Dynamic modeling and anti-roll design of an autonomous, small-scaled module for height control in deep sea
Abstract
<p indent="0mm">Deep-sea intelligent equipment is crucial in deep-sea scientific research, national defense and security, and other fields. Owing to the extreme hydrostatic pressure in the deep sea, the manipulation and attitude control of deep-sea robots remain challenging tasks. In this paper, we design an autonomous height-control module which can operate at a depth of <sc>3000 m.</sc> To adapt to the extreme hydrotatic pressure, the electronics and circuits are integrated in a silicone matrix. What’s more, an electromagnetic-driven, dorsal fin made of PET materials is employed to drive and achieve dynamic height control. We analyze the roll phenomenon of this machine using a high-speed camera and dynamic modeling analyses. In addition, the roll and maneuverability of this module are optimized by integrating a pair of pectoral fins with well designed shape. Finally, the feasibility of the height-control design is verified through high-pressure experiments. This small-scaled and lightweight height-control module can be easily integrated into deep-sea equipment and robots, which can offer a novel method for the attitude control of miniaturized deep-sea robots.</p>
