水空两栖跨介质无人飞行器研究现状

doi:10.13973/j.cnki.robot.170241

摘要
图/表
参考文献
相关文章 (15)

全文: PDF (675 KB) HTML ( ) 输出: BibTeX \| EndNote (RIS)
引用本文:
杨兴帮, 梁建宏, 文力, 王田苗. 水空两栖跨介质无人飞行器研究现状[J]. 机器人, 2018, 40(1): 102-114.DOI: 10.13973/j.cnki.robot.170241. YANG Xingbang, LIANG Jianhong, WEN Li, WANG Tianmiao. Research Status of Water-Air Amphibious Trans-media Unmanned Vehicle. ROBOT, 2018, 40(1): 102-114. DOI: 10.13973/j.cnki.robot.170241.

摘要通过充分的文献调研和总结，对现有水空两栖跨介质无人飞行器进行了比较全面系统的分析，从整个无人机领域的视角对该种无人飞行器进行了综述．将当前水空两栖跨介质无人飞行器分为水上无人机、潜射无人机和潜水无人机3大类，并综述了各类水空两栖跨介质无人飞行器的典型样机，讨论了各自的共性问题和运动介质的转换方式．

	服务

	把本文推荐给朋友
	加入我的书架
	加入引用管理器
	E-mail Alert
	RSS

关键词 ：跨介质无人飞行器, 水上无人机, 潜射无人机, 潜水无人机, 水空两栖运动

Abstract：After sufficient literature survey and summary, a comprehensive and systematic analysis on the current water-air amphibious trans-media unmanned vehicle is conducted, and a survey on this kind of unmanned vehicle is completed from the view of the overall unmanned aerial vehicle (UAV) field. The existing water-air amphibious trans-media unmanned vehicles are divided into three categories, i.e., the seaplane UAV, the submarine-launched UAV, and the submersible UAV, and then the typical prototypes of each category are reviewed. Subsequently, the general issues and transition modes between media in which each type of vehicle moves are discussed.

Key words： water-air amphibious locomotion trans-media unmanned vehicle seaplane UAV submarine-launched UAV submersible UAV

收稿日期: 2017-04-01 录用日期: 2017-09-02

ZTFLH:

TP24

基金资助:国家自然科学基金青年基金（61703023）；国家自然科学基金面上项目（51475028）；中国博士后科学基金（2016M600892）；智能机器人与系统高精尖创新中心2016年度开放研究基金（2016IRS07）

通讯作者: 杨兴帮,xingbang1987@163.com E-mail: xingbang1987@163.com

作者简介: 杨兴帮(1987-),男,博士后.研究领域:水空两栖多模式运动,仿生机器人,软体机器人;
梁建宏(1977-),男,博士,副教授.研究领域:微小型仿生机电系统;
文力(1983-),男,博士,副教授.研究领域:仿生机器人,软体机器人.

链接本文:

https://robot.sia.cn/CN/10.13973/j.cnki.robot.170241 或 https://robot.sia.cn/CN/Y2018/V40/I1/102

