水下分散自重构系统虚拟原型

开发了水下分散自重构系统的虚拟原型，从模块、拓扑和构形三个层次对水下分散自重构系统进行了描述，实现了对其运动和自重构过程的动力学仿真，并通过3D方式实时显示仿真与分析结果。利用该虚拟原型分析了系统的多种步态和自重构过程，说明虚拟原型可以为系统自重构策略提供直观可信的设计和测试手段。相对于实物样机，虚拟原型也具有低成本和易扩展的特点。

Virtual prototype of underwater self-reconfigurable system

A virtual prototype of the underwater self-reconfigurable system (USS) was developed, which describes USS in the three levels of module, topology and configuration, simulates its dynamics of both locomotion and self-reconfiguration, and visualizes the results with the technique of virtual reality. The virtual prototype was then employed to analyze many kinds of gaits and self-reconfiguration processes, which shows that the virtual prototype has provided an intuitional and credible tool for the design and test of USS self-reconfiguration strategy. Compared with physical prototypes, the virtual prototype is also of lower cost and can be expanded more easily.