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IEEE/CAA Journal of Automatica Sinica 2022年第6期9卷 967-977页

作者： Haisheng Xia Muhammad Alamgeer Khan Zhijun Li MengChu Zhou IEEE Department of Automation University of Science and Technology of ChinaHefei 230026China Institute of Artificial Intelligence Hefei Comprehensive National Science CenterHefei 230026China Helen and John C.Hartmann Department of Electrical and Computer Engineering New Jersey Institute of TechnologyNewark NJ 07102 USA Department of Cyber-Physical Systems St.Petersburg State Marine Technical UniversitySt.Petersburg 198262Russia

underwater robot technology has shown impressive results in applications such as underwater resource *** underwater applications that require extremely high flexibility,robots cannot replace skills that require human dexterity yet,and thus humans are often required to directly perform most underwater *** robots(exoskeletons)have shown outstanding results in enhancing human movement on *** are expected to have great potential to enhance human underwater *** purpose of this survey is to analyze the state-of-the-art of underwater exoskeletons for human enhancement,and the applications focused on movement assistance while excluding underwater robotic devices that help to keep the temperature and pressure in the range that people can *** work discusses the challenges of existing exoskeletons for human underwater movement assistance,which mainly includes human underwater motion intention perception,underwater exoskeleton modeling and human-cooperative *** research should focus on developing novel wearable robotic structures for underwater motion assistance,exploiting advanced sensors and fusion algorithms for human underwater motion intention perception,building up a dynamic model of underwater exoskeletons and exploring human-in-theloop control for them.

关键词： Cyborg intelligence diving exoskeleton intention perception modeling and control swimming underwater exoskeletons underwater robots wearable robots

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An underwater Robot Inspection Anomaly Localization Feedback System Based on Sonar Technology

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Journal of Electronic Research and Application 2024年第4期8卷 17-21页

作者： Siqiang Cheng Yi Liu Aibin Tang Libin Yang Department of Information Science and Engineering Hunan University of HumanitiesScience and TechnologyLoudi 417000China Huanan Xiangdian Test and Research Institute Co. LTD.Changsha 410000China

This article introduces an underwater robot inspection anomaly localization feedback system comprising a real-time water surface tracking,detection,and positioning system located on the water surface,while the underwater robot inspection anomaly feedback system is housed within the underwater *** system facilitates the issuance of corresponding mechanical responses based on the water surface’s real-time tracking,detection,and positioning,enabling recognition and feedback of anomaly *** sonar technology,the underwater robot inspection anomaly feedback system monitors the underwater robot in real-time,triggering responsive actions upon encountering *** real-time tracking,detection,and positioning system from the water surface identifies abnormal conditions of underwater robots based on changes in sonar images,subsequently notifying personnel for necessary intervention.

关键词： underwater robots Positioning feedback system Sonar real-time tracking

Uncover rock-climbing fish's secret of balancing tight adhesion and fast sliding for bioinspired robots

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National Science Review 2023年第8期10卷 222-231页

作者： Wenjun Tan Chuang Zhang Ruiqian Wang Yuanyuan Fu Qin Chen Yongliang Yang Wenxue Wang Mingjun Zhang Ning Xi Lianqing Liu State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences University of Chinese Academy of Sciences Department of Histology and Embryology Basic Medical CollegeChina Medical University Chengdu Institute of Biology Chinese Academy of Sciences Department of Biomedical Engineering School of Medicine Tsinghua University 7. Emerging Technologies InstituteDepartment of Industrial and Manufacturing Systems EngineeringUniversity of Hong Kong

The underlying principle of the unique dynamic adaptive adhesion capability of a rock-climbing fish(Beaufortia kweichowensis) that can resist a pull-off force of 1000 times its weight while achieving simultaneous fast sliding(7.83 body lengths per second(BL/S)) remains a mystery in the literature. This adhesion-sliding ability has long been sought for underwater robots. However, strong surface adhesion and fast sliding appear to contradict each other due to the need for high surface contact stress. The skillfully balanced mechanism of the tight surface adhesion and fast sliding of the rock-climbing fish is disclosed in this work. The Stefan force(0.1 mN/mm2) generated by micro-setae on pectoral fins and ventral fins leads to a 70 N/m2adhesion force by conforming the overall body of the fish to a surface to form a sealing chamber. The pull-off force is neutralized simultaneously due to the negative pressure caused by the volumetric change of the chamber. The rock-climbing fish’s micro-setae hydrodynamic interaction and sealing suction cup work cohesively to contribute to low friction and high pull-off-force resistance and can therefore slide rapidly while clinging to the surface. Inspired by this unique mechanism, an underwater robot is developed with incorporated structures that mimic the functionality of the rock-climbing fish via a micro-setae array attached to a soft self-adaptive chamber, a setup which demonstrates superiority over conventional structures in terms of balancing tight underwater adhesion and fast sliding.

