Control-Configured Underwater Robots for Precision Multi-Axis Maneuvering

本计画的目的是建立一种新的设计与控制方法，使具高度可移动性的水下机器人能进行水下结构物的检测。紧凑的蛋形机器人将使我们能够将检查仪器带到那些很少被检查的复杂水下结构。这包括核电站反应堆内部构件和水电站设备，这两者都需要进入危险地点进行检查和监测。此外，高度可拆卸的机器人可应用于港口安全，海上设施监控和电缆网络维护。为了推广这种新的设计方法，将寻求与能源工业和其他方面的合作。该项目将研究没有舵和附件的蛋形机器人。紧凑而光滑的机身形状使机器人能够通过多轴射流进入复杂的水下结构。然而，球形潜水器是流体动力学不稳定的，因此从传统的潜艇设计观点来看是不合适的。该项目将论证车辆的不稳定性可以用于快速转弯和敏捷运动，这是一种类似于航空学中的控制配置车辆的设计概念，以及如何从动力学和控制角度优化设计此类车辆。该项目旨在通过设计高速水阀、有效配置多轴射流、优化车身形状和控制综合来稳定车辆，同时最大限度地提高机动能力。

The goal of this project is to establish a new design and control method for highly maneuverable underwater robots to perform inspection of underwater structures. Compact, egg-shaped robots will allow us to bring inspection instruments to those complex underwater structures that have seldom been inspected. Those include reactor internals of nuclear power plants and the equipment of hydro-dams, both of which require access to dangerous sites for inspection and monitoring. Furthermore, the highly maneuverable robot can be applied to port security, offshore facility monitoring, and cable network maintenance. Collaborations with energy industries and others will be sought for disseminating the new design method.The project will study egg-shaped robots, having no rudders and appendages. The compact and smooth body shape allows the robot to access complex underwater structures with multi-axis jets. The spheroidal vehicle, however, is hydro-dynamically unstable and thereby not appropriate from the traditional submarine design viewpoint. This project will argue that the vehicle instability can be exploited for quick turning and agile movements, a design concept similar to Control-Configured Vehicles in aeronautics, and how such vehicles can be designed optimally from the dynamics and control viewpoint. The project aims to stabilize the vehicle, yet maximize the maneuvering capability, through the design of high-speed water valves, effective configuration of multi-axis jets, optimization of the vehicle body shape, and control synthesis.