Over-Actuated Underwater Robots: Configuration Matrix Design and Perspectives

In general, for the configuration designs of underwater robots, the positions and directions of actuators (i.e., thrusters) are given and installed in conventional ways (known points, vertically, horizontally). This yields limitations for the capability of robots and does not optimize the robot’s re...

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Autores principales:	Tho Dang, Lionel Lapierre, Rene Zapata, Benoit Ropars, Pascal Lepinay
Formato:	article
Lenguaje:	EN
Publicado:	MDPI AG 2021
Materias:	over-actuated underwater robots multi-objective optimization underwater robots performance indices Chemical technology TP1-1185
Acceso en línea:	https://doaj.org/article/87c4374eff2847359067f45d6469e9cb
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id	oai:doaj.org-article:87c4374eff2847359067f45d6469e9cb
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spelling	oai:doaj.org-article:87c4374eff2847359067f45d6469e9cb2021-11-25T18:58:50ZOver-Actuated Underwater Robots: Configuration Matrix Design and Perspectives10.3390/s212277291424-8220https://doaj.org/article/87c4374eff2847359067f45d6469e9cb2021-11-01T00:00:00Zhttps://www.mdpi.com/1424-8220/21/22/7729https://doaj.org/toc/1424-8220In general, for the configuration designs of underwater robots, the positions and directions of actuators (i.e., thrusters) are given and installed in conventional ways (known points, vertically, horizontally). This yields limitations for the capability of robots and does not optimize the robot’s resources such as energy, reactivity, and versatility, especially when the robots operate in confined environments. In order to optimize the configuration designs in the underwater robot field focusing on over-actuated systems, in the paper, performance indices (manipulability, energetic, reactive, and robustness indices) are introduced. The multi-objective optimization problem was formulated and analyzed. To deal with different objectives with different units, the goal-attainment method, which can avoid the difficulty of choosing a weighting vector to obtain a good balance among these objectives, was selected to solve the problem. A solution design procedure is proposed and discussed. The efficiency of the proposed method was proven by simulations and experimental results.Tho DangLionel LapierreRene ZapataBenoit RoparsPascal LepinayMDPI AGarticleover-actuated underwater robotsmulti-objective optimizationunderwater robotsperformance indicesChemical technologyTP1-1185ENSensors, Vol 21, Iss 7729, p 7729 (2021)
institution	DOAJ
collection	DOAJ
language	EN
topic	over-actuated underwater robots multi-objective optimization underwater robots performance indices Chemical technology TP1-1185
spellingShingle	over-actuated underwater robots multi-objective optimization underwater robots performance indices Chemical technology TP1-1185 Tho Dang Lionel Lapierre Rene Zapata Benoit Ropars Pascal Lepinay Over-Actuated Underwater Robots: Configuration Matrix Design and Perspectives
description	In general, for the configuration designs of underwater robots, the positions and directions of actuators (i.e., thrusters) are given and installed in conventional ways (known points, vertically, horizontally). This yields limitations for the capability of robots and does not optimize the robot’s resources such as energy, reactivity, and versatility, especially when the robots operate in confined environments. In order to optimize the configuration designs in the underwater robot field focusing on over-actuated systems, in the paper, performance indices (manipulability, energetic, reactive, and robustness indices) are introduced. The multi-objective optimization problem was formulated and analyzed. To deal with different objectives with different units, the goal-attainment method, which can avoid the difficulty of choosing a weighting vector to obtain a good balance among these objectives, was selected to solve the problem. A solution design procedure is proposed and discussed. The efficiency of the proposed method was proven by simulations and experimental results.
format	article
author	Tho Dang Lionel Lapierre Rene Zapata Benoit Ropars Pascal Lepinay
author_facet	Tho Dang Lionel Lapierre Rene Zapata Benoit Ropars Pascal Lepinay
author_sort	Tho Dang
title	Over-Actuated Underwater Robots: Configuration Matrix Design and Perspectives
title_short	Over-Actuated Underwater Robots: Configuration Matrix Design and Perspectives
title_full	Over-Actuated Underwater Robots: Configuration Matrix Design and Perspectives
title_fullStr	Over-Actuated Underwater Robots: Configuration Matrix Design and Perspectives
title_full_unstemmed	Over-Actuated Underwater Robots: Configuration Matrix Design and Perspectives
title_sort	over-actuated underwater robots: configuration matrix design and perspectives
publisher	MDPI AG
publishDate	2021
url	https://doaj.org/article/87c4374eff2847359067f45d6469e9cb
work_keys_str_mv	AT thodang overactuatedunderwaterrobotsconfigurationmatrixdesignandperspectives AT lionellapierre overactuatedunderwaterrobotsconfigurationmatrixdesignandperspectives AT renezapata overactuatedunderwaterrobotsconfigurationmatrixdesignandperspectives AT benoitropars overactuatedunderwaterrobotsconfigurationmatrixdesignandperspectives AT pascallepinay overactuatedunderwaterrobotsconfigurationmatrixdesignandperspectives
_version_	1718410474000744448

Over-Actuated Underwater Robots: Configuration Matrix Design and Perspectives

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