[1] Chant C, Taylor M J H. The world's greatest aircraft[M]. New York, USA:Book Sales Inc., 2008.
[2] Nicolaou S. Flying boats & seaplanes:A history from 1905[M]. Bideford, UK:Bay View Books Ltd., 1996.
[3] Verne J. Master of the world[M]. Hanover, Germany:Steerforth Press, 2010.
[4] Drews Jr P L J, Neto A A, Campos M F M. A survey on aerial submersible vehicles[C]//OCEANS. Piscataway, USA:IEEE, 2009:1-7.
[5] Petrov G. Flying submarine[J]. Journal of Fleet, 1995, 3:52-53.
[6] Reid B D. The Flying submarine:The story of the invention of the Reid flying submarine, RFS-1[M]. Berwgn Heights, USA:Eagle Editions, 2004.
[7] Convair. Convair flying submarine report[R]. San Diego, USA:Consolidated Vultee Convair, 1962.
[8] DARPA. Broad agency announcement:Submersible aircraft[R]. Arlington, USA:DARPA, 2008.
[9] Johnson R P, Rumble H P. The submersible aircraft:Design feasibility and performance calculations[R]. Santa Monica, USA:RAND Corporation, 1963.
[10] Johnson R P, Rumble H P. Submersibly moored and submersible aircraft:Comparative design and parametric performance analysis[R]. Santa Monica, USA:RAND Corporation, 1964.
[11] Johnson R P, Rumble H P, Tenzer A J. Submersible aircraft:Potential missions, selected system operations, and costs[R]. Santa Monica, USA:RAND Corporation, 1964.
[12] Tenzer A J, Watts A F, Kermisch J J. System costs for strategic penetrator systems using submersible and conventional aircraft[R]. Santa Monica, USA:RAND Corporation, 1965.
[13] Department of Defense. FY2013-2038 unmanned systems integrated roadmap[M]. Washington, USA:Department of Defense, 2013.
[14] 王田苗,杨兴帮,梁建宏.中央鳍/对鳍推进模式的仿生自主水下机器人发展现状综述[J].机器人,2013,35(3):352-362,384.Wang T M, Yang X B, Liang J H. A Survey on bionic autonomous underwater vehicles propelled by median and/or paired fin mode[J]. Robot, 2013, 35(3):352-362,384.
[15] 欧青立,何克忠.室外智能移动机器人的发展及其关键技术研究[J].机器人,2000,22(6):519-526.Ou Q L, He K Z. Research on key techniques and development of outdoor intelligent autonomous mobile robot[J]. Robot, 2000, 22(6):519-526.
[16] 杨斌,何玉庆,韩建达,等.作业型飞行机器人研究现状与展望[J].机器人,2015,37(5):628-640.Yang B, He Y Q, Han J D, et al. Survey on aerial manipulator systems[J]. Robot, 2015, 37(5):628-640.
[17] Chen Y F, Helbling E F, Gravish N, et al. Hybrid aerial and aquatic locomotion in an at-scale robotic insect[C]//IEEE/RSJ International Conference on Intelligent Robots and Systems. Piscataway, USA:IEEE, 2015:331-338.
[18] Izraelevitz J S, Triantafyllou M S. A novel degree of freedom in flapping wings shows promise for a dual aerial/aquatic vehicle propulsor[C]//IEEE International Conference on Robotics and Automation. Piscataway, USA:IEEE, 2015:5830-5837.
[19] Siddall R, Kovac M. A water jet thruster for an aquatic micro air vehicle[C]//IEEE International Conference on Robotics and Automation. Piscataway, USA:IEEE, 2015:3979-3985.
[20] Yang X B, Wang T M, Liang J H, et al. Survey on the novel hybrid aquatic-aerial amphibious aircraft:Aquatic unmanned aerial vehicle (AquaUAV)[J]. Progress in Aerospace Sciences, 2015, 74:131-151.
[21] Murphy R R, Steimle E, Griffin C, et al. Cooperative use of unmanned sea surface and micro aerial vehicles at Hurricane Wilma[J]. Journal of Field Robotics, 2008, 25(3):164-180.
