Study on Multi Spherical Underwater Robots with Hybrid-propulsion Devices and Acoustic Communication Systems

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URI http://shark.lib.kagawa-u.ac.jp/kuir/metadata/28807
Title
Study on Multi Spherical Underwater Robots with Hybrid-propulsion Devices and Acoustic Communication Systems
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Description

Abstract

Underwater robots have been promoted a significant interest in monitoring the marine environment. When underwater robots face complex tasks, the individual's high efficiency and flexibility are the basis for accomplishing the task, and the effective cooperation and cooperation between the multiple robots are the advanced task of completing the complex tasks. The propulsion system as the main power for the underwater robot will extremely influence the hydrodynamic performance, efficiency and flexibility of the robot. The wireless communication as a key technology for the underwater robot will also implement the underwater observing, communication, cooperation or collaboration of multiple robots.
To address these issues, the Fourth-generation Spherical Underwater Robot (SUR IV) with hybrid propulsion devices including vectored water-jet and propeller thrusters and acoustic communication systems is proposed in this thesis. The diversity of the movement modes of hybrid propulsion devices are also proposed for the different targets as remote or hover and general or silent. To analyze the hydrodynamic characteristics of the hybrid thruster and SUR IV, the Computational Fluid Dynamics (CFD) simulations are calculated in ANSYS CFX by using the multi-reference frame method. The simulation results show the better hydrodynamic performance of the SUR IV. The thrust experiment to evaluate the performance of the novel hybrid thruster is also conducted to verify the good characteristic of the hybrid propulsion device. Then, in order to evaluate the performance of the SUR IV, multi-DoF motions including the surge, heave and yaw for the SUR IV, were carried out in the swimming pool. The better improvement of the overall robot is assessed by the experimental results.
The communication system is established between base station and multi-SURs by using the acoustic modem with the advantages as multipath noise rejection, compact size, low error rate and power consumption. The communication principles are proposed as the basis of implementation of the instruction set with multi-channel communication. The characteristics of the communication system are evaluated and verified by communication accuracy and cooperation motion experiments.
For widespread use of the spherical underwater robot, developments of the efficiency, motion state, stability, hydrodynamic performance, communication or cooperation are necessary and significant. Thus, this thesis is involved in the above aspects and provides a perception for this kind of research.

(工博甲138)

Author
著者 顧 碩鑫
著者(ヨミ) グ シュオシン
著者(別表記) Gu Shuoxin
Resource Type
Thesis or Dissertation
Language
eng
Rights
© Copyright by Shuoxin Gu, 2019 All rights reserved.
香川大学図書館及び国立国会図書館での博士論文本文の閲覧制限あり。
Text Version
none
Grant ID
博甲第138号
Grant Date
2019-09-30
Degree Name
博士(工学)
Grantor
香川大学
Set
香川大学
Copyright (C) 2009 Kagawa University All rights reserved.