CFD-based Underwater Formation Analysis for Multiple Amphibious Spherical Robots

Xihuan Hou; Shuxiang Guo; Liwei Shi; Huiming Xing; Yu Liu; Yao Hu; Debin Xia; Zan Li

doi:10.1109/ICMA.2019.8816373

CFD-based Underwater Formation Analysis for Multiple Amphibious Spherical Robots

Xihuan Hou
, Shuxiang Guo^*
, Liwei Shi
, Huiming Xing
, Yu Liu
, Yao Hu
, Debin Xia
, Zan Li

^*Corresponding author for this work

School of Medical Science and Engineering

Beijing Institute of Technology
Kagawa University

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

1 Citation (Scopus)

Abstract

As limited sensing and working capability of a single robot, multiple robots cooperative accomplishing complex tasks in formation has been a popular topic in recent years. Energy efficiency is the premise and guarantee for underwater robot to complete a wide range of task, especially for the small and bionic amphibious spherical robots with limited energy. This paper analyzed three formation shapes in the view of underwater hydrodynamic drag aiming at decreasing the energy consumption of a multiple robots system. Numerical simulation based on Computational Fluid Dynamic (CFD) is adopted to compute the drag of each individual robot and entire systems. Simulation results show that triangular formation shape can decrease the total drag. When the serial and parallel formation are needed, the longitudinal distance and transverse distance should be short as soon as possible.

Original language	English
Title of host publication	Proceedings of 2019 IEEE International Conference on Mechatronics and Automation, ICMA 2019
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	1496-1501
Number of pages	6
ISBN (Electronic)	9781728116983
DOIs	https://doi.org/10.1109/ICMA.2019.8816373
Publication status	Published - Aug 2019
Event	16th IEEE International Conference on Mechatronics and Automation, ICMA 2019 - Tianjin, China Duration: 4 Aug 2019 → 7 Aug 2019

Publication series

Name	Proceedings of 2019 IEEE International Conference on Mechatronics and Automation, ICMA 2019

Conference

Conference	16th IEEE International Conference on Mechatronics and Automation, ICMA 2019
Country/Territory	China
City	Tianjin
Period	4/08/19 → 7/08/19

UN SDGs

This output contributes to the following UN Sustainable Development Goals (SDGs)

SDG 7 Affordable and Clean Energy

Keywords

Amphibious spherical robot
Computational fluid dynamic (CFD)
Underwater formation

Access to Document

10.1109/ICMA.2019.8816373

Cite this

Hou, X., Guo, S., Shi, L., Xing, H., Liu, Y., Hu, Y., Xia, D., & Li, Z. (2019). CFD-based Underwater Formation Analysis for Multiple Amphibious Spherical Robots. In Proceedings of 2019 IEEE International Conference on Mechatronics and Automation, ICMA 2019 (pp. 1496-1501). Article 8816373 (Proceedings of 2019 IEEE International Conference on Mechatronics and Automation, ICMA 2019). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICMA.2019.8816373

Hou, Xihuan ; Guo, Shuxiang ; Shi, Liwei et al. / CFD-based Underwater Formation Analysis for Multiple Amphibious Spherical Robots. Proceedings of 2019 IEEE International Conference on Mechatronics and Automation, ICMA 2019. Institute of Electrical and Electronics Engineers Inc., 2019. pp. 1496-1501 (Proceedings of 2019 IEEE International Conference on Mechatronics and Automation, ICMA 2019).

@inproceedings{d4bfc10288f144a4a746c2953782bbf5,

title = "CFD-based Underwater Formation Analysis for Multiple Amphibious Spherical Robots",

abstract = "As limited sensing and working capability of a single robot, multiple robots cooperative accomplishing complex tasks in formation has been a popular topic in recent years. Energy efficiency is the premise and guarantee for underwater robot to complete a wide range of task, especially for the small and bionic amphibious spherical robots with limited energy. This paper analyzed three formation shapes in the view of underwater hydrodynamic drag aiming at decreasing the energy consumption of a multiple robots system. Numerical simulation based on Computational Fluid Dynamic (CFD) is adopted to compute the drag of each individual robot and entire systems. Simulation results show that triangular formation shape can decrease the total drag. When the serial and parallel formation are needed, the longitudinal distance and transverse distance should be short as soon as possible.",

keywords = "Amphibious spherical robot, Computational fluid dynamic (CFD), Underwater formation",

author = "Xihuan Hou and Shuxiang Guo and Liwei Shi and Huiming Xing and Yu Liu and Yao Hu and Debin Xia and Zan Li",

