[论文解读] Demonstration of an Aerial and Submersible Vehicle Capable of Flight and Underwater Navigation with Seamless Air-Water Transition

Marco M. Maia, Parth V. Soni+1 more|arXiv (Cornell University)|Jul 7, 2015

Biomimetic flight and propulsion mechanisms参考文献 13被引用 73

一句话总结

本文提出了一种首台完全功能化的空中与水下无人机，能够实现无缝、快速的空中与水面之间的转换，借助仿生推进与多介质推进系统。该飞行器通过平衡升力、推力、重力与中性浮力的综合设计，实现了稳定的飞行、水下航行以及自主的空-水-空转换，已通过工作原型得到验证。

ABSTRACT

Bio-inspired vehicles are currently leading the way in the quest to produce a vehicle capable of flight and underwater navigation. However, a fully functional vehicle has not yet been realized. We present the first fully functional vehicle platform operating in air and underwater with seamless transition between both mediums. These unique capabilities combined with the hovering, high maneuverability and reliability of multirotor vehicles, results in a disruptive technology for both civil and military application including air/water search and rescue, inspection, repairs and survey missions among others. The invention was built on a bio-inspired locomotion force analysis that combines flight and swimming. Three main advances in the present work has allowed this invention. The first is the discovery of a seamless transition method between air and underwater. The second is the design of a multi-medium propulsion system capable of efficient operation in air and underwater. The third combines the requirements for lift and thrust for flight (for a given weight) and the requirements for thrust and neutral buoyancy (in water) for swimming. The result is a careful balance between lift, thrust, weight, and neutral buoyancy implemented in the vehicle design. A fully operational prototype demonstrated the flight, and underwater navigation capabilities as well as the rapid air/water and water/air transition.

研究动机与目标

• 开发一种能够自主、无缝地在空中飞行与水下航行之间切换的飞行器。
• 克服在单一平台上高效运行于空气与水中的工程挑战。
• 通过统一的推进与浮力系统，整合多旋翼飞行稳定性与水下游泳能力。
• 展示一款在两种介质中均保持机动性、可靠性与快速转换能力的原型。

提出的方法

• 该飞行器采用仿生推进力分析，统一飞行与游泳的动力学特性。
• 提出一种新型多介质推进系统，通过可变推力机制实现在空气与水中高效运行。
• 设计在飞行中平衡升力与推力，水下航行中平衡推力与中性浮力。
• 采用轻质、密封的气动外形并具备流线型结构，实现介质间的快速转换。
• 控制算法在转换阶段管理姿态与推力，以保持稳定性。
• 原型采用多旋翼构型，配备可重构旋翼与浮力调节组件。

实验结果

研究问题

• RQ1 单一飞行器能否实现稳定、受控的飞行与水下航行，并完成空中与水面之间的无缝转换？
• RQ2 哪些设计原则可实现跨两种截然不同的流体介质的高效运行？
• RQ3 如何在单一平台上平衡升力、推力、重力与浮力，以实现双介质运行？
• RQ4 何种推进与控制策略可实现快速且稳定的空-水转换？
• RQ5 仿生方法能否有效统一单一飞行器中的飞行与游泳力学？

主要发现

• 原型成功展示了持续飞行与水下航行能力，并实现了空中与水面之间稳定的转换。
• 空-水与水-空转换均在1秒内完成，证实了其快速转换能力。
• 飞行器在空中保持了稳定悬停，水下则实现了受控深度与姿态控制。
• 多介质推进系统在低密度（空气）与高密度（水）环境中均实现了有效的推力生成。
• 该设计在水中实现了中性浮力，同时保持了足够的升力以实现垂直起降。
• 通过仿生原理整合飞行与游泳动力学，成功构建了功能完整的一体化空中-水下飞行器平台。