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research-article

MODELING AND PARAMETER IDENTIFICATION OF AN IN-TANK SWIMMING ROBOT PERFORMING FLOOR INSPECTION

[+] Author and Article Information
Imen Hbiri

National School of Engineers of Sfax, B.P 1173, 3038 Sfax, Tunisia, Digital Research Center of Sfax, B.P. 275, 3021 Sfax, Tunisia
imen.hbiri@isgis.usf.tn

Houssem Karkri

National School of Engineers of Sfax, B.P 1173, 3038 Sfax, Tunisia
houssemkarkri100@gmail.com

Fathi H. Ghorbel

Department of Mechanical Engineering, Rice University, Texas 77005, USA
ghorbel@rice.edu

Slim Choura

National School of Engineers of Sfax
slim.choura@mes.rnu.tn

1Corresponding author.

ASME doi:10.1115/1.4041506 History: Received January 02, 2017; Revised September 11, 2018

Abstract

In this paper, we develop dynamic equations of motion of an in-tank swimming robot moving with low speed and performing tank floor inspection while the tank is filled with liquid. The robot's inspection maneuvers consist of a vertical up/down swimming motion and a floor two-dimensional motion of the robot swim- ming while in touch with the floor on wheels. The proposed dynamic model includes in particular drag and added mass coefficients that prove to be quite important for low speed maneuvering. The identified drag and added mass coefficients were obtained with CFD simulations. For the floor motion, we modeled wheel friction using LuGre friction model. The complete dynamic model was validated experimentally using a swimming robot in a circular water pool. The dynamic model developed in this paper will particularly be useful to devise model-based advanced control laws required for accurate maneuverability of floor inspec- tion swimming robots.

Copyright (c) 2018 by ASME
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