一种水下机器人的工程触须的研究

本文介绍了一种类似生物触须的水下作业机器人的触觉传感器的工作原理和结构，并对传感器信号进行处理，为机器人控制提供感觉信息．     

一种水下机器人的工程解须的研究

本文介绍了一种类似生物触 水下作业机器人的触感器的工作原理的结构，并对传感器信号进行了处理，为机器人控制提供感受信息。     

水下机器人推力器容错控制技术的研究

为保证自主式水下机器人在高压、可见度差的未知海洋环境下顺利完成作业任务， 必然要求水下机器人具有容错控制能力．本文主要以哈尔滨工程大学研制的“智水Ⅲ” 型水下机器人为对象，探讨水下机器人推力器容错控制技术．文中先给出在正常情况下水下 机器人的解耦控制器及推力分配，然后给出了在推力器出现故障时的容错控制策略．仿真结 果表明，该控制器及容错控制策略都能达到很好的控制精度．     

一种用于水下机器人的触沉传感器研究

本文论述了一种用于水下作业机械手的机器人触觉传感器的结构及工作原理，这种传感器的开关类似于水下生物的“触须”，能够在４个方位上判别与对象接触的位置及接触长度，对于其他形式的机械同样适用。     

水下机器人通用实时控制软件研究与实现

随着水下机器人技术的市场化，水下机器人通用实时控制软件成为研究热点．本文在总结水下机器人功能的基础上提出了水下机器人通用实时控制软件的三层体系结构．并介绍了按照这一体系结构开发出的一套水下机器人通用实时控制软件．     

水下机器人主动对接装置的协调控制研究

水下机器人主动对接装置在对接裙外侧安装有4只两自由度对接机械手,其主要功能是在恶劣的海洋环境中能实现水下机器人与失事潜艇的准确对接,完成救生任务．为了实现自主作业,根据作业特点提出了将水下机器人与对接机械手的作业过程抽象成自动机模型的方法,应用离散事件系统理论实现4只机械手与水下机器人的协调控制．在此基础上,进一步介绍了赋时离散事件系统理论,并应用于水下机器人主动对接装置的协调控制中,解决了系统的时间性问题,使之成为切实可行的控制方法．     

多关节水下机器人方案设计与关键技术应用

针对自主水下机器人作业能力不强及现有链式多体水下机器人因推进器外挂而减弱了机器人通过性等问题,文章提出了一种多关节水下机器人总体设计方案,该多关节水下机器人由功能载体与基本载体经连接关节串联构成。文章首先介绍了功能载体与基本载体的结构构成;接着对方案中使用的关键技术原理进行了详细分析,如射流操纵、矢量推进、折叠天线等;最后研制了多关节水下机器人基本载体物理样机,并依次进行了湖上试验与海上试验。在定向变深度航行试验中,深度误差不大于±0.1 m,航向误差不大于±1°,试验结果验证了多关节水下机器人基本载体的航行能力,证明了文章所提出的多关节水下机器人设计方案的可行性。     

一种欠驱动水下机器人手爪的作业能力研究

在分析当前机器人手爪研究现状的基础上,根据水下作业任务特点,确定了作业型水下机器人多传感器手爪的设计需求,研究了水下手爪原理样机的作业能力,结合典型物体的抓取给出了关键参数关系.该样机可满足在指定环境下进行目标识别、抓取、简单装配、搬运等典型操作任务的要求,为操作型水下机器人多传感器手爪感知系统的研究提供了硬件平台.     

基于柔性长鳍波动推进的仿生水下机器人设计与实现

以基于柔性长鳍波动推进的仿生水下机器人试验模型为背景,主要研究其设计与实现问题．首先,介绍了仿生水下机器人试验模型的设计原则及其系统总体结构,然后重点研究了仿生柔性长鳍、主控模块与通讯系统、运动控制子系统的设计方法、系统构成和工作原理,最后介绍了试验模型的系统测试与航行试验结果及其结论,并指出了仿生水下机器人试验模型的改进重点和柔性长鳍波动推进技术今后的研究方向．基于柔性长鳍波动推进的仿生水下机器人试验模型的研制成功,初步验证了柔性长鳍波动推进方式应用于水下机器人推进控制系统在原理上和技术上是可行的．     

高层建筑喷涂机器人系统研究

本文论述了用于高层建筑外墙面装饰材料喷涂作业的喷涂机器人系统，着重论述了 该机器人系统的组成和特点、机器人支援系统和机器人本体结构的设计，讨论了机器人控制 系统的结构原理，并对机器人控制系统的实现和基于传感器的任务调度机制进行了深入的探 讨．     

通信距离约束下异构水下爬游机器人任务分配

为了保证执行任务的水下爬游机器人之间时刻保持信息交互,提出了一种带通信距离约束的异构水下爬游机器人集群任务分配方法;首先,建立了异构水下爬游机器人集群的任务分配数学模型;其次,分析了多水下爬游机器人通信距离、航程等约束条件;最后,采用蚁群优化算法对异构水下爬游机器人集群的任务分配问题进行求解,在满足约束条件情况下实现了多爬游机器人总航行距离最短;仿真验证了该方法在通信距离约束下实现多水下爬游机器人任务分配的有效性.     

