Hexapod

罗斯托克大学海洋工程系主任在水下系统、流体-结构-环境相互作用（流体力学）和水下传感器技术等领域拥有长期的研究专长。在评估任何类型的海洋技术时，最重要的挑战之一是全面的流体动力学分析，即研究风、海流、海况和待部署物体之间的相互作用。虽然许多问题至少部分可以通过数值模拟来回答，但执行真实比例的模型试验（例如耐波性）仍然是不可避免的。使用六足机器人可以实现所谓的“硬件在环”系统。通过使用六足机器人，在波浪中表演时不直接检查物体。相反，首先对结构物的耐波性进行数值近似，然后将确定的运动施加到物体本身或物体模型上。这反过来又允许确定动态效应，特别是非线性水动力参数，随后将其纳入改进的数值分析和模拟中。因此，使用六足模拟器模拟6个自由度的运动，在许多方面为经典的耐波性水池提供了一种具有成本效益的替代方案。此外，对于不暴露在波浪中的系统，六足与现有的实验室结合，为确定作用在完全或部分淹没系统上的动态流体力提供了全新的可能性。这种力，以及相关的流体动力学质量，阻尼和其他系数的对象经历强制运动序列，不能调查没有使用的六足。此外，可能的实验组合扩展到包括高度复杂的，动态的流动过程的调查。特别是，在高精度运动序列，同时改变流动方向的检查流动以及流动诱导力的可能性是最重要的利益。此外，还可以进行覆盖物体和气流之间各种相对位置的全自动测试，而无需暂时关闭风洞。因此，测试所需的时间减少，同时测量质量提高。六足机器人与现有的椅子实验室设施相结合，将大大扩展实验组合，从而为罗斯托克大学在海洋技术领域的创新和面向未来的研究开辟全新的视角。

The Chair of Ocean Engineering at the University of Rostock has a long-standing research expertise in areas such as underwater systems, fluid-structure-environmental interaction (hydrodynamics) and underwater sensor technology. One of the most important challenges in assessing any type of ocean technology is a comprehensive hydrodynamic analysis, i.e. the study of the interactions between wind, current, sea state and object to be deployed. Although many questions can be answered at least partially by means of numerical simulations, the execution of true-to-scale model tests, e.g. when it comes to seakeeping behaviour, is still inevitable.The use of a hexapod enables the implementation of a so-called "hardware-in-the-loop" system. By using a hexapod, an object is not directly examined whilst performing in waves. Rather, the seakeeping behavior of a structure is first approximated numerically, in order to then impose the determined motions onto the object itself or a model of it. This in turn allows dynamic effects and especially nonlinear hydrodynamic parameters to be determined, which are subsequently incorporated into improved numerical analyses and simulations. The use of a hexapod for the simulation of motions in 6 degrees of freedom thus offers in many ways a cost-effective alternative to the classic seakeeping basin with elaborate wave making technology.Also, for systems that are not exposed to waves, the hexapod, in conjunction with existing laboratories, offers completely new possibilities regarding the determination of dynamic fluid forces acting on fully or partially submerged systems. Such forces, as well as the associated hydrodynamic masses, damping and other coefficients of interest for objects undergoing forced motion sequences, cannot be investigated without the use of the hexapod. In addition, the portfolio of possible experiments is extended to include the investigation of highly complex, dynamic flow processes. In particular, the possibility of examining the flow as well as flow-induced forces during high-precision motion sequences while changing the flow direction is of paramount interest. In addition, fully automatic tests covering a wide range of relative positions between objects and flow, without having to temporary shutdown the wind tunnel are possible. As a result, the time required for testing is reduced whilst the quality of the measurement increases. Hence, test campaigns can be made much more efficient.The hexapod, in conjunction with the existing laboratory facilities of the chair, will significantly expand the experimental portfolio and thus opens up completely new perspectives with regards to innovative, future-oriented research in the field of ocean technology at the University of Rostock.