水下分散自重构系统设计

研究一种新的水下系统设计概念,水下分散自重构系统.该系统由数量不定的少数几类相似模块组成,通过模块之间的连接和分离,可以实时改变系统构形.通过模块的协调变形,可以实现不同的运动方式.开发了一个基本的样机系统,称为USS.USS目前只包括一类模块,可以实现2 种平面基本构形和2种空间基本构形.由于具有浮力调节能力,可以通过平面构形实现海洋水体空间机动,以及海底和水下结构物中的运动.

Design of a Distributed Self-reconfigurable Underwater System

A new underwater system, called the underwater self-reconfigurable system, is presented in this paper. The system consists of a few of kinds but unlimited numbers of modules. By connecting and disconnecting among the modules, its configuration can be changed in real-time. By the modules' metamorphosing consistently, the system can realize different modes of motion. Features of distributed structure and changeable configuration make the system highly flexible for underwater tasks such as observation in complex underwater structure. Development of USS, a prototype of such a system is described in detail. USS now consists of only 1 kind of module, and can realize two 2D configurations and two 3D configurations. Because of the module's capability of buoyancy regulating and one degree metamorphosing, the system can maneuver in 3D ocean space and underwater structure with 2D configurations.