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

^*此作品的通讯作者

医学科学与工程学院

Beijing Institute of Technology
Kagawa University

科研成果: 书/报告/会议事项章节 › 会议稿件 › 同行评审

1 引用（Scopus）

摘要

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.

源语言	英语
主期刊名	Proceedings of 2019 IEEE International Conference on Mechatronics and Automation, ICMA 2019
出版商	Institute of Electrical and Electronics Engineers Inc.
页	1496-1501
页数	6
ISBN（电子版）	9781728116983
DOI	https://doi.org/10.1109/ICMA.2019.8816373
出版状态	已出版 - 8月 2019
活动	16th IEEE International Conference on Mechatronics and Automation, ICMA 2019 - Tianjin, 中国期限: 4 8月 2019 → 7 8月 2019

丛书

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

会议

会议	16th IEEE International Conference on Mechatronics and Automation, ICMA 2019
国家/地区	中国
市	Tianjin
时期	4/08/19 → 7/08/19

联合国可持续发展目标

此成果有助于实现下列可持续发展目标：

可持续发展目标 7 经济适用的清洁能源

访问文件

10.1109/ICMA.2019.8816373

其它文件与链接

链接到 Scopus 的出版物

引用此

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. 在 Proceedings of 2019 IEEE International Conference on Mechatronics and Automation, ICMA 2019 (页码 1496-1501). 期刊论文 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 等. / 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. 页码 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. 在 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., 页码 1496-1501, 16th IEEE International Conference on Mechatronics and Automation, ICMA 2019, Tianjin, 中国, 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 等.
Proceedings of 2019 IEEE International Conference on Mechatronics and Automation, ICMA 2019. Institute of Electrical and Electronics Engineers Inc., 2019. 页码 1496-1501 8816373 (Proceedings of 2019 IEEE International Conference on Mechatronics and Automation, ICMA 2019).

科研成果: 书/报告/会议事项章节 › 会议稿件 › 同行评审

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

UR - https://www.scopus.com/pages/publications/85072395746

U2 - 10.1109/ICMA.2019.8816373

DO - 10.1109/ICMA.2019.8816373

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 等. CFD-based Underwater Formation Analysis for Multiple Amphibious Spherical Robots. 在 Proceedings of 2019 IEEE International Conference on Mechatronics and Automation, ICMA 2019. Institute of Electrical and Electronics Engineers Inc. 2019. 页码 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

摘要

丛书

会议

联合国可持续发展目标

访问文件

其它文件与链接

学术指纹

引用此