统的设计结果,利用Matlab工具箱和M函数构建了系统仿真模型,可以有效地对系统规划和控制算法进行验证(包括分别对载体分系统和机械手分系统的控制),可为进一步的现场试验提供指导和方法验证。     

自治水下机器人机械手系统协调运动研究

简单描述了自治水下机器人搭载的三功能水下电动机械手的设计,鉴于自治水下机器人-机械手系统运动学冗余、内部可能干涉以及载体圆筒式外形等特点,将惩罚调节因子引入系统运动学伪逆矩阵,保证了关节在允许范围内运动,避免载体大幅度姿态变化及载体与机械手之间的干涉,同时采用梯度投影法优化海流作用下的系统推力。仿真表明,该算法在解决系统冗余度的同时,有效地协调多任务下的系统动作。     

Numerical Simulation for Hydrodynamic Characteristics of A Bionic Flapping Hydrofoil

In order to study the propulsion mechanism of bionic flapping hydrofoil (BFH), a 2-DoF (heave and pitch) motion model is formulated. The hydrodynamic performance of BFH with a series kinematical parameters is explored via numerical simulation based on FLUENT. The calculated result is compared with experimental value of MIT and that by the panel method. Moreover, the effect of inlet velocity, the angle of attack, the heave amplitude, the pitch amplitude, the phase difference, the heave biased angle, the pitch biased angle and the oscillating frequency are investigated. The study is useful for guiding the design of bionic underwater vehicle based on flapping propulsion. It is indicated that the optimal parameters combination is ν=0.5m/s, ?0=40°, θ0=30°,ψ=90°, ?bias=40°, θbias=30° and f=0.5Hz.     

A Novel Actuator for Underwater Robots

Pneumatic muscles have been used for a number of years as actuators in robotic systems, usually for those that mimic human actions. They are most commonly used in systems designed to aid physically handicapped people. This feasibility study reports mechanical testing and modeling results for the Shadow™ artificial muscle pneumatic actuator working in both air and underwater. The static and dynamic tension-contraction measurements were recorded through both the force and contraction relationship test and the dynamic response and time relationship test. A model of the properties of the muscle working in water was derived from the measurements of the tests that can be considered for its feasibility for use in undersea robotics.      

水下仿生流场探测技术研究进展

随着对海洋的探索与开发,水下探测技术的发展起到了重要作用。水生动物的敏感器官,如鱼类的侧线和海豹的胡须等,可感知物体运动产生的水动力尾迹。受此启发,仿生流场探测技术克服了光学与声学探测在水下复杂环境中近场感知的局限性,已成为目前的研究热点。首先,对典型水下探测技术的研究现状进行了总结。然后,解释了水下仿生流场探测的原理,总结了基于不同原理设计的仿生流场传感器的研究进展,分析了水动力流场探测方法的研究进展。最后,给出了水下仿生流场探测工作中亟需解决的关键问题,并对未来的研究方向做了进一步展望。     

水陆两栖机器人水下动力学建模及操纵性研究

针对多模态水陆两栖机器人作业环境复杂使得水下运动状态难以预报等难题,基于 CFD 方法求解的水动力系数,构建了机器人水下运动的五自由度动力学和运动学模型。基于机器人水下动力学模型,采用四阶经典龙格库塔法,开展了机器人直航运动及水平面回转运动数值仿真研究,并进行了水池试验验证。 试验结果数据与数值仿真结果误差均不超过 10%,验证了机器人水动力系数及五自由度动力学模型的准确性, 为水陆两栖机器人研制提供了理论与技术支撑。     

水下图像目标检测研究综述

在海洋开发的环境下,水下物体探测技术得到广泛应用,随着水下机器人与计算机技术的发展,该技术越来越受到研究人员的重视。根据当前的水下图像目标检测研究进展,简要介绍水下图像目标检测流程（即图像采集、图像的预处理、以及图像检测的方法）,对总结发展现状、发现技术的不足及挖掘未来的研究方向有重要意义。针对基于光学图像的水下目标识别问题,论述了图像采集、图像的预处理、以及图像检测等方面的主要进展,阐述了基于深度学习实现水下图像目标识别的技术发展现状。通过对水下目标处理过程的讨论和分析,指出水下图像目标识别领域中需要解决的问题,并预测该领域技术发展趋势。     

