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}
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.