Info

Joint-Motor of Tail Fin

Console

Robot Manipulation and Stakeout

Navigation Module

Attitude Sensor

Video Display

Task Scheduler

Submergence Control

Position Sensor

Surface

Obstacle Avoiding Control

Depth

Pectoral

Sensor

Video Module

Range Finder

CCD Scan Servo

Underwater CCD

Fig. 3. System framework

Fig. 4. Main interface of console software 2) feasibility of executing underwater task

The robofish SPC-II adopt two servo-joints that are controlled separately. It is benefited to regulate the tail locomotion parameters accurately and obtain better flicking waveform. SPC-II reaches a steady speed of 1.4m/s at frequency of 2.5Hz and its proportion of velocity to body length is more than 1 L/s.

Flexible multi-joint fish robot has been proved to have perfect maneuvering performance. For example, 4-joint VCUUV turns at 75 °/s with one body length in comparison with 7

Fig. 4. Main interface of console software 2) feasibility of executing underwater task

The robofish SPC-II adopt two servo-joints that are controlled separately. It is benefited to regulate the tail locomotion parameters accurately and obtain better flicking waveform. SPC-II reaches a steady speed of 1.4m/s at frequency of 2.5Hz and its proportion of velocity to body length is more than 1 L/s.

Flexible multi-joint fish robot has been proved to have perfect maneuvering performance. For example, 4-joint VCUUV turns at 75 °/s with one body length in comparison with 7

body lengths of a conventional UUV [4]. SPC-II with rigid body is reduced to only 2 joints, but it still can easily turns with 1 body length turning radius. Usually the small turning radius can obviously improve the efficiency of UUV's employment. Moreover, SPC-IIuses 2 elevators fixed to the part of pectoral fin to dive.

SPC-II carries power battery itself and can communicate with console through cable or wireless style, which makes the transformation between ROV(Remotely Operated Vehicle) and AUV(Autonomous Underwater Vehicle) very simple. Compared with the conventional ROV, SPC-II has the character of higher sailing speed; and compared with the conventional AUV it also has the merit of small size, good maneuverability, and flexible manipulation. At present SPC-II was equipped with a kind of nickel-hydrogen pile (48V, 500wh), with which SPC-II could cruise about 3.5 hours ( at 2 kts. ). If the lithium pile with the same volume (48V, 1000 wh) is used instead, the cruising time could reach 7 hours.

The comparison between SPC-IIand some other UUVs is described as Tablel. Besides, SPC-II still reserves a loading room of 9kg for some special task, which means it still can be added relevant equipment according to real requirement. At a word, SPC-II can perform simple underwater task after proper refitting and has its own advantages and specialties in efficiency and quality.

Name/ Manufacturer

CR-01(AUV) / ShenYang Institute

VCUUV/ Lab of C.S.Draper

SPC-n /Robot Research

of Automation

institute of BUAA

Length/ Displacement

4.374m /1305kg

/40kg

Battery

10h

3h

3.5h

Duration

Dive Depth

6000m

10m

5m

Maximum

2 kts

2.4 kts

2.8 kts

Velocity

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