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E-grāmata: Bionic Gliding Underwater Robots: Design, Control, and Implementation [Taylor & Francis e-book]

, , , (DuPont Displays, Santa Barbara, California, USA DuPont Displays, Santa Barbara, California, USA)
  • Formāts: 304 pages, 21 Tables, black and white; 125 Line drawings, black and white; 72 Halftones, black and white; 197 Illustrations, black and white
  • Izdošanas datums: 08-Dec-2022
  • Izdevniecība: CRC Press
  • ISBN-13: 9781003347439
Citas grāmatas par šo tēmu:
  • Taylor & Francis e-book
  • Cena: 120,07 €*
  • * this price gives unlimited concurrent access for unlimited time
  • Standarta cena: 171,52 €
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Bionic Gliding Underwater Robots: Design, Control, and ImplementationPalielināt
  • Formāts: 304 pages, 21 Tables, black and white; 125 Line drawings, black and white; 72 Halftones, black and white; 197 Illustrations, black and white
  • Izdošanas datums: 08-Dec-2022
  • Izdevniecība: CRC Press
  • ISBN-13: 9781003347439
Citas grāmatas par šo tēmu:
Taylor & Francis e-booksMore info about Taylor & Francis e-books
Rokasgrāmatas mājas lapa: https://www.taylorfrancis.com/books/9781003347439
Underwater robots play a significant role in ocean exploration. This book provides full coverage of the theoretical and practical aspects of bionic gliding underwater robots, including system design, modeling control, and motion planning.

To overcome the inherent shortcomings of traditional underwater robots that can simultaneously lack maneuverability and endurance, a new type of robot, the bionic gliding underwater robot, has attracted much attention from scientists and engineers. On the one hand, by imitating the appearance and swimming mechanisms of natural creatures, bionic gliding underwater robots achieve high maneuverability, swimming efficiency, and strong concealment. On the other hand, borrowing from the buoyancy adjustment systems of underwater gliders, bionic gliding underwater robots can obtain strong endurance, which is significant in practical applications. Taking gliding robotic dolphin and fish as examples, the designed prototypes and proposed methods are discussed, offering valuable insights into the development of next-generation underwater robots that are well suited for various oceanic applications.

