Propulsive and Maneuvering Performance of Two Joints Biorobotic Autonomous Undersea Vehicle SPC-III

摘要：

Biorobotic autonomous undersea vehicle SPC-III, developed by Robotics institute, BeiHang University, is a mission-scale autonomous submersible vehicle. The submersible vehicle possesses a torpedo-shape rigid hull. The aft section is a two joints caudal fin thruster driven by two servo motors, which may be substituted by a screw propeller maintaining the same body shape. The accurate motion of the caudal fin is achieved by adjusting the coordinated motion of the two servo motors. Experiments have been conducted to measure power consumption and maneuverability of caudal fin thruster and screw propeller under different speeds. Using caudal fin propulsion and carrying Water Quality Multiprobes, the vehicle has successfully performed a 49-km probe experiment and collected concentration distributing data on blue-green algae in the water of Taihu Lake.

作者: Jianhong Liang Weifeng Zheng Li Wen Tianmiao Wang Chengyin Xie

作者单位: Robotics Institute BeiHang University 37 Xueyuan Road,Beijing,China

会议类型: 国际会议

会议名称: 2009 IEEE International Conference on Robotics and Biomimetics(2009 IEEE 机器人与仿生技术国际会议 ROBIO 2009)

会议地点: 桂林

会议语种:英文

页码: 314-320

在线出版日期: 2009-12-19（万方平台首次上网日期，不代表论文的发表时间）