[22] 朱心科,金翔龙,陶春辉,等.海洋探测技术与装备发展探讨[J].机器人,2013,35(3):376-384.Zhu X K, Jin X L, Tao C H, et al. Discussion on development of ocean exploration technologies and equipments[J]. Robot, 2013, 35(3):376-384.
[23] 戴瑜,刘少军.深海采矿机器人研究:现状与发展[J].机器人,2013,35(3):363-375.Dai Y, Liu S J. Researches on deep ocean mining robots:Status and development[J]. Robot, 2013, 35(3):363-375.
[24] Siddall R, Kovac M. Launching the AquaMAV:Bioinspired design for aerial-aquatic robotic platforms[J]. Bioinspiration & Biomimetics, 2014, 9(3):1-15.
[25] Pisanich G, Morris S. Fielding an amphibious UAV:Development, results, and lessons learned[C]//The 21st Digital Avionics Systems Conference. Piscataway, USA:IEEE, 2002:1-9.
[26] Sirak M. Vought markets unmanned seaplane to US navy[J]. Janes Defence Weekly, 2005, 42(14):8-9.
[27] Oregon Iron Works, Inc. Sea scout unmanned tactical seaplane offers increased mission flexibility and utility[EB/OL].[2017-10-23]. https://www.scribd.com/document/40874493/Seascout.
[28] Macy D, Eubank R D, Atkins E M, et al. Flying fish:A persistent ocean surveillance buoy with autonomous aerial repositioning[C]//2008 AUVSI Conference. San Diego, USA:2008.
[29] Eubank R D, Atkins E M. Unattended autonomous mission and system management of an unmanned seaplane[C]//InfoTech and Aerospace. Reston, USA:AIAA, 2011:1-12.
[30] Eubank R D. Autonomous flight, fault, and energy management of the flying fish solar-powered seaplane[D]. Ann Arbor, USA:University of Michigan, 2012.
[31] Eubank R D, Bradley J M, Atkins E M. Energy-aware multiflight planning for an unattended seaplane:Flying fish[J]. Journal of Aerospace Information Systems, 2016, 14(2):1-19.
[32] Pengelley R. All hands on deck:The sky's the limit for shipboard UAVs[J]. Jane's Navy International, 2009, 12:12-17.
[33] Vigliotti V. Demonstration of submarine control of an unmanned aerial vehicle[J]. Johns Hopkins APL Technical Digest, 1998, 19(4):501-512.
[34] Kollmorgen. Sea sentry organic submarine launched UAV[R]. Radford, USA:Kollmorgen Corporation, 2009.
[35] Weisshaar T A. Morphing aircraft systems:Historical perspectives and future challenges[J]. Journal of Aircraft, 2013, 50(2):337-353.
[36] DARPA. Broad agency announcement:Hydra[R]. Arlington, USA:DARPA, 2013.
[37] SIGNAL Media. DARPA awards Hydra phase 2 contract[EB/OL].[2017-09-27]. https://www.afcea.org/content/Blog-darpa-awards-hydra-phase-2-contract.
[38] Majumdar D U S. Navy launches UAV from a submarine[EB/OL].[2017-09-27]. http://news.usni.org/2013/12/06/u-s-navy-launches-uav-submarine#more-5603.2013-12-06.
[39] Business Wire Connect. United States Navy demonstrates cross-domain communications, command and control via AeroVironment Blackwing submarine-launched UAV[EB/OL].[2017-09-27]. http://www.businesswire.com/news/home/20160907005733/en/United-States-Navy-Demonstrates-Cross-Domain-Communications-Command.
[40] Lock R J, Vaidyanathan R, Burgess S C, et al. Development of a biologically inspired multi-modal wing model for aerial-aquatic robotic vehicles through empirical and numerical modelling of the common guillemot, Uria aalge[J]. Bioinspiration & Biomimetics, 2010, 5(4):NO.046001.
[41] Lock R J. A biologically-inspired multi-modal wing for aerial-aquatic robotic vehicles[D]. Bristol, UK:University of Bristol, 2011.