关键词： bioinspired underwater adhesion crawling robots rock-climbing fish Stefan adhesion underwater robots

A Survey of underwater Multi-Robot Systems

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IEEE/CAA Journal of Automatica Sinica 2022年第1期9卷 1-18页

作者： Ziye Zhou Jincun Liu Junzhi Yu State Key Laboratory for Turbulence and Complex System Department of Advanced Manufacturing and RoboticsBeijing Innovation Center for Engineering Science and Advanced TechnologyCollege of EngineeringPeking UniversityBeijing 100871China College of Information and Electrical Engineering China Agricultural UniversityBeijing 100083China

As a cross-cutting field between ocean development and multi-robot system(MRS),the underwater multi-robot system(UMRS)has gained increasing attention from researchers and engineers in recent *** this paper,we present a comprehensive survey of cooperation issues,one of the key components of UMRS,from the perspective of the emergence of new *** specifically,we categorize the cooperation in terms of task-space,motion-space,measurement-space,as well as their ***,we analyze the architecture of UMRS from three aspects,i.e.,the performance of the individual underwater robot,the new functions of underwater robots,and the technical approaches of *** conclude,we have discussed related promising directions for future *** survey provides valuable insight into the reasonable utilization of UMRS to attain diverse underwater tasks in complex ocean application scenarios.

关键词： Cooperation formation control multi-robot systems(MRS) taxonomy underwater robots underwater tasks

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Modeling and analysis of an underwater biomimetic vehicle-manipulator system

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Science China(Information Sciences) 2022年第3期65卷 255-257页

作者： Xuejian BAI Yu WANG Shuo WANG Rui WANG Min TAN Wei WANG School of Artificial Intelligence University of Chinese Academy of Sciences State Key Laboratory of Management and Control for Complex Systems Institute of AutomationChinese Academy of Sciences CAS Center for Excellence in Brain Science and Intelligence Technology School of Control Science and Engineering Shandong University

In recent years, underwater vehicle-manipulator systems(UVMSs) have captured researchers’ attention. Inspired by fish, bionic mechanisms were introduced into a *** underwater biomimetic vehicle-manipulator system(UBVMS) is actuated by two symmetrically arranged biomimetic undulatory fin propulsors [1]. Based on the UBVMS, some topics have been researched, such as freefloating autonomous operation [2, 3], three-dimensional helical path following [4], and underwater video processing [5].

关键词： underwater biomimetic vehicle underwater robots underwater vehicle-manipulator system biomimetic robots hydrodynamic modeling

Turbidity-adaptive underwater image enhancement method using image fusion

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Frontiers of Mechanical Engineering 2022年第3期17卷 261-279页

作者： Bin HAN Hao WANG Xin LUO Chengyuan LIANG Xin YANG Shuang LIU Yicheng LIN School of Mechanical Science and Engineering Huazhong University of Science and TechnologyWuhan430074China Guangdong Intelligent Robotics Institute Dongguan523808China

Clear,correct imaging is a prerequisite for underwater *** real freshwater environment including rivers and lakes,the water bodies are usually turbid and dynamic,which brings extra troubles to quality of imaging due to color deviation and suspended *** of the existing underwater imaging methods focus on relatively clear underwater environment,it is uncertain that if those methods can work well in turbid and dynamic underwater *** this paper,we propose a turbidity-adaptive underwater image enhancement *** deal with attenuation and scattering of varying degree,the turbidity is detected by the histogram of *** on the detection result,different image enhancement strategies are designed to deal with the problem of color deviation and *** proposed method is verified by an underwater image dataset captured in real underwater *** result is evaluated by image metrics including structure similarity index measure,underwater color image quality evaluation metric,and speeded-up robust *** results exhibit that the method can correct the color deviation and improve the quality of underwater images.

关键词： turbidity underwater image enhancement image fusion underwater robots visibility

Embedded database applied in ExperimentⅡunderwater Robot

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Embedded database applied in ExperimentⅡunderwater Robot