As marine resources gain increasing significance,the development of high-performance propulsion systems has become a critical area focus in underwater robotics research.Drawing inspiration from the unique symmetrical ...As marine resources gain increasing significance,the development of high-performance propulsion systems has become a critical area focus in underwater robotics research.Drawing inspiration from the unique symmetrical morphology and highly agile oscillatory propulsion of stingrays,a compact stingray-inspired robot has been developed.This robot integrates multiple functional components,including a head,an oscillating guide rod mechanism,a flexible undulatory fin propulsion mechanism,a hybrid-material drive shaft,a control system,an energy supply unit,and a tail.Driven by three motors,the hybrid-material drive shaft facilitates efficient power transmission to each undulatory propulsion unit at varying angles,ensuring consistent and stable propulsion.The robot demonstrates advanced maneuverability,capable of performing 360°rotations and S-shaped trajectories on the water surface.Furthermore,its flexible drive shaft enables three-dimensional underwater locomotion through precise control of bending angles.With a compact design measuring 270 mm in length,270 mm in width,and 45 mm in height,and weighing only 346 g,the stingray-inspired robot achieves a maximum swimming speed of 0.617 body lengths per second(BL/s).This stingray-inspired robot holds significant potential for applications in underwater environmental monitoring,covert military reconnaissance,and aquaculture.展开更多
When designing a complex mechatronics system,such as high speed trains,it is relatively difficult to effectively simulate the entire system's dynamic behaviors because it involves multi-disciplinary subsystems.Cur...When designing a complex mechatronics system,such as high speed trains,it is relatively difficult to effectively simulate the entire system's dynamic behaviors because it involves multi-disciplinary subsystems.Currently,a most practical approach for multi-disciplinary simulation is interface based coupling simulation method,but it faces a twofold challenge:spatial and time unsynchronizations among multi-directional coupling simulation of subsystems.A new collaborative simulation method with spatiotemporal synchronization process control is proposed for coupling simulating a given complex mechatronics system across multiple subsystems on different platforms.The method consists of 1)a coupler-based coupling mechanisms to define the interfacing and interaction mechanisms among subsystems,and 2)a simulation process control algorithm to realize the coupling simulation in a spatiotemporal synchronized manner.The test results from a case study show that the proposed method 1)can certainly be used to simulate the sub-systems interactions under different simulation conditions in an engineering system,and 2)effectively supports multi-directional coupling simulation among multi-disciplinary subsystems.This method has been successfully applied in China high speed train design and development processes,demonstrating that it can be applied in a wide range of engineering systems design and simulation with improved efficiency and effectiveness.展开更多
The model-driven architecture(MDA)/model-based systems engineering(MBSE)approach,in combination with the real-time Unified Modeling Language(UML)/Systems Modeling Language(SysML),unscented Kalman filter(UKF)algorithm,...The model-driven architecture(MDA)/model-based systems engineering(MBSE)approach,in combination with the real-time Unified Modeling Language(UML)/Systems Modeling Language(SysML),unscented Kalman filter(UKF)algorithm,and hybrid automata,are specialized to conveniently analyze,design,and implement controllers of autonomous underwater vehicles(AUVs).The dynamics and control structure of AUVs are adapted and integrated with the specialized features of the MDA/MBSE approach as follows.The computation-independent model is defined by the specification of a use case model together with the UKF algorithm and hybrid automata and is used in intensive requirement analysis.The platform-independent model(PIM)is then built by specializing the real-time UML/SysML’s features,such as the main control capsules and their dynamic evolutions,which reflect the structures and behaviors of controllers.The detailed PIM is subsequently converted into the platform-specific model by using open-source platforms to quickly implement and deploy AUV controllers.The study ends with a trial trip and deployment results for a planar trajectory-tracking controller of a miniature AUV with a torpedo shape.展开更多
基金supported in-part by the Natural Science Foundation of Guangzhou(2024A04J2552)the National Natural Science Foundation of China(52275011 and 51905105)+3 种基金the Natural Science Foundation of Guangdong Province(2023B1515020080)the Young Elite Scientists Sponsorship Program by the China Association for Science and Technology(CAST)(2021QNRC001)the Natural Science Foundation of Beijing(3252006)the Fundamental Research Funds for the Central Universities.
文摘As marine resources gain increasing significance,the development of high-performance propulsion systems has become a critical area focus in underwater robotics research.Drawing inspiration from the unique symmetrical morphology and highly agile oscillatory propulsion of stingrays,a compact stingray-inspired robot has been developed.This robot integrates multiple functional components,including a head,an oscillating guide rod mechanism,a flexible undulatory fin propulsion mechanism,a hybrid-material drive shaft,a control system,an energy supply unit,and a tail.Driven by three motors,the hybrid-material drive shaft facilitates efficient power transmission to each undulatory propulsion unit at varying angles,ensuring consistent and stable propulsion.The robot demonstrates advanced maneuverability,capable of performing 360°rotations and S-shaped trajectories on the water surface.Furthermore,its flexible drive shaft enables three-dimensional underwater locomotion through precise control of bending angles.With a compact design measuring 270 mm in length,270 mm in width,and 45 mm in height,and weighing only 346 g,the stingray-inspired robot achieves a maximum swimming speed of 0.617 body lengths per second(BL/s).This stingray-inspired robot holds significant potential for applications in underwater environmental monitoring,covert military reconnaissance,and aquaculture.
基金Supported by National High Technology Research and Development Program of China(863 Program,Grant No.2015AA043701-02)
文摘When designing a complex mechatronics system,such as high speed trains,it is relatively difficult to effectively simulate the entire system's dynamic behaviors because it involves multi-disciplinary subsystems.Currently,a most practical approach for multi-disciplinary simulation is interface based coupling simulation method,but it faces a twofold challenge:spatial and time unsynchronizations among multi-directional coupling simulation of subsystems.A new collaborative simulation method with spatiotemporal synchronization process control is proposed for coupling simulating a given complex mechatronics system across multiple subsystems on different platforms.The method consists of 1)a coupler-based coupling mechanisms to define the interfacing and interaction mechanisms among subsystems,and 2)a simulation process control algorithm to realize the coupling simulation in a spatiotemporal synchronized manner.The test results from a case study show that the proposed method 1)can certainly be used to simulate the sub-systems interactions under different simulation conditions in an engineering system,and 2)effectively supports multi-directional coupling simulation among multi-disciplinary subsystems.This method has been successfully applied in China high speed train design and development processes,demonstrating that it can be applied in a wide range of engineering systems design and simulation with improved efficiency and effectiveness.
文摘The model-driven architecture(MDA)/model-based systems engineering(MBSE)approach,in combination with the real-time Unified Modeling Language(UML)/Systems Modeling Language(SysML),unscented Kalman filter(UKF)algorithm,and hybrid automata,are specialized to conveniently analyze,design,and implement controllers of autonomous underwater vehicles(AUVs).The dynamics and control structure of AUVs are adapted and integrated with the specialized features of the MDA/MBSE approach as follows.The computation-independent model is defined by the specification of a use case model together with the UKF algorithm and hybrid automata and is used in intensive requirement analysis.The platform-independent model(PIM)is then built by specializing the real-time UML/SysML’s features,such as the main control capsules and their dynamic evolutions,which reflect the structures and behaviors of controllers.The detailed PIM is subsequently converted into the platform-specific model by using open-source platforms to quickly implement and deploy AUV controllers.The study ends with a trial trip and deployment results for a planar trajectory-tracking controller of a miniature AUV with a torpedo shape.