[42] Lock R J, Vaidyanathan R, Burgess S C. Design and experimental verification of a biologically inspired multi-modal wing for aerial-aquatic robotic vehicles[C]//4th IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob). Piscataway, USA:IEEE, 2012:681-687.
[43] Lock R J, Vaidyanathan R, Burgess S C. Impact of marine locomotion constraints on a bio-inspired aerial-aquatic wing:Experimental performance verification[J]. Journal of Mechanisms and Robotics, 2014, 6(1):1-10.
[44] Gao A, Techet A H. Design considerations for a robotic flying fish[C]//OCEANS. Piscataway, USA:IEEE, 2011:1-8.
[45] Fabian A, Feng Y F, Swartz E, et al. Hybrid aerial underwater vehicle[R]. Lexington, USA:MIT Lincoln Lab, 2012.
[46] Izraelevitz J S, Triantafyllou M S. Adding in-line motion and model-based optimization offers exceptional force control authority in flapping foils[J]. Journal of Fluid Mechanics, 2014, 742(3):5-34.
[47] Licht S C, Wibawa M S, Hover F S, et al. In-line motion causes high thrust and efficiency in flapping foils that use power downstroke[J]. Journal of Experimental Biology, 2010, 213(1):63-71.
[48] Ma K Y, Chirarattananon P, Fuller S B, et al. Controlled flight of a biologically inspired, insect-scale robot[J]. Science, 2013, 340(6132):603-607.
[49] Siddall R, Ortega A A, Kovac M. Wind and water tunnel testing of a morphing aquatic micro air vehicle[J]. Interface Focus, 2017, 7(1):1-5.
[50] Makiguchi Y, Kuramochi K, Iwane S, et al. Take-off performance of flying fish Cypselurus heterurus doederleini measured with miniature acceleration data loggers[J]. Aquatic Biology, 2013, 18(2):105-111.
[51] Muramatsu K, Yamamoto J, Abe T, et al. Oceanic squid do fly[J]. Marine Biology, 2013, 160(5):1171-1175.
[52] Yan R C, Grémillet D, Ryan P, et al. Between air and water:The plunge dive of the Cape Gannet Morus capensis[J]. IBIS, 2004, 146(2):281-290.
[53] 刘华欣.仿生跨介质航行器机理研究及原型机工程[D].北京:北京航空航天大学,2009.Liu H X. Investigation on the mechanism of a bionic trans-media vehicle and prototype project[D]. Beijing:Beihang University, 2009.
[54] Yao G C, Liang J H, Wang T M, et al. Submersible unmanned flying boat:Design and experiment[C]//IEEE International Conference on Robotics and Biomimetics. Piscataway, USA:IEEE, 2014:1308-1313.
[55] Yang X B, Wang T M, Liang J H, et al. Submersible unmanned aerial vehicle concept design study[C]//Aviation Technology, Integration, and Operations Conference. Reston, USA:AIAA, 2013:1-12.
[56] 朱莎.水空两用无人机动力系统设计与研究[D].南昌:南昌航空大学,2012.Zhu S. The design and research of power system in water-air UAV[D]. Nanchang:Nanchang Hangkong University, 2012.
[57] 刘伟.潜水飞机总体设计与气动外形结构设计分析[D].南昌:南昌航空大学,2012.Liu W. The diving plane design and the aerodynamic shape structural design and analysis[D]. Nanchang:Nanchang Hangkong University, 2012.
[58] Zhu Y G, Fan G L, Yi J Q. Modeling longitudinal aerodynamic and hydrodynamic effects of a flying boat in calm water[C]//IEEE International Conference on Mechatronics and Automation. Piscataway, USA:IEEE, 2011:2039-2044.
[59] Du H, Fan G L, Yi J Q. Autonomous takeoff for unmanned seaplanes via fuzzy identification and generalized predictive control[C]//IEEE International Conference on Robotics and Biomimetics. Piscataway, USA:IEEE, 2013:2094-2099.
