An underwater glider with bionic wings controlled by two operating modes is proposed to perform a variety of marine exploration tasks.The system composition of the vehicle and the structural design of wings inspired b...An underwater glider with bionic wings controlled by two operating modes is proposed to perform a variety of marine exploration tasks.The system composition of the vehicle and the structural design of wings inspired by manta ray are presented.The bionic wings can keep outstretched or realize oscillating motions according to the operating modes of the vehicle.A universal dynamic model of the vehicle was derived from multibody theory.Gliding,sailing and steering motions were simulated based on the dynamic model to illustrate the dynamic behaviors of the vehicle under different types of propulsion techniques.The results obtained through simulated calculation are basically consistent with the experimental data,which indicate that the developed dynamic model is applicable to describe the motion characteristics of the vehicle.Experiments were conducted in coastal area to analyze the propulsive characteristics of the bionic wings and sea trials involving multifarious motions were carried out,the applicability of the vehicle in marine environment was verified.展开更多
The buoyancy of traditional Underwater Glider(UG)with a rigid hull is aff ected by the changing marine parameters,making it difficult for the vehicle to dive deeper with good motion characteristics.In the present work...The buoyancy of traditional Underwater Glider(UG)with a rigid hull is aff ected by the changing marine parameters,making it difficult for the vehicle to dive deeper with good motion characteristics.In the present work,the development of a novel UG for neutral buoyancy,which is equipped with a Flexible-Liquid-Rigid(FLR)composite hull,is presented.The innovative hull that imitates the buoyancy regulation mechanism of marine organisms is easily adaptable to the changing marine environment.The rigid part of the composite hull withstands hydrostatic pressure for inner function modules of the vehicle.The liquid of the composite hull mainly serves as a buoyancy compensation to mitigate the eff ect of buoyancy variation caused by the changing marine parameters.The flexible covering provides a good hydrodynamic shape for the vehicle under the internal liquid pressure.The buoyancy variation due to the composite hull compression as well as changes of seawater density and temperature was comprehensively considered in the design process and integrated to the dynamic model.In addition,sea trials were performed to verify the motion characteristics of the proposed vehicle.The results reveal that the Flexible-bodied Underwater Glider(FUG)has a better gliding performance in practice.展开更多
基金supported by the National Natural Science Foundation of China[nos.51675372,51721003]and the National Key Research and Development Program of China(no.2019YFC0311701).
文摘An underwater glider with bionic wings controlled by two operating modes is proposed to perform a variety of marine exploration tasks.The system composition of the vehicle and the structural design of wings inspired by manta ray are presented.The bionic wings can keep outstretched or realize oscillating motions according to the operating modes of the vehicle.A universal dynamic model of the vehicle was derived from multibody theory.Gliding,sailing and steering motions were simulated based on the dynamic model to illustrate the dynamic behaviors of the vehicle under different types of propulsion techniques.The results obtained through simulated calculation are basically consistent with the experimental data,which indicate that the developed dynamic model is applicable to describe the motion characteristics of the vehicle.Experiments were conducted in coastal area to analyze the propulsive characteristics of the bionic wings and sea trials involving multifarious motions were carried out,the applicability of the vehicle in marine environment was verified.
基金supported by Sea Planning of Pilot National Laboratory for Marine Science and Technology(No.2O17WHZZBO3O3)。
文摘The buoyancy of traditional Underwater Glider(UG)with a rigid hull is aff ected by the changing marine parameters,making it difficult for the vehicle to dive deeper with good motion characteristics.In the present work,the development of a novel UG for neutral buoyancy,which is equipped with a Flexible-Liquid-Rigid(FLR)composite hull,is presented.The innovative hull that imitates the buoyancy regulation mechanism of marine organisms is easily adaptable to the changing marine environment.The rigid part of the composite hull withstands hydrostatic pressure for inner function modules of the vehicle.The liquid of the composite hull mainly serves as a buoyancy compensation to mitigate the eff ect of buoyancy variation caused by the changing marine parameters.The flexible covering provides a good hydrodynamic shape for the vehicle under the internal liquid pressure.The buoyancy variation due to the composite hull compression as well as changes of seawater density and temperature was comprehensively considered in the design process and integrated to the dynamic model.In addition,sea trials were performed to verify the motion characteristics of the proposed vehicle.The results reveal that the Flexible-bodied Underwater Glider(FUG)has a better gliding performance in practice.
