Research Papers

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,
BP 1173, Sfax 3038, Tunisia;
Digital Research Center of Sfax,
BP 275, Sfax 3021, Tunisia
e-mail: imen.hbiri@isgis.usf.tn

Houssem Karkri

National School of Engineers of Sfax,
BP 1173, Sfax 3038, Tunisia

Fathi H. Ghorbel

Department of Mechanical Engineering,
Rice University,
Houston, TX 77005
e-mail: ghorbel@rice.edu

Slim Choura

National School of Engineers of Sfax,
University of Sfax,
BP 1173, Sfax 3038, Tunisia
e-mail: slim.choura@mes.rnu.tn

1Corresponding author.

Contributed by the Dynamic Systems Division of ASME for publication in the JOURNAL OF DYNAMIC SYSTEMS, MEASUREMENT,AND CONTROL. Manuscript received January 2, 2017; final manuscript received September 11, 2018; published online October 31, 2018. Assoc. Editor: Yang Shi.

J. Dyn. Sys., Meas., Control 141(3), 031002 (Oct 31, 2018) (10 pages) Paper No: DS-17-1001; doi: 10.1115/1.4041506 History: Received January 02, 2017; Revised September 11, 2018

In this paper, we develop the equations of motion at low-speed of a swimming robot for tank floor inspection. The proposed dynamic model incorporates a new friction drag force model for low-speed streamlined swimming robots. Based on a boundary layer theory analysis, we prove that for low-speed maneuvering case (Re from 103 to 105), the friction drag force component is nonlinear and is not insignificant, as previously considered. The proposed drag viscous model is derived based on hydrodynamic laws, validated via computational fluid dynamics (CFD) simulations, and then experimental tests. The model hydrodynamic coefficients are estimated through CFD tools. The robot wheels friction LuGre model is experimentally identified. Extensive experimental tests were conducted on the swimming robot in a circular water pool to validate the complete dynamic model. The dynamic model developed in this paper may be useful to design model-based advanced control laws required for accurate maneuverability of floor inspection swimming robots.

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Fig. 1

An in-tank swimming robot

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Fig. 2

Robot inspection maneuvers: (a) vertical z0 swimming path and (b) horizontal x0 − y0 path

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Fig. 3

Robot geometry and frames

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Fig. 4

Robot FBDs: (a) FBD for vertical swimming and (b) FBD for floor inspection

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Fig. 9

Robot FBDs z-direction: (a) z-static analysis and (b) z-dynamic analysis

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Fig. 8

Curve fitting of FHvy

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Fig. 7

CFD simulation conditions: (a) CFD geometry, (b) computational grid, and (c) velocity field

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Fig. 10

Robot FBDs x-direction: (a) static analysis and (b) dynamic analysis

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Fig. 6

Laminar flow on a plate

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Fig. 5

Hydrodynamic forces: normal pressure force and tangential viscous force

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Fig. 12

Comparison of the measured and simulated plate velocities

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Fig. 13

Velocity friction map: model response and experimental data

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Fig. 11

Robot FBDs y-direction: (a) static analysis and (b) dynamic analysis

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Fig. 14

Experimental setup

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Fig. 15

Comparison of the measured and simulated robot velocities along the x-direction

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Fig. 16

z-Induced force magnitude during surge motion

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Fig. 17

Comparison of the measured and simulated velocities along the y-direction

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Fig. 18

Comparison of the measured and simulated velocities along the z-direction

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Fig. 19

Induced robot velocities u and v for the heave motion



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