Parametric Design Method and Experimental Research on Haidou Full-depth Ocean Autonomous and Remotely-operated Vehicle
TANG Yuangui1,2, WANG Jian1,2, LU Yang1,2, YAO Zhenjiang1,3
1. State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China;
2. Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang 110016, China;
3. University of Chinese Academy of Sciences, Beijing 100049, China
Abstract:For Haidou full-depth ocean autonomous and remotely-operated vehicle (ARV) to accomplish the hadal trench detection with a high efficiency, a parameterized model is proposed for the overall design of Haidou using the fuzzy analytic hierarchy process, based on the analysis on the mission-oriented typical performance indices. The target of the hadal trench detection in minimum time was completed by Haidou through the parametric configuration and optimization of the model. Two sea trials have been carried out in the Challenger Deep of Mariana Trench. Results show that Haidou meets the requirements of hadal trench detection with large vertical depth, which verifies the effectiveness of the proposed parametric design method.
[1] 蒋新松,封锡盛,王棣堂.水下机器人[M].沈阳:辽宁科学技术出版社,2000.Jiang X S, Feng X S, Wang D T. Underwater robot[M]. Shenyang:Liaoning Science and Technology Press, 2000.
[2] Jamieson A J, Fujii T, Mayor D J, et al. Hadal trenches:The ecology of the deepest places on Earth[J]. Trends in Ecology and Evolution, 2010, 25(3):190-197.
[3] Clauss G, Hoog S. Deep sea challenges of marine technology and oceanographic engineering[A/OL].[2018-05-23]. https://www.researchgate.net/profile/Sven_Hoog/publication/228590464_Deep_sea_challenges_of_marine_technology_and_oceanographic_engineering/links/575e6fe308aec91374b06c48/Deep-sea-challenges-of-marine-technology-and-oceanographic-engineering.pdf?origin=publication_detail.
[4] Yoshida H, Aoki T, Osawa H, et al. A deepest depth ROV for sediment sampling and its sea trial result[C]//Symposium on Underwater Technology and Workshop on Scientific Use of Submarine Cables and Related Technologies. Piscataway, USA:IEEE, 2007:28-33.
[5] Bowen A D, Yoerger D R, Taylor C, et al. The Nereus hybrid underwater robotic vehicle for global ocean science operations to 11,000 m depth[C]//Oceans. Piscataway, USA:IEEE, 2009:1-10.
[6] Bowen A D, Yoerger D R, Taylor C, et al. The Nereus hybrid underwater robotic vehicle[J]. Underwater Technology, 2009, 28(3):79-89.
[7] Momma H, Watanabe M, Hashimoto K, et al. Loss of the full ocean depth ROV Kaiko-Part 1:ROV Kaiko-A review[M]//International Offshore and Polar Engineering Conference.[S.l.]:International Society of Offshore and Polar Engineers, 2004:191-193.
[8] Tang Y G, Li S, Zhang A Q. Research on optimization design of a new type of underwater vehicle for arctic expedition[C/OL]//Sixth International Symposium on Underwater Technology. Piscataway, USA:IEEE, 2009:96-100.[2017-06-15]. http://ir.sia.cn/bitstream/173321/7841/2/HYQW000973.pdf.
[9] 施生达.潜艇操纵性[M].北京:国防工业出版社,1995.Shi S D. Submarine control[M]. Beijing:National Defense Industry Press, 1995.
[10] 朱继懋.潜水器设计[M].上海:上海交通大学出版社,1992.Zhu J M. Design of submersible[M]. Shanghai:Shanghai Jiao Tong University Press, 1992.
[11] 郭艳飞,任雪桂,鞠力,等.基于层次分析法的综合能源系统能效评估方法研究及应用[J].电力科学与技术学报,2018,33(4):121-128.Guo Y F, Ren X G, Ju L, et al. The comprehensive efficiency evaluation method for integrated energy system based on AHP[J]. Journal of Electric Power Science and Technology, 2018, 33(4):121-128.
[12] 刘兴堂,梁炳成,刘力.复杂系统建模理论、方法与技术[M].北京:科学出版社,2008.Liu X T, Liang B C, Liu L. The theroy, method & technique for complex system modeling[M]. Beijing:Science Press, 2008.
[13] 王建,庞永杰,杨卓懿.改进模糊层次分析法在AUV总体性能评价中的应用[J].上海交通大学学报,2015,49(2):275-280.Wang J, Pang Y J, Yang Z Y. Application of improved fuzzy AHP method to overall performance evaluation of AUV[J]. Journal of Shanghai Jiao Tong University, 2015, 49(2):275-280.
[14] 姬东朝,宋笔锋,喻天翔.模糊层次分析法及其在设计方案选优中的应用[J].系统工程与电子技术,2006,28(11):1692-1694.Ji D Z, Song B F, Yu T X. FAHP and its application in the selection of design scheme[J]. System Engineering and Electronic Technology, 2006, 28(11):1692-1694.
[15] Du X J, Yang Z J, Li G F, et al. Remaining useful life assessmentof machine tools based on AHP method and Euclid approach degree[C]//International Conference on System Reliability and Science. Piscataway, USA:IEEE, 2017:46-52.
[16] 何衍儒,宋保维,曹永辉.使用混合代理模型的自主式水下航行器藕节壳体多目标优化[J].水下无人系统学报,2017,25(5):410-417.He Y R, Song B W, Cao Y H. Mixture surrogate model based structural optimization design of multiple intersecting spheres for automatic undersea vehicle[J]. Journal of Unmanned Underwater Systems. 2017, 25(5):410-417.