Two-step gradient-based reinforcement learning for underwater robotics behavior learning

This article proposes a field application of a Reinforcement Learning (RL) control system for solving the action selection problem of an autonomous robot in a cable tracking task. The Ictineu Autonomous Underwater Vehicle (AUV) learns to perform a visual based cable tracking task in a two step learning process. First, a policy is computed by means of simulation where a hydrodynamic model of the vehicle simulates the cable following task. The identification procedure follows a specially designed Least Squares (LS) technique. Once the simulated results are accurate enough, in a second step, the learnt-in-simulation policy is transferred to the vehicle where the learning procedure continues in a real environment, improving the initial policy. The Natural Actor–Critic (NAC) algorithm has been selected to solve the problem. This Actor–Critic (AC) algorithm aims to take advantage of Policy Gradient (PG) and Value Function (VF) techniques for fast convergence. The work presented contains extensive real experimentation. The main objective of this work is to demonstrate the feasibility of RL techniques to learn autonomous underwater tasks, the selection of a cable tracking task is motivated by an increasing industrial demand in a technology to survey and maintain underwater structures.     

水下航行器通用数据处理软件的实现

针对多型水下航行器试后大容量、多类型、可视化的数据处理需求,采用自适应内存映射技术、试验数据对象抽象提取、多线程等关键技术,设计了一种水下航行器通用的数据处理软件,软件可快速高效地实现各系统关键参数的数据特征值可视化分析和航行器综合性能评估,结合人工判读生成当前航行任务的评估报告,最终评判水下航行器的航行姿态、声学、磁学等工作效果和性能指标。经实际应用,软件满足了多型水下航行器海量数据处理需求,实现了不同任务、不同系统、不同侧重点的弹道参数的特征值分析、联合缩放、对比分析等处理方法。该软件具有通用化程度高,可移植性强,运行稳定可靠等特点,缩短了数据处理软件的研制周期,提高了工作效率,工程实践效果良好。     

Maintaining consistency between CAD elements in collaborative design using association management and propagation

The complete definition of a product often requires the collaboration of various partners. Data sharing and exchange between partners has thus become an important task throughout a product's entire life cycle. Even while subsets of the product definition are exchanged (as work packages) and modified by various partners, the global product definition must remain consistent. This paper focuses on maintaining consistency between Computer-Aided Design (CAD) work packages and the global product Digital Mock-Up (DMU). The approach is designed to ensure better management of the associations between objects when a work package is extracted from the global DMU, modified by a partner, sent back to the originator and then re-inserted into the global DMU, which must be modified in turn so as to maintain consistency. To this end, we propose an association management model for the digital mock-up (Digital Mock-up Association Management Model, DMU-AMM) that transposes the associations that exist between a DMU and a work package, including package extraction and modifications, to ultimately guide the evolution of the DMU so as to reconcile the associations between a modified DMU and the modified work package and there by maintain consistency.     

An innovative decentralized strategy for I-AUVs cooperative manipulation tasks

In the last years, a challenging field of autonomous robotics is represented by cooperative mobile manipulation carried out in different environments (aerial, terrestrial and underwater environment). As regards cooperative manipulation of Intervention-Autonomous Underwater Vehicles (I-AUVs), this application is characterized by a more complex environment of work, compared to the terrestrial or aerial ones, both due to different technological problems, e.g. localization and communication in underwater environment. However, the use of Autonomous Underwater Vehicle (AUV) and I-AUV will necessarily grow up in the future exploration of the sea. Particularly, cooperative I-AUVs represent the natural evolution of single centralized I-AUV because they may be used in various underwater assembly tasks, such as complex underwater structure construction and maintenance (e.g. underwater pipeline and cable transportation can be carried out by multiple cooperative I-AUVs). Furthermore, underwater search and rescue tasks could be more efficient and effective if multiple I-AUVs were used.In this paper, the authors propose an innovative decentralized approach for cooperative mobile manipulation of I-AUVs. This decentralized strategy is based on a different use of potential field method; in particular, a multi-layer control structure is developed to in parallel manage the coordination of the swarm, the guidance and navigation of the I-AUVs and the manipulation task. The main advantage of the potential field method is that less information is necessary: navigation and control problems are reduced to the evaluation of the distance vector among the vehicles, object and obstacles. Moreover, because of the technological problems caused by the underwater environment, the reduction of the transmitted data is one of the keypoints of this architecture. In MATLAB^®-Simulink^®, the authors have simulated a transportation task of a partially known object along a reference trajectory in an unknown environment, where some obstacles are placed. The task is performed by an I-AUV swarm composed of four vehicles, each one provided of a 7 Degrees Of Freedom (DOFs) robotic arm.     