Zero-G Class Underwater Robots: Unrestricted Attitude Control Using Control Moment Gyros

The "Zero-G" is designated as a new class of underwater robot that is capable of unrestricted attitude control. A novel control scheme based on internal actuation using control moment gyros (CMGs) is developed to provide Zero-G class autonomous underwater vehicles (AUVs) with this unique freedom in control. This is implemented in the CMG-actuated Zero-G class internal kinematic underwater robot actuation (IKURA) system that was developed as part of this research. A series of experiments are performed to demonstrate the practical application of CMGs and verify the associated theoretical developments. The ability to actively stabilize the translational dynamics of the robot is assessed and unrestricted attitude control is demonstrated in an experiment that involves vertically pitched diving and surfacing in surge. Finally, potential applications for Zero-G class AUVs are discussed.     

Thrust Characterization of a Bioinspired Vortex Ring Thruster for Locomotion of Underwater Robots

A new type of thrusting technology, loosely inspired by the locomotion of cephalopods, offers promising low-speed maneuvering capabilities for a new generation of underwater vehicles and robots. The actuators consist of a small cavity with a moving wall on one side and an orifice on the other side. The net effect of periodic movement of the moving wall is the ingestion of low-momentum fluid inside the cavity and then the expulsion of the fluid as a pulsatile jet from the orifice, with no net mass flux. Continuous operation of the actuator results in a synthetic jet. The actuators provide a net positive momentum flux with zero net mass flux. They are compact with no extruding components to negatively impact the vehicle's drag at cruising speed. Parameters controlling the pulsatile jet and its thrust are identified. The thruster was empirically tested for a large range of frequencies and stroke ratios. The thrust characteristics of the device with respect to frequency was seen to converge to a single thrust coefficient. A model was developed to predict the thrust coefficient. The effect of the stroke ratios on the thrust coefficient is investigated. The model accurately predicts the observed thrust coefficient for stroke ratios up to five where the vortex ring pinchoff occurs. The accuracy of the model degrades for stroke ratios above the formation number where part of the expelled jet is pulled back into the cavity. Additionally, these devices have thrust tracking times faster than those reported for typical propellor-type thrusters, and deliver a fully quantized level of thrust.      

水下微小无人机集群发展综述

水下微小无人机集群具有体积小、功耗低、集群智慧等特点,可广泛应用于船舶故障排查、水下防恐安全检查、海底采矿、海底通讯中继等领域。CoCoRo,M-AUEs,SmarmDiver 等典型水下微小无人机集群成功实现了海洋生物行为模拟、海洋生态环境监控、水底搜索等功能。水下微小无人机集群在多传感器搭载及数据融合、水下通讯、定位、集群控制等技术上还需进一步完善,我国应加强在该领域的研究开发。     

基于深度学习的水下光学图像超分辨率重建综述

图像超分辨率重建旨在从低分辨率图像中生成包含高频细节的高分辨率图像。随着近年来人工智能的快速发展,基于深度学习的超分辨率重建算法取得了突破性进展。然而,水下光学图像通常会产生严重的颜色失真、细节缺失、对比度下降与模糊等多种退化问题,重建难度远高于常规的自然光学图像。目前尚未有文献对基于深度学习的水下光学图像超分辨率重建进行系统性综述。首先,对自然图像退化方式和数据集进行分类总结,结合国内外最新研究现状将基于深度学习的单幅图像超分辨率重建算法分为针对一般退化、已知（非盲）多种退化、未知（盲）多种退化3个方面进行详细总结,为水下应用场景提供参考。然后,介绍了水下光学图像退化方式,归纳了常见的公开数据集,总结并分析了水下光学图像超分辨率重建的最新进展。最后,对该领域未来可能的发展趋势进行了展望。     

水声传播建模研究现状综述

声波是目前唯一能够在海水介质中进行远距离传播的有效载体,因此水下声传播建模理论成为水下作战环境研究的重点和难点之一,对现代声纳的设计和使用以及水面、水下作战部署具有重要意义。从水声传播建模理论的七个主要方面综述了声传播建模理论的发展研究现状,总结了国内外近几十年来并行计算在水声传播建模理论方面的应用现状,指出建立快速准确并与实际海洋环境条件相吻合的三维声场模型,并研究基于硬件平台的并行算法是未来水声传播建模理论的发展方向。