Title :
Miniature Underwater Glider: Design and Experimental Results
Author :
Feitian Zhang ; Thon, John ; Thon, Cody ; Xiaobo Tan
Author_Institution :
Dept. of Electr. & Comput. Eng., Michigan State Univ., East Lansing, MI, USA
Abstract :
The concept of gliding robotic fish combines gliding and fin-actuation mechanisms to realize energy-efficient locomotion and high maneuverability. Such robots hold strong promise for mobile sensing in versatile aquatic environments. In this paper, we present the design and implementation of a miniature glider, a key enabling component for gliding robotic fish. The steady-state glide equation is first presented and then solved numerically for given net-buoyancy and movable mass displacement. Scaling analysis is conducted to understand the tradeoff between the glide performance and energy cost. Comprehensive design for the glider is provided. Experimentation and modeling analysis are further conducted to investigate the impacts of movable mass displacement, net buoyancy, and wing size on the gliding performance.
Keywords :
autonomous underwater vehicles; energy-efficient locomotion; fin-actuation mechanisms; gliding mechanisms; gliding performance; gliding robotic fish; high maneuverability; miniature underwater glider; movable mass displacement; net buoyancy; scaling analysis; steady-state glide equation; wing size; Energy consumption; Gravity; Hydrodynamics; Mathematical model; Performance analysis; Prototypes; Robots; Gliding robotic fish; miniature underwater glider; modeling; underwater robotics;
Journal_Title :
Mechatronics, IEEE/ASME Transactions on
DOI :
10.1109/TMECH.2013.2279033