UUV侦察水雷作业模式效率评估仿真研究

侦察水雷是水雷战的一项重要内容,也是水下无人作战平台(UUV)的一项重要作业任务.经研究,提出了水下无人作战平台执行侦察水雷任务的二种作业模式,为对二种作业模式的效率进行评估,给出了作业区的水雷分布模型,在分析二种作业模式侦察水雷作业过程的基础上,利用贝叶斯定理和统计学方法,建立了水下无人作战平台使用二种作业模式侦察水雷作业效率的评估仿真模型,并结合简单想定进行了计算机仿真,得出了评估仿真结果.为水下无人作战平台选择作业模式提供了理论依据.     

海洋中尺度涡旋观测任务中的水下滑翔机协同控制策略

为了实现以水下滑翔机为平台,组队进行海洋中尺度涡旋的采样观测任务,提出了一种水下滑翔机队形协同控制方法．该控制方法可以使滑翔机能够完成以涡旋中心为圆心的预定圆形轨迹的循迹采样,同时在采样过程中能够使滑翔机保持任意预定的相对位置关系．首先,利用极坐标系对滑翔机的队形参数进行建模;然后根据队形参数提出对应的能量方程;最后通过最小化能量方程的导函数,制订相应的水下滑翔机航向控制律．通过建立仿真系统并对不同的轨迹参数进行仿真,在涡旋中心恒速运动和变速运动的情况下,载体均实现了对涡旋区域内不同半径圆形轨迹的跟踪采样观测任务,证明了该方法能够满足圆形预定轨迹上滑翔机队形保持的要求,为进行海洋中尺度涡旋区域组队观测采样提供了一种有效的队形控制方法．     

Design and performance evaluation of a biomimetic microrobot for the father–son underwater intervention robotic system

Underwater intervention is a favorite and difficult task for AUVs. To realize the underwater manipulation for the small size spherical underwater robot SUR-II, a father–son underwater intervention robotic system (FUIRS) is proposed in our group. The FUIRS employs a novel biomimetic microrobot to realize an underwater manipulation task. This paper describes the biomimetic microrobot which is inspired by an octopus. The son robot can realize basic underwater motion, i.e. grasping motion, object detection and swimming motion. To enhance the payload, a novel buoyancy force adjustment method was proposed which can provides 11.8 mN additional buoyancy force to overcome the weight of the object in water. Finally, three underwater manipulation experiments are carried out to verify the performance of the son robot. One is carried by swimming motion and buoyancy adjustment; the other two are only carried by buoyancy adjustment. And the experimental results show that the son robot can realize the underwater manipulation of different shape and size objects successfully. The swimming motion can reduce the time cost of underwater manipulation remarkably.     

Multi-AUV SOM task allocation algorithm considering initial orientation and ocean current environment

There is an ocean current in the actual underwater working environment. An improved self-organizing neural network task allocation model of multiple autonomous underwater vehicles (AUVs) is proposed for a three-dimensional underwater workspace in the ocean current. Each AUV in the model will be competed, and the shortest path under an ocean current and different azimuths will be selected for task assignment and path planning while guaranteeing the least total consumption. First, the initial position and orientation of each AUV are determined. The velocity and azimuths of the constant ocean current are determined. Then the AUV task assignment problem in the constant ocean current environment is considered. The AUV that has the shortest path is selected for task assignment and path planning. Finally, to prove the effectiveness of the proposed method, simulation results are given.

     

智能化水下机械手的研究

水下机械手的研究和设计对水下机器人的应用和发展具有重要的影响,而智能化水下机械手要具有自主路径规划和目标类型判断的功能.文中首先简要叙述了水下机械手的发展现状和存在问题,然后通过分析抓取任务及环境信息的获取,设计了系统的硬件结构和软件组成.接着通过对水下机械手进行数学建模,阐述了抓取操作的工作原理,并给出了一个抓取过程的实例曲线.