@inproceedings{c76da96741574ae79e9662dec93610e1,
title = "Modular design and control method of underwater robot test-platform",
abstract = "For the request of the rapid assembling and applying of small underwater robot, the research of the modular design and control method is presented for the development of underwater robot test-platform named as {"}Sea- Shuttle{"}. Based on the essential requirements of modular design technique, the research mainly includes the design of modular pressure hull, common electrical interface and a two-level seal method for the assembly or connection of hull module. To improve the adaptability of the robot for different applications, a special propulsion module is introduced for the streamline assembly configuration, and the relative motion controller and software system is presented based on the modular program composition method. The results of the motion control experiment in the pool show that the modular design method of {"}Sea-shuttle{"} is feasible and the two-channel feedback controller is effective.",
keywords = "Feedback controller, Modular design, Modular structure, Underwater robot",
author = "Yujia Wang and Jie Zhao and Mingjun Zhang",
year = "2008",
doi = "10.1109/ROBIO.2009.4913230",
language = "英语",
isbn = "1901725537",
series = "2008 IEEE International Conference on Robotics and Biomimetics, ROBIO 2008",
publisher = "IEEE Computer Society",
pages = "1544--1549",
booktitle = "2008 IEEE International Conference on Robotics and Biomimetics, ROBIO 2008",
address = "美国",
note = "1999 IEEE Computer Society Conference on Computer Vision and Pattern Recognition, CVPR 1999 ; Conference date: 21-02-2009 Through 26-02-2009",
}