Dynamics and control of multi-tethered buoyant platforms

我的研究小组研究空中和水下航行器的动力学和控制；既有非系泊的，也有系泊的。我们研究了各种各样的系统，从拖曳的水下航行器，到一种新颖的射电望远镜设计，以及划桨的水下机器人。我们构建了这些系统的计算机仿真，并通过实验验证了这些仿真。这就允许使用模拟来改进系统设计。我们之所以对系泊系统和结构感兴趣，是因为它们被广泛使用，并被认为具有理想的特性，如高有效载荷与重量比。在结构领域，它们被称为“张拉结构”，用于建筑物、屋顶和塔楼的设计。最近，它们吸引了可控机构的研究人员和设计者的兴趣。特别是，当使用绞车主动控制系统的缆索(系绳)长度时，它们可以用作机器人、起重机和望远镜机构。当多根电缆一起使用来稳定或控制平台时，这些系统变得特别有趣。通常，这个平台是浮力的，例如在浮空器或海上石油平台的情况下。

My research group studies the dynamics and control of aerial and underwater vehicles; both untethered and tethered. We have investigated systems as varied as towed underwater vehicles, a novel design for a radio telescope, and a paddling underwater robot. We construct computer simulations of these systems and confirm those simulations through experiment. This then allows the simulations to be used to improve the system design. Our interest in tethered systems and structures arises because they are widely used and known to have desirable characteristics such as high payload to weight ratios. In the structural domain, they are known as 'tension structures' and are used in the design of buildings, roofs and towers. More recently, they have attracted the interest of researchers and designers of controllable mechanisms. In particular, when the cable (tether) lengths of the system are actively controlled using winches, they can be used as robots, cranes, and telescope mechanisms. These sytems become especially interesting when multiple cables are used together to stabilize or control a platform. Often, this platform is buoyant, such as in the case of an aerostat or an offshore oil platform.