note = "Publisher Copyright: {\textcopyright} 2019 IEEE.; 16th IEEE International Conference on Mechatronics and Automation, ICMA 2019 ; Conference date: 04-08-2019 Through 07-08-2019",

year = "2019",

month = aug,

doi = "10.1109/ICMA.2019.8816373",

language = "English",

series = "Proceedings of 2019 IEEE International Conference on Mechatronics and Automation, ICMA 2019",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

pages = "1496--1501",

booktitle = "Proceedings of 2019 IEEE International Conference on Mechatronics and Automation, ICMA 2019",

address = "United States",

}

Hou, X, Guo, S, Shi, L, Xing, H, Liu, Y, Hu, Y, Xia, D & Li, Z 2019, CFD-based Underwater Formation Analysis for Multiple Amphibious Spherical Robots. in Proceedings of 2019 IEEE International Conference on Mechatronics and Automation, ICMA 2019., 8816373, Proceedings of 2019 IEEE International Conference on Mechatronics and Automation, ICMA 2019, Institute of Electrical and Electronics Engineers Inc., pp. 1496-1501, 16th IEEE International Conference on Mechatronics and Automation, ICMA 2019, Tianjin, China, 4/08/19. https://doi.org/10.1109/ICMA.2019.8816373

CFD-based Underwater Formation Analysis for Multiple Amphibious Spherical Robots. / Hou, Xihuan; Guo, Shuxiang; Shi, Liwei et al.
Proceedings of 2019 IEEE International Conference on Mechatronics and Automation, ICMA 2019. Institute of Electrical and Electronics Engineers Inc., 2019. p. 1496-1501 8816373 (Proceedings of 2019 IEEE International Conference on Mechatronics and Automation, ICMA 2019).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - CFD-based Underwater Formation Analysis for Multiple Amphibious Spherical Robots

AU - Hou, Xihuan

AU - Guo, Shuxiang

AU - Shi, Liwei

AU - Xing, Huiming

AU - Liu, Yu

AU - Hu, Yao

AU - Xia, Debin

AU - Li, Zan

PY - 2019/8

Y1 - 2019/8

N2 - As limited sensing and working capability of a single robot, multiple robots cooperative accomplishing complex tasks in formation has been a popular topic in recent years. Energy efficiency is the premise and guarantee for underwater robot to complete a wide range of task, especially for the small and bionic amphibious spherical robots with limited energy. This paper analyzed three formation shapes in the view of underwater hydrodynamic drag aiming at decreasing the energy consumption of a multiple robots system. Numerical simulation based on Computational Fluid Dynamic (CFD) is adopted to compute the drag of each individual robot and entire systems. Simulation results show that triangular formation shape can decrease the total drag. When the serial and parallel formation are needed, the longitudinal distance and transverse distance should be short as soon as possible.

AB - As limited sensing and working capability of a single robot, multiple robots cooperative accomplishing complex tasks in formation has been a popular topic in recent years. Energy efficiency is the premise and guarantee for underwater robot to complete a wide range of task, especially for the small and bionic amphibious spherical robots with limited energy. This paper analyzed three formation shapes in the view of underwater hydrodynamic drag aiming at decreasing the energy consumption of a multiple robots system. Numerical simulation based on Computational Fluid Dynamic (CFD) is adopted to compute the drag of each individual robot and entire systems. Simulation results show that triangular formation shape can decrease the total drag. When the serial and parallel formation are needed, the longitudinal distance and transverse distance should be short as soon as possible.

KW - Amphibious spherical robot

KW - Computational fluid dynamic (CFD)

KW - Underwater formation

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M3 - Conference contribution

AN - SCOPUS:85072395746

T3 - Proceedings of 2019 IEEE International Conference on Mechatronics and Automation, ICMA 2019

SP - 1496

EP - 1501

BT - Proceedings of 2019 IEEE International Conference on Mechatronics and Automation, ICMA 2019

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 16th IEEE International Conference on Mechatronics and Automation, ICMA 2019

Y2 - 4 August 2019 through 7 August 2019

ER -

Hou X, Guo S, Shi L, Xing H, Liu Y, Hu Y et al. CFD-based Underwater Formation Analysis for Multiple Amphibious Spherical Robots. In Proceedings of 2019 IEEE International Conference on Mechatronics and Automation, ICMA 2019. Institute of Electrical and Electronics Engineers Inc. 2019. p. 1496-1501. 8816373. (Proceedings of 2019 IEEE International Conference on Mechatronics and Automation, ICMA 2019). doi: 10.1109/ICMA.2019.8816373

CFD-based Underwater Formation Analysis for Multiple Amphibious Spherical Robots

Abstract

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UN SDGs

Keywords

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