Design of a Miniature Underwater Angle-of-Attack Sensor and Its Application to a Self-Propelled Robotic Fish

doi:10.1109/JOE.2019.2940800

CORC > 自动化研究所 > 中国科学院自动化研究所 > 复杂系统管理与控制国家重点实验室

	Design of a Miniature Underwater Angle-of-Attack Sensor and Its Application to a Self-Propelled Robotic Fish
	Yu, Junzhi 1,2; Wang, Tianzhu 1,3; Wu, Zhengxing 1,3; Tan, Min 1,3
刊名	IEEE JOURNAL OF OCEANIC ENGINEERING
	2020-10-01
卷号	45 期号:4 页码:1295-1307
关键词	Robot sensing systems Real-time systems Propulsion Magnetomechanical effects Magnetic analysis Sea measurements Angle of attack (AoA) angle sensor measurement robotic fish underwater
ISSN号	0364-9059
DOI	10.1109/JOE.2019.2940800
通讯作者	Yu, Junzhi(junzhi.yu@ia.ac.cn)
英文摘要	This article proposes a miniature underwater angle-of-attack (AoA) sensor appropriate to self-propelled fin-actuated underwater robots, featuring real-time measurement of AoA relative to the incoming flow. Specifically, the developed sensor adopts a vane-rotating structure with a high-performance Hall chip that is responsible for detection of the angular deviation. Meanwhile, the Hall-effect-based acquisition scheme endows the device with several features, including low rotational damping, to satisfy underwater usage requirements. Another contribution is that an AoA model is derived to allow the real-time acquisition of AoA at the trailing edge of the caudal fin assumed in a quiescent flow. Based on this model, the AoA profile is obtained as theoretical reference with only the control laws required. Finally, the performance of the numerical model and the developed sensor are investigated through aquatic experiments assisted by a global visual measurement system. The experimental results demonstrate that the acquired AoA possesses over 0.97 Parson correlation coefficient with the theoretical data, verifying the effectiveness of the proposed mechatronic design. The developed AoA sensor and its application to robotic fish could provide potential assistance for the flow control and hydrodynamic optimization of fin-actuated underwater robots.
资助项目	National Natural Science Foundation of China[61725305] ; National Natural Science Foundation of China[61633017] ; National Natural Science Foundation of China[61633020] ; Key Project of Frontier Science Research of Chinese Academy of Sciences[QYZDJ-SSW-JSC004] ; Pre-Research Fund of Equipment of China[61402070304]
WOS关键词	SNAKE ROBOT ; CPG ; OPTIMIZATION ; VORTICES ; DYNAMICS ; MODEL
WOS研究方向	Engineering ; Oceanography
语种	英语
出版者	IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
WOS记录号	WOS:000577974500010
资助机构	National Natural Science Foundation of China ; Key Project of Frontier Science Research of Chinese Academy of Sciences ; Pre-Research Fund of Equipment of China
内容类型	期刊论文
源URL	[http://ir.ia.ac.cn/handle/173211/42150]
专题	自动化研究所_复杂系统管理与控制国家重点实验室
通讯作者	Yu, Junzhi
作者单位	1.Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100190, Peoples R China 2.Peking Univ, Dept Mech & Engn Sci, BIC ESAT, State Key Lab Turbulence & Complex Syst,Coll Engn, Beijing 100871, Peoples R China 3.Univ Chinese Acad Sci, Beijing 100049, Peoples R China
推荐引用方式 GB/T 7714	Yu, Junzhi,Wang, Tianzhu,Wu, Zhengxing,et al. Design of a Miniature Underwater Angle-of-Attack Sensor and Its Application to a Self-Propelled Robotic Fish[J]. IEEE JOURNAL OF OCEANIC ENGINEERING,2020,45(4):1295-1307.
APA	Yu, Junzhi,Wang, Tianzhu,Wu, Zhengxing,&Tan, Min.(2020).Design of a Miniature Underwater Angle-of-Attack Sensor and Its Application to a Self-Propelled Robotic Fish.IEEE JOURNAL OF OCEANIC ENGINEERING,45(4),1295-1307.
MLA	Yu, Junzhi,et al."Design of a Miniature Underwater Angle-of-Attack Sensor and Its Application to a Self-Propelled Robotic Fish".IEEE JOURNAL OF OCEANIC ENGINEERING 45.4(2020):1295-1307.