Characteristics evaluation of the vertical motion of a spherical underwater robot

Chunfeng Yue; Shuxiang Guo; Liwei Shi; Juan Du

doi:10.1109/ROBIO.2012.6491059

Characteristics evaluation of the vertical motion of a spherical underwater robot

Chunfeng Yue^*
, Shuxiang Guo
, Liwei Shi
, Juan Du

^*Corresponding author for this work

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

13 Citations (Scopus)

Abstract

This paper evaluated the vertical movement characteristics of a spherical underwater robot. Firstly, the vectored water-jet propulsion system was employed to realize vertical motion. In order to facilitate the estimation of robot parameters, some simplification were proposed to estimate robot parameters based on its structure features. And then, the vertical control parameters had been calculated to achieve a high accuracy on vertical movements. In addition, the pressure sensor was used into the closed-loop control system. Finally, some experiments had been carried out to verify the result of parameter calculation and the performance of the proposed vertical control system.

Original language	English
Title of host publication	2012 IEEE International Conference on Robotics and Biomimetics, ROBIO 2012 - Conference Digest
Pages	759-764
Number of pages	6
DOIs	https://doi.org/10.1109/ROBIO.2012.6491059
Publication status	Published - 2012
Externally published	Yes
Event	2012 IEEE International Conference on Robotics and Biomimetics, ROBIO 2012 - Guangzhou, China Duration: 11 Dec 2012 → 14 Dec 2012

Publication series

Name	2012 IEEE International Conference on Robotics and Biomimetics, ROBIO 2012 - Conference Digest

Conference

Conference	2012 IEEE International Conference on Robotics and Biomimetics, ROBIO 2012
Country/Territory	China
City	Guangzhou
Period	11/12/12 → 14/12/12

Keywords

pressure sensor
spherical underwater robot
vectored water-jet thruster
vertical motion

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10.1109/ROBIO.2012.6491059

Cite this

Yue, C., Guo, S., Shi, L., & Du, J. (2012). Characteristics evaluation of the vertical motion of a spherical underwater robot. In 2012 IEEE International Conference on Robotics and Biomimetics, ROBIO 2012 - Conference Digest (pp. 759-764). Article 6491059 (2012 IEEE International Conference on Robotics and Biomimetics, ROBIO 2012 - Conference Digest). https://doi.org/10.1109/ROBIO.2012.6491059

@inproceedings{6ad450ca50194690ab81e8dd0c2a02a3,

title = "Characteristics evaluation of the vertical motion of a spherical underwater robot",

abstract = "This paper evaluated the vertical movement characteristics of a spherical underwater robot. Firstly, the vectored water-jet propulsion system was employed to realize vertical motion. In order to facilitate the estimation of robot parameters, some simplification were proposed to estimate robot parameters based on its structure features. And then, the vertical control parameters had been calculated to achieve a high accuracy on vertical movements. In addition, the pressure sensor was used into the closed-loop control system. Finally, some experiments had been carried out to verify the result of parameter calculation and the performance of the proposed vertical control system.",

keywords = "pressure sensor, spherical underwater robot, vectored water-jet thruster, vertical motion",

author = "Chunfeng Yue and Shuxiang Guo and Liwei Shi and Juan Du",

year = "2012",

doi = "10.1109/ROBIO.2012.6491059",

language = "English",

isbn = "9781467321273",

series = "2012 IEEE International Conference on Robotics and Biomimetics, ROBIO 2012 - Conference Digest",

pages = "759--764",

booktitle = "2012 IEEE International Conference on Robotics and Biomimetics, ROBIO 2012 - Conference Digest",

note = "2012 IEEE International Conference on Robotics and Biomimetics, ROBIO 2012 ; Conference date: 11-12-2012 Through 14-12-2012",

}

Yue, C, Guo, S, Shi, L & Du, J 2012, Characteristics evaluation of the vertical motion of a spherical underwater robot. in 2012 IEEE International Conference on Robotics and Biomimetics, ROBIO 2012 - Conference Digest., 6491059, 2012 IEEE International Conference on Robotics and Biomimetics, ROBIO 2012 - Conference Digest, pp. 759-764, 2012 IEEE International Conference on Robotics and Biomimetics, ROBIO 2012, Guangzhou, China, 11/12/12. https://doi.org/10.1109/ROBIO.2012.6491059

Characteristics evaluation of the vertical motion of a spherical underwater robot. / Yue, Chunfeng; Guo, Shuxiang; Shi, Liwei et al.
2012 IEEE International Conference on Robotics and Biomimetics, ROBIO 2012 - Conference Digest. 2012. p. 759-764 6491059 (2012 IEEE International Conference on Robotics and Biomimetics, ROBIO 2012 - Conference Digest).

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

TY - GEN

T1 - Characteristics evaluation of the vertical motion of a spherical underwater robot

AU - Yue, Chunfeng

AU - Guo, Shuxiang

AU - Shi, Liwei

AU - Du, Juan

PY - 2012

Y1 - 2012

N2 - This paper evaluated the vertical movement characteristics of a spherical underwater robot. Firstly, the vectored water-jet propulsion system was employed to realize vertical motion. In order to facilitate the estimation of robot parameters, some simplification were proposed to estimate robot parameters based on its structure features. And then, the vertical control parameters had been calculated to achieve a high accuracy on vertical movements. In addition, the pressure sensor was used into the closed-loop control system. Finally, some experiments had been carried out to verify the result of parameter calculation and the performance of the proposed vertical control system.

AB - This paper evaluated the vertical movement characteristics of a spherical underwater robot. Firstly, the vectored water-jet propulsion system was employed to realize vertical motion. In order to facilitate the estimation of robot parameters, some simplification were proposed to estimate robot parameters based on its structure features. And then, the vertical control parameters had been calculated to achieve a high accuracy on vertical movements. In addition, the pressure sensor was used into the closed-loop control system. Finally, some experiments had been carried out to verify the result of parameter calculation and the performance of the proposed vertical control system.

KW - pressure sensor

KW - spherical underwater robot

KW - vectored water-jet thruster

KW - vertical motion

UR - https://www.scopus.com/pages/publications/84876501956

U2 - 10.1109/ROBIO.2012.6491059

DO - 10.1109/ROBIO.2012.6491059

M3 - Conference contribution

AN - SCOPUS:84876501956

SN - 9781467321273

T3 - 2012 IEEE International Conference on Robotics and Biomimetics, ROBIO 2012 - Conference Digest

SP - 759

EP - 764

BT - 2012 IEEE International Conference on Robotics and Biomimetics, ROBIO 2012 - Conference Digest

T2 - 2012 IEEE International Conference on Robotics and Biomimetics, ROBIO 2012

Y2 - 11 December 2012 through 14 December 2012

ER -

Characteristics evaluation of the vertical motion of a spherical underwater robot

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Keywords

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