[60] Du H, Fan G L, Yi J Q. Autonomous takeoff control system design for unmanned seaplanes[J]. Ocean Engineering, 2014, 85:21-31.
[61] Du H, Fan G L, Yi J Q. Nonlinear longitudinal attitude control of an unmanned seaplane with wave filtering[J]. International Journal of Automation and Computing, 2016, 13(6):634-642.
[62] 裴譞,张宇文,李闻白,等.跨介质飞行器气/水两相弹道仿真研究[J].工程力学,2010,27(8):223-228.Pei X, Zhang Y W, Li W B, et al. Simulation and analysis on the gas/water two-phase ballistics of trans-media aircraft[J]. Engineering Mechanics, 2010, 27(8):223-228.
[63] 裴譞,张宇文,袁绪龙,等.两栖UAV动力学建模与仿真[J].火力与指挥控制,2011,36(1):10-13.Pei X, Zhang Y W, Yuan X L, et al. Dynamic modeling and simulation of trans-media aircraft system[J]. Fire Control & Command Control, 2011, 36(1):10-13.
[64] 裴譞,张宇文,王银涛,等.两栖UAV滑跳动力学特性仿真研究[J].计算力学学报,2011,28(2):173-177.Pei X, Zhang Y W, Wang Y T, et al. Simulation and analysis of slide jump dynamic characteristic of the amphibious UAV[J]. Journal of Computational Mechanics, 2011, 28(2):173-177.
[65] 王伟,张宇文,朱灼.跨介质飞行器弹道仿真分析[J].计算机仿真,2012,28(12):1-4.Wang W, Zhang Y W, Zhu Z. Simulation and analysis on ballistic trajectory of trans-media aircraft[J]. Computer Simulation, 2012, 28(12):1-4.
[66] 李金洪,杨安强,粟凌云.跨介质UAV水面滑跳转向特性建模与仿真[J].鱼雷技术,2013,20(6):401-406.Li J H, Yang A Q, Su L Y. Modeling and simulation of dynamic characteristics of slide jump steering trajectory for trans-media UAV[J]. Torpedo Technology, 2013, 20(6):401-406.
[67] 邢文中,蒋蓁.海空无人机的构型设计与气动水动分析[J].弹箭与制导学报,2015,35(4):113-117.Xing W Z, Jiang Z. Configuration design and aerodynamic and hydrodynamic performance analysis of sea-air unmanned aerial vehicle[J]. Journal of Projectiles, Rockets, Missiles and Guidance, 2015, 35(4):113-117.
[68] 姜琬,贾任重,卢芳春.仿生系列跨介质新概念飞行器气水动布局设计[C]//第六届中国航空学会青年科技论坛.2014.Jiang W, Jia R Z, Lu F C. Aerodynamics and hydrodynamics configuration design of bionic series transmedia new concept aircraft[C]//The Sixth China Aviation Institute Youth Science and Technology BBS. 2014.
[69] 张亦波,刘牧东,熊峻江.变体飞机技术[J].航空科学技术,2013(6):64-68.Zhang Y B, Liu M D, Xiong J J. Morphing Aircraft Technology[J]. Aeronautical Science and Technology, 2013(6):64-68.
[70] 贺媛媛,王博甲.国外变形飞行器的研究现状[J].飞航导弹,2013,10(10):49-55.He Y Y, Wang B J. Current research status of abroad morphing aircraft[J]. Aerodynamic Missile Journal, 2013, 10(10):49-55.
[71] Rodriguez A R. Morphing aircraft technology survey[C]//45th AIAA Aerospace Sciences Meeting and Exhibit. Reston, USA:AIAA, 2007:1-16.
[72] Wikipedia. Energy density[EB/OL]. (2017-05-09)[2017-05-16]. https://en.wikipedia.org/wiki/Energy_density.
[73] Griffis C A, Wilson T, Schneider J, et al. Unmanned aircraft system propulsion systems technology survey[M]. Washington, USA:Department of Transportation, Federal Aviation Administration, 2009.
[74] Kweon C B M. A review of heavy-fueled rotary engine combustion technologies[R]. Aberdeen Proving Ground, USA:Army Research Lab, 2011.
[75] 孙冲,刘磊,曹强.海军装备技术体系中的系统成熟度评价方法研究[J].国防科技,2014,35(4):54-58,62.Sun C, Liu L, Cao Q. Study on system readiness assessment in navy armament technology system-of-systems[J]. National Defense Science & Technology, 2014, 35(4):54-58,62.