A Finite Element Approach to Enhance Aquatic Traction for Amphibious Spherical Robot

Winston Sun; Meng Chen; Shaodong Zhan; Guanglie Zhang; Wen J. Li

doi:10.1109/CYBER.2017.8446265

A Finite Element Approach to Enhance Aquatic Traction for Amphibious Spherical Robot

Winston Sun^*, Meng Chen, Shaodong Zhan, Guanglie Zhang, Wen J. Li

^*Corresponding author for this work

Research output: Chapters, Conference Papers, Creative and Literary Works › RGC 32 - Refereed conference paper (with host publication) › peer-review

1 Citation (Scopus)

Abstract

The paper reports the possibility to extend the functionality of a land spherical robot such that it can also be freely movable while floating on water. To compromise for both computational convergence and CPU time, a simplified 2D model with reasonably meshed components is used for time-dependent study based on the arbitrary Lagrangian-Eulerian (ALE) model of the fluid-structure interaction module. We observed that while a sparse fin structure can already provide good aquatic traction, installing excessive fins is not only unhelpful, on the contrary it is proven in our simulations that eventually it would even be detrimental due to the unexpected reverse pushing from the turbulence eddies. These results would definitely provide some insights and design guidelines for the implementation of aquatic fins to our current land spherical robot to enhance its amphibiousness.

Original language	English
Title of host publication	2017 IEEE 7th Annual International Conference on CYBER Technology in Automation, Control, and Intelligent Systems (CYBER)
Publisher	IEEE
Pages	836-839
ISBN (Electronic)	978-1-5386-0490-8
DOIs	https://doi.org/10.1109/CYBER.2017.8446265
Publication status	Published - Jul 2017
Event	7th Annual IEEE International Conference on CYBER Technology in Automation, Control, and Intelligent Systems (IEEE-CYBER 2017) - Sheraton Princess Kaiulani, Hawaii, United States Duration: 31 Jul 2017 → 4 Aug 2017 http://ieee-cyber.org/2017/

Conference

Conference	7th Annual IEEE International Conference on CYBER Technology in Automation, Control, and Intelligent Systems (IEEE-CYBER 2017)
Abbreviated title	IEEE-CYBER 2017
Place	United States
City	Hawaii
Period	31/07/17 → 4/08/17
Internet address	http://ieee-cyber.org/2017/

Research Keywords

amphibious floating spherical robot
aquatic fin
Fluid-structure interaction (FSI)
multiphysics simulation

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10.1109/CYBER.2017.8446265

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@inproceedings{2070e72caa7a47e58a085e469a70747c,

title = "A Finite Element Approach to Enhance Aquatic Traction for Amphibious Spherical Robot",

abstract = "The paper reports the possibility to extend the functionality of a land spherical robot such that it can also be freely movable while floating on water. To compromise for both computational convergence and CPU time, a simplified 2D model with reasonably meshed components is used for time-dependent study based on the arbitrary Lagrangian-Eulerian (ALE) model of the fluid-structure interaction module. We observed that while a sparse fin structure can already provide good aquatic traction, installing excessive fins is not only unhelpful, on the contrary it is proven in our simulations that eventually it would even be detrimental due to the unexpected reverse pushing from the turbulence eddies. These results would definitely provide some insights and design guidelines for the implementation of aquatic fins to our current land spherical robot to enhance its amphibiousness.",

keywords = "amphibious floating spherical robot, aquatic fin, Fluid-structure interaction (FSI), multiphysics simulation",

author = "Winston Sun and Meng Chen and Shaodong Zhan and Guanglie Zhang and Li, {Wen J.}",

year = "2017",

month = jul,

doi = "10.1109/CYBER.2017.8446265",

language = "English",

pages = "836--839",

booktitle = "2017 IEEE 7th Annual International Conference on CYBER Technology in Automation, Control, and Intelligent Systems (CYBER)",

publisher = "IEEE",

address = "United States",

note = "7th Annual IEEE International Conference on CYBER Technology in Automation, Control, and Intelligent Systems (IEEE-CYBER 2017), IEEE-CYBER 2017 ; Conference date: 31-07-2017 Through 04-08-2017",

url = "http://ieee-cyber.org/2017/",

}

Sun, W, Chen, M, Zhan, S, Zhang, G & Li, WJ 2017, A Finite Element Approach to Enhance Aquatic Traction for Amphibious Spherical Robot. in 2017 IEEE 7th Annual International Conference on CYBER Technology in Automation, Control, and Intelligent Systems (CYBER)., 8446265, IEEE, pp. 836-839, 7th Annual IEEE International Conference on CYBER Technology in Automation, Control, and Intelligent Systems (IEEE-CYBER 2017), Hawaii, United States, 31/07/17. https://doi.org/10.1109/CYBER.2017.8446265

A Finite Element Approach to Enhance Aquatic Traction for Amphibious Spherical Robot. / Sun, Winston; Chen, Meng; Zhan, Shaodong et al.
2017 IEEE 7th Annual International Conference on CYBER Technology in Automation, Control, and Intelligent Systems (CYBER). IEEE, 2017. p. 836-839 8446265.

Research output: Chapters, Conference Papers, Creative and Literary Works › RGC 32 - Refereed conference paper (with host publication) › peer-review

TY - GEN

T1 - A Finite Element Approach to Enhance Aquatic Traction for Amphibious Spherical Robot

AU - Sun, Winston

AU - Chen, Meng

AU - Zhan, Shaodong

AU - Zhang, Guanglie

AU - Li, Wen J.

PY - 2017/7

Y1 - 2017/7

N2 - The paper reports the possibility to extend the functionality of a land spherical robot such that it can also be freely movable while floating on water. To compromise for both computational convergence and CPU time, a simplified 2D model with reasonably meshed components is used for time-dependent study based on the arbitrary Lagrangian-Eulerian (ALE) model of the fluid-structure interaction module. We observed that while a sparse fin structure can already provide good aquatic traction, installing excessive fins is not only unhelpful, on the contrary it is proven in our simulations that eventually it would even be detrimental due to the unexpected reverse pushing from the turbulence eddies. These results would definitely provide some insights and design guidelines for the implementation of aquatic fins to our current land spherical robot to enhance its amphibiousness.

AB - The paper reports the possibility to extend the functionality of a land spherical robot such that it can also be freely movable while floating on water. To compromise for both computational convergence and CPU time, a simplified 2D model with reasonably meshed components is used for time-dependent study based on the arbitrary Lagrangian-Eulerian (ALE) model of the fluid-structure interaction module. We observed that while a sparse fin structure can already provide good aquatic traction, installing excessive fins is not only unhelpful, on the contrary it is proven in our simulations that eventually it would even be detrimental due to the unexpected reverse pushing from the turbulence eddies. These results would definitely provide some insights and design guidelines for the implementation of aquatic fins to our current land spherical robot to enhance its amphibiousness.

KW - amphibious floating spherical robot

KW - aquatic fin

KW - Fluid-structure interaction (FSI)

KW - multiphysics simulation

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M3 - RGC 32 - Refereed conference paper (with host publication)

SP - 836

EP - 839

BT - 2017 IEEE 7th Annual International Conference on CYBER Technology in Automation, Control, and Intelligent Systems (CYBER)

PB - IEEE

T2 - 7th Annual IEEE International Conference on CYBER Technology in Automation, Control, and Intelligent Systems (IEEE-CYBER 2017)

Y2 - 31 July 2017 through 4 August 2017

ER -

A Finite Element Approach to Enhance Aquatic Traction for Amphibious Spherical Robot

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