This book will be of great interest to students and professionals alike in the field of robotics or intelligent control. It will also be a great reference for engineers or technicians who deal with the development of underwater robots.
Chapter 1 Development and Control of Underwater Gliding Robots: A Review
1(50)
1.1 Introduction
1(3)
1.2 Prototype Of The Ugrs
4(17)
1.2.1 Traditional Ugrs
4(5)
1.2.2 Hybrid-Driven Ugrs
9(5)
1.2.3 Bio-Inspired Ugrs
14(3)
1.2.4 Thermal Ugrs
17(2)
1.2.5 Other Ugrs
19(2)
1.3 Key Technologies Of Ugrs
21(12)
1.3.1 Design Of The Buoyancy-Driven System
21(3)
1.3.2 System Model Of Ugrs
24(4)
1.3.3 Control Of Ugrs
28(5)
1.4 Discussion And Future Development
33(5)
1.4.1 Prototype Development
33(1)
1.4.2 Technology Of The Buoyancy-Driven System
34(2)
1.4.3 Motion Control And Optimization
36(1)
1.4.4 Application Scenarios Prospect Of Ugrs
37(1)
1.5 Concluding Remarks
38(13)
Chapter 2 Design And Implementation Of Typical_Gliding Robotic Dolphins
51(42)
2.1 Introduction
51(2)
2.2 System Development Of Typical Gliding Robotic Dolphins
53(20)
2.2.1 A Miniature Dolphin-Like Underwater Glider
54(2)
2.2.2 A 1-M-Scale Gliding Robotic Dolphins
56(4)
2.2.3 A 1.5-M Gliding Robotic Dolphin With 3 Mpa Pressure
60(13)
2.3 Cfd Simulation And Analysis
73(7)
2.4 Experiments And Discussion
80(10)
2.4.1 A Miniature Prototype
80(3)
2.4.2 A 1-M-Scale Prototype
83(3)
2.4.3 A 1.5-M Prototype
86(4)
2.5 Concluding Remarks
90(3)
Chapter 3 3-D Motion Modeling Of The Gliding Underwater Robot
93(20)
3.1 Introduction
93(1)
3.2 Motion Modeling Of The Gliding Underwater Robot
94(1)
3.3 Kinematic Analysis
95(7)
3.3.1 Net Buoyancy Analysis
96(1)
3.3.2 Hydrodynamic Analysis
97(1)
3.3.3 Dynamic Model
98(4)
3.4 Analysis Of The Steady Gliding Motion
102(3)
3.5 Results And Analyses
105(5)
3.5.1 Simulation Results
105(2)
3.5.2 Experimental Results
107(3)
3.6 Concluding Remarks
110(3)
Chapter 4 Depth Control Of The Gliding Underwater Robot With Multiple Modes
113(42)
4.1 Introduction
113(2)
4.2 Depth Control In Gliding Motion
115(9)
4.2.1 Problem Statement
115(1)
4.2.2 Simplified Plant Model
116(2)
4.2.3 Sliding Mode Observer And Heading Controller Design
118(2)
4.2.4 Depth Controller Design
120(4)
4.3 Depth Control In Gliding Motion
124(8)
4.3.1 Problem Statement
124(1)
4.3.2 Los Method
125(1)
4.3.3 Control Framework
126(2)
4.3.4 Controller Design
128(2)
4.3.5 Adaptation Rules
130(2)
4.4 Results And Analyses
132(20)
4.4.1 Depth Control In Gliding Motion
132(13)
4.4.2 Depth Control In Dolphin-Like Motion
145(7)
4.5 Concluding Remarks
152(3)
Chapter 5 Heading And Pitch Regulation Of Gliding Motion Based On Controllable Surfaces
155(40)
5.1 Introduction
155(2)
5.2 Gliding Analysis Under Movable Fin
157(9)
5.2.1 Analysis Of Yaw Movement
158(4)
5.2.2 Analysis Of Pitch Movement
162(4)
5.3 Control Methods
166(9)
5.3.1 Heading Control
166(7)
5.3.2 Pitch Control
173(2)
5.4 Simulation Results And Analysis
175(10)
5.4.1 Heading Simulation
175(8)
5.4.2 Pitch Simulation
183(2)
5.5 Experimental Results And Analysis
185(8)
5.5.1 Heading Experiment
185(2)
5.5.2 Pitch Experiment
187(6)
5.6 Concluding Remarks
193(2)
Chapter 6 Gliding Motion Optimization For A Bionic Gliding Underwater Robot
195(42)
6.1 Introduction
195(3)
6.2 Bionic Gliding Underwater Robotic System
198(8)
6.2.1 Bionic Gliding Underwater Robot
198(2)
6.2.2 2-D Gliding Dynamics And Hydrodynamics
200(4)
6.2.3 Transient Gliding Motion
204(2)
6.3 Capacity Analysis Of Pectoral Fins For Gliding Optimization
206(5)
6.3.1 Pectoral Fins Design
206(1)
6.3.2 Hydrodynamics Of The Fins
206(2)
6.3.3 Optimizing Capability Analysis
208(3)
6.4 Drl-Based Gliding Optimization Strategy
211(4)
6.4.1 Discretization
212(1)
6.4.2 Reward Shaping
212(1)
6.4.3 Training Method
213(2)
6.5 Separate Controller Design
215(4)
6.5.1 Dynamic Model Decomposition
215(1)
6.5.2 Control Strategy
215(1)
6.5.3 Backstepping Pitch Controller
216(1)
6.5.4 Mpc-Based Aoa Controller
217(2)
6.6 Simulation And Analysis
219(9)
6.6.1 Training Results Of The Gliding Optimization Strategy
219(1)
6.6.2 Dynamic Results Of Gliding Optimization
220(2)
6.6.3 Separate Control
222(1)
6.6.4 Gliding Path Following
223(4)
6.6.5 Discussion
227(1)
6.7 Experimental Verification
228(7)
6.7.1 Measurement And Control System
228(1)
6.7.2 Sawtooth Gliding Experiments
228(2)
6.7.3 Energy Consumption Statistics
230(2)
6.7.4 Separate Control Experiments
232(3)
6.8 Concluding Remarks
235(2)
Chapter 7 Real-Time Path Planning And Following Of A Gliding Underwater Robot Within A Hierarchical Framework
237(36)
7.1 Introduction
237(3)
7.2 Overview Of The Gliding Underwater Robot
240(1)
7.3 Planar Path Planning
240(6)
7.3.1 Problem Statement And Network Architecture
240(2)
7.3.2 Training Setup
242(4)
7.4 Path-Following Control
246(8)
7.4.1 Problem Formulation And Los Law
246(2)
7.4.2 Controller Design
248(6)
7.5 Simulations And Experiments
254(16)
7.5.1 Results Of Path Planning
254(8)
7.5.2 Results Of Path Following
262(4)
7.5.3 Experimental Results And Analysis
266(3)
7.5.4 Discussion
269(1)
7.6 Conclusion
270(3)
Chapter 8 3-D Maneuverability Analysis And Path_Planning For Gliding Underwater Robots
273
8.1 Introduction
273(2)
8.2 3-D Maneuverability Analysis
275(9)
8.2.1 Horizontal Motion
275(2)
8.2.2 Vertical Motion
277(2)
8.2.3 Experimental Results And Analysis Of Horizontal Motion
279(3)
8.2.4 Experimental Results And Analysis Of Vertical Motion
282(2)
8.3 3-D Path Planning With Multiple Motions
284(11)
8.3.1 Gliding Path Planning Based On Geometric Constraint
285(2)
8.3.2 Obstacle-Avoidance Path Planning Based On Dolphin-Like Motion
287(8)
8.4 Results And Analyses
295(7)
8.4.1 Result Of Gliding Path Generation
296(1)
8.4.2 Result Of Obstacle Avoidance
296(1)
8.4.3 Result Of Path Smoothing
297(4)
8.4.4 Discussion
301(1)
8.5 Concluding Remarks
302
Junzhi Yu is a professor in the Department of Advanced Manufacturing and Robotics, Peking University, China, and a guest researcher at the Institute of Automation, Chinese Academy of Sciences. His research interests include bionic robots, intelligent control, and intelligent mechatronic systems. He has authored or co-authored five monographs and published more than 100 science citation index papers in prestigious robotics and automationrelated journals. He has successively been listed among the Most Cited Researchers in China between 2014 and 2020. He is a fellow of the Institute of Electrical and Electronics Engineers.

Zhengxing Wu is currently a professor with the State Key Laboratory of Management and Control for Complex Systems at the Institute of Automation, Chinese Academy of Sciences. His current research interests include bio-inspired robots and intelligent control systems.

Jian Wang is currently an assistant professor with the State Key Laboratory of Management and Control for Complex Systems at the Institute of Automation, Chinese Academy of Sciences. His research interests include bio-inspired underwater robots and intelligent control systems.

Min Tan is currently a professor with the State Key Laboratory of Management and Control for Complex Systems at the Institute of Automation, Chinese Academy of Sciences. He has published more than 200 papers in journals, books, and conference proceedings. His research interests include robotics and intelligent control systems.
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