开发垂直下潜和新出现的蝙蝠射线启发式水下航行器。

IF 3.4 3区 医学 Q1 ENGINEERING, MULTIDISCIPLINARY Biomimetics Pub Date : 2024-09-25 DOI:10.3390/biomimetics9100582
Enrique Mar-Castro, Sergio Alejandro May-Rodríguez, Rafael Stanley Núñez-Cruz, Elba Dolores Antonio-Yañez, Luis Mario Aparicio-Lastiri, Juan Herrera-Vidal
{"title":"开发垂直下潜和新出现的蝙蝠射线启发式水下航行器。","authors":"Enrique Mar-Castro, Sergio Alejandro May-Rodríguez, Rafael Stanley Núñez-Cruz, Elba Dolores Antonio-Yañez, Luis Mario Aparicio-Lastiri, Juan Herrera-Vidal","doi":"10.3390/biomimetics9100582","DOIUrl":null,"url":null,"abstract":"<p><p>In this article, the development of a bat-ray-inspired underwater vehicle is presented; although the propulsion of the vehicle is based on traditional thrusters, the shape of the ray's fins was used as a model to design the body of the vehicle; this architecture allows the independent control of the forward velocity and the full attitude of the vehicle using only two thrusters and two articulated fins. The compact design of the robot, along with the high dexterity of the architecture, allows the vehicle to submerge and emerge vertically as well as navigate horizontally. The mathematical model of the proposed vehicle, including dynamics and propulsion system, is presented and validated using numerical simulations. Finally, experimental tests are presented to demonstrate the capabilities of the proposed design.</p>","PeriodicalId":8907,"journal":{"name":"Biomimetics","volume":"9 10","pages":""},"PeriodicalIF":3.4000,"publicationDate":"2024-09-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.ncbi.nlm.nih.gov/pmc/articles/PMC11505087/pdf/","citationCount":"0","resultStr":"{\"title\":\"Development of a Vertical Submerging and Emerging Bat-Ray-Inspired Underwater Vehicle.\",\"authors\":\"Enrique Mar-Castro, Sergio Alejandro May-Rodríguez, Rafael Stanley Núñez-Cruz, Elba Dolores Antonio-Yañez, Luis Mario Aparicio-Lastiri, Juan Herrera-Vidal\",\"doi\":\"10.3390/biomimetics9100582\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"<p><p>In this article, the development of a bat-ray-inspired underwater vehicle is presented; although the propulsion of the vehicle is based on traditional thrusters, the shape of the ray's fins was used as a model to design the body of the vehicle; this architecture allows the independent control of the forward velocity and the full attitude of the vehicle using only two thrusters and two articulated fins. The compact design of the robot, along with the high dexterity of the architecture, allows the vehicle to submerge and emerge vertically as well as navigate horizontally. The mathematical model of the proposed vehicle, including dynamics and propulsion system, is presented and validated using numerical simulations. Finally, experimental tests are presented to demonstrate the capabilities of the proposed design.</p>\",\"PeriodicalId\":8907,\"journal\":{\"name\":\"Biomimetics\",\"volume\":\"9 10\",\"pages\":\"\"},\"PeriodicalIF\":3.4000,\"publicationDate\":\"2024-09-25\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"https://www.ncbi.nlm.nih.gov/pmc/articles/PMC11505087/pdf/\",\"citationCount\":\"0\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"Biomimetics\",\"FirstCategoryId\":\"5\",\"ListUrlMain\":\"https://doi.org/10.3390/biomimetics9100582\",\"RegionNum\":3,\"RegionCategory\":\"医学\",\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"Q1\",\"JCRName\":\"ENGINEERING, MULTIDISCIPLINARY\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"Biomimetics","FirstCategoryId":"5","ListUrlMain":"https://doi.org/10.3390/biomimetics9100582","RegionNum":3,"RegionCategory":"医学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q1","JCRName":"ENGINEERING, MULTIDISCIPLINARY","Score":null,"Total":0}
引用次数: 0

摘要

本文介绍了受蝙蝠魟鱼启发而开发的水下机器人;虽然该机器人的推进器是基于传统的推进器,但其鳍的形状被用作设计机器人身体的模型;这种结构仅使用两个推进器和两个铰接鳍就能独立控制机器人的前进速度和整个姿态。该机器人设计紧凑,结构灵巧,可以垂直潜入水中和浮出水面,也可以水平航行。介绍了拟议飞行器的数学模型,包括动力学和推进系统,并通过数值模拟进行了验证。最后,还介绍了实验测试,以证明拟议设计的能力。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
查看原文
分享 分享
微信好友 朋友圈 QQ好友 复制链接
本刊更多论文
Development of a Vertical Submerging and Emerging Bat-Ray-Inspired Underwater Vehicle.

In this article, the development of a bat-ray-inspired underwater vehicle is presented; although the propulsion of the vehicle is based on traditional thrusters, the shape of the ray's fins was used as a model to design the body of the vehicle; this architecture allows the independent control of the forward velocity and the full attitude of the vehicle using only two thrusters and two articulated fins. The compact design of the robot, along with the high dexterity of the architecture, allows the vehicle to submerge and emerge vertically as well as navigate horizontally. The mathematical model of the proposed vehicle, including dynamics and propulsion system, is presented and validated using numerical simulations. Finally, experimental tests are presented to demonstrate the capabilities of the proposed design.

求助全文
通过发布文献求助,成功后即可免费获取论文全文。 去求助
来源期刊
Biomimetics
Biomimetics Biochemistry, Genetics and Molecular Biology-Biotechnology
CiteScore
3.50
自引率
11.10%
发文量
189
审稿时长
11 weeks
期刊最新文献
3D Printing and Property of Biomimetic Hydroxyapatite Scaffold. A Multi-Objective Optimization Framework That Incorporates Interpretable CatBoost and Modified Slime Mould Algorithm to Resolve Boiler Combustion Optimization Problem. Application of Real-Time Palm Imaging with Nelder-Mead Particle Swarm Optimization/Regression Algorithms for Non-Contact Blood Pressure Detection. Sodium Alginate-Starch Capsules for Enhanced Stability of Metformin in Simulated Gastrointestinal Fluids. Integrating Historical Learning and Multi-View Attention with Hierarchical Feature Fusion for Robotic Manipulation.
×
引用
GB/T 7714-2015
复制
MLA
复制
APA
复制
导出至
BibTeX EndNote RefMan NoteFirst NoteExpress
×
×
提示
您的信息不完整,为了账户安全,请先补充。
现在去补充
×
提示
您因"违规操作"
具体请查看互助需知
我知道了
×
提示
现在去查看 取消
×
提示
确定
0
微信
客服QQ
Book学术公众号 扫码关注我们
反馈
×
意见反馈
请填写您的意见或建议
请填写您的手机或邮箱
已复制链接
已复制链接
快去分享给好友吧!
我知道了
×
扫码分享
扫码分享
Book学术官方微信
Book学术文献互助
Book学术文献互助群
群 号:481959085
Book学术
文献互助 智能选刊 最新文献 互助须知 联系我们:info@booksci.cn
Book学术提供免费学术资源搜索服务,方便国内外学者检索中英文文献。致力于提供最便捷和优质的服务体验。
Copyright © 2023 Book学术 All rights reserved.
ghs 京公网安备 11010802042870号 京ICP备2023020795号-1