CART-II:具有软检测能力的水下核探测船避碰机器人系绳的研制

Ammar K. Al Mhdawi, N. Wright, S. Benson, M. Haroutunian
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摘要

在核检查环境中,缆绳用于在水下机器人系统和地面控制单元之间传输电力和数据。在水下核检查过程中,缆绳会与核废料箱、物体等环境发生缠绕和缠绕。由于水下有更多的检查机器人,特别是如果它们配备了机械臂,与水下物体相撞的风险就会增加。由于电缆周围的环和结,检查过程可能会受到影响,ROV可能无法执行其工作。本文是先前避碰机器人系绳(CART-I)模型的扩展发展[1]。CART-I系统由微型推进器组成,通过缆绳连接到基础单元。微型推力装置能够产生少量推力,使系绳远离水中的障碍物,特别是在有限的空间中。利用红外或激光雷达等光探测技术进行水下障碍物探测是无效的,因为水下系绳的运动动力学复杂,障碍物的大小,这使得它不可能在给定的时间内提供物体的明确识别。为了给微推力单元周围环境提供障碍物检测能力,我们研制了一种自主力软传感器。此外,开发了用于水下有效力检测的软模密封外壳,并在水箱中进行了实验测试,以验证我们的设计。给出了传感器的仿真和实验结果。CART-II的总体目标是利用软力传感能力提供智能自动避障视觉。为了提高传统系绳系统的性能,本文提出了CART-II系绳系统的全运动学模型和有限元仿真分析,并在硬件和物理上实现了软传感器。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
CART-II: Development of Collision Avoidance Robotic Tether with Soft Sensing Capabilities for Underwater Nuclear Inspection Vehicles
In nuclear inspection environments, a tether cable is used to transfer power and data between the underwater robotic system and the surface control unit. During underwater nuclear inspection, the tether cable can become entangled and loop with the environment such as nuclear waste boxes and objects. The risk of colliding with underwater objects is increased by the presence of more inspection robots underwater, especially if they are equipped with manipulator arms. As a result of the loops and knots around the cable, the inspection process may be affected and the ROV may not be able to perform its job. The present article is an extended development of the previous Collision Avoidance Robotic Tether (CART-I) model [1]. The CART-I system consists of micro thrusters that are attached to the base unit by a tether cable. The micro thrust unit is capable of generating a small amount of thrust that can move the tether away from obstacles in the water, particularly in restricted spaces. The use of light detection technologies such as IR or LiDAR for obstacle detection is not effective underwater due to the complex motion dynamics of the tether underwater and the size of obstacles, which makes it impossible to provide definite identification of the objects within a given time period. In order to provide the surroundings of the micro thrust units with obstacle detection capability, we have developed an autonomous force soft sensor. Additionally, the soft moulded sealed encase was developed for effective force detection underwater, and was experimentally tested in a water tank to validate our proposed design. Simulation and experimental results of the sensor is provided. The overall goal of the CART-II is to provide a smart autonomous vision of obstacle avoidance using soft force sensing capabilities. This paper presents the full kinematic model and the simulation with finite element analysis of the CART-II system with the hardware and physical implementation of the soft sensor in order to enhance the performance of traditional tether systems.
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