深海小型爬行机器人研究现状
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摘要
通过充分的文献调研和总结,根据海上作业形式对典型的深海小型爬行机器人分成3类进行了综述.对影响深海小型爬行机器人发展的海底运动适应性、导航定位、能源供给以及轻量级机械手4项关键技术进行了总结和分析,并对其未来的发展趋势进行了展望.
After sufficient literature survey and summary, the typical benthic small-scale robots are divided into three categories to be analyzed comprehensively according to their operation forms in the sea. 4 key technologies that affect the development of benthic small-scale crawling robots are summarized and analyzed, i.e., seafloor adaptive walking, navigation and positioning, energy supply and lightweight manipulator technologies. Finally, the development trends of benthic smallscale crawling robots are discussed.
After sufficient literature survey and summary, the typical benthic small-scale robots are divided into three categories to be analyzed comprehensively according to their operation forms in the sea. 4 key technologies that affect the development of benthic small-scale crawling robots are summarized and analyzed, i.e., seafloor adaptive walking, navigation and positioning, energy supply and lightweight manipulator technologies. Finally, the development trends of benthic smallscale crawling robots are discussed.
引文
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[22]ROBEX. iWally.[DB/OL].[2018-03-11]. http://www.robexallianz.de/en/deep-sea-crawler/iwally/.
[23]Wedler A, Hellerer M, Rebele B, et al. ROBEX–Components and methods for the planetary exploration demonstration mission[C]//13th Symposium on Advanced Space Technologies in Robotics and Automation. 2015.
[24]ROBEX. MANSIO-VIATOR[DB/OL].[2018-03-11]. http://www.robex-allianz.de/en/deep-sea-crawler/viator/.
[25]Wenzhoefer F, Wulff T, Floegel S, et al. ROBEX–Innovative robotic technologies for ocean observations, a deep-sea demonstration mission[C]//OCEANS. Piscataway, USA:IEEE, 2016.
[26]Wenzh?fer F, Knust R. Expedition programme PS108[R]. Bremerhaven, Germany:Alfred Wegener Institute, Helmholtz Centre for Polar and Marine Research, 2017.
[27]Momma H, Watanabe M, Hashimoto K, et al. Loss of the full ocean depth ROV Kaiko–Part 1:ROV Kaiko–A review[C]//14th International Offshore and Polar Engineering Conference.Cupertino, USA:International Society Offshore&Polar Engineers, 2004:191-193.
[28]Takai K, Inoue A, Horikoshi K. Thermaerobacter marianensis gen. nov., sp, nov., an aerobic extremely thermophilic marine bacterium from the 11000 m deep Mariana Trench[J]. International Journal of Systematic and Bacteriology, 1999, 49(2):619-628.
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[30]Sawa T, Aoki T, Osawa H, et al. Full depth ROV “ABISMO” and its transponder[C]//OCEANS. Piscataway, USA:IEEE, 2009:402-405.
[31]Shiosawa T, Takagi K, Inoue T. Experimental and theoretical study on the motion of ROV with crawler system[C]//OCEANS.Piscataway, USA:IEEE, 2010.
[32]Japan Agency for Marine-Earth Science and Technology.Trench biosphere expedition for the Challenger deep, Mariana Trench[R]. Yokosuka, Japan:Japan Agency for Marine-Earth Science and Technology, 2014.
[33]Kand M S T, Sadeghian R, Masouleh M T. Design, analysis and construction of a novel flexible rover robot[C]//3rd RSI/ISM International Conference on Robotics and Mechatronics. Piscataway, USA:IEEE, 2015:377-382.
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[35]McGill P R, Sherman A D, Hobson B W, et al. Initial deployments of the Rover, an autonomous bottom-transecting instrument platform for long-term measurements in deep benthic environments[C]//OCEANS. Piscataway, USA:IEEE, 2007:1337-1343.
[36]McGill P R, Sherman A D, Hobson B W, et al. Initial deployments of the rover, an autonomous bottom-transecting instrument platform[J]. Journal of Ocean Technology, 2009, 4(2):52-70.
[37]Smith K L Jr, Sherman A D, Huffard C L, et al. Large salp bloom export from the upper ocean and benthic community response in the abyssal northeast Pacific:Day to week resolution[J]. Limnology&Oceanography, 2014, 59(3):745-757.
[38]Smith K L Jr, Ruhl H A, Kahru M, et al. Deep ocean communities impacted by changing climate over 24 y in the abyssal northeast Pacific Ocean[J]. Proceedings of the National Academy of Sciences of the United States of America, 2013, 110(49):19838-19841.
[39]Henthorn R G, Hobson B W, McGill P R, et al. MARS benthic rover:In-situ rapid proto-testing on the Monterey accelerated research system[C]//OCEANS. Piscataway, USA:IEEE, 2010.
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