Details of Research Outputs

TitleDesign, Modeling and Implementation of a Projectile-based Mechanism for USVs Charging Tasks
Author (Name in English or Pinyin)
Date Issued2022
Source PublicationIEEE Robotics and Automation Letters
ISSN23773766
Volume8Issue:1Pages:288-295
AbstractThis letter proposes a novel projectile-based mechanism to realize unmanned surface vehicle (USV) charging at berths, which is a challenging task. The proposed mechanism involves two key parts: a projectile-based launcher mechanism, and a bowl-like magnetic charger socket. The proposed mechanism provides significant potential for USV charging with a larger and more flexible working range than those associated with existing solutions, such as robotic arm charging systems. The novel bowl-like magnetic charger socket design enables the projectile system to self-align during the charging operation. Furthermore, the design allows the system to exhibit excellent mobility, and therefore, the necessity of a charging structure is eliminated. Besides, the charging operation can be scaled for USVs of different sizes. The proposed mechanism is evaluated through USV indoor experiments in a lab pool and field experiments in a lake, and a success rate of nearly 90% is achieved. The proposed approach is a promising solution for USV charging tasks.
KeywordMarine robotics mechanism design projectile-based modeling USV charging tasks
DOI10.1109/LRA.2022.3154036
Indexed BySCIE
language英语
Funding ProjectNSFC [U1813217, U1613226]; Shenzhen Institute of Artificial Intelligence and Robotics for Society (AIRS); Shenzhen Science and Technology Innovation Commission, China [KQJSCX20180330165912672]
WOS Research AreaRobotics
WOS SubjectRobotics
WOS IDWOS:000896647000006
PublisherIEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
Original Document TypeArticle
Firstlevel Discipline计算机科学技术
Education discipline科技类
Published range国外学术期刊
References
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Data SourceWOS
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Cited Times [WOS]:0   [WOS Record]     [Related Records in WOS]
Document TypeJournal article
Identifierhttps://irepository.cuhk.edu.cn/handle/3EPUXD0A/3209
CollectionSchool of Science and Engineering
Shenzhen Institute of Artificial Intelligence and Robotics for Society
Corresponding AuthorJi, Xiaoqiang; Qian, Huihuan Alex
Affiliation
1.school of science and engineering, The Chinese University of Hong Kong, Shenzhen, Shenzhen, China, 518172
2.The Chinese University of Hong Kong, Shenzhen, China
3.SSE, Shenzhen Institute of Artificial Intelligence and Robotics for Society, Shenzhen, China, 518172
4.Shenzhen Institute of Artificial Intelligence and Robotics for Society, The Chinese University of Hong Kong, Shenzhen, Shenzhen, China, 518172
First Author AffilicationSchool of Science and Engineering
Corresponding Author AffilicationShenzhen Institute of Artificial Intelligence and Robotics for Society
Recommended Citation
GB/T 7714
Xue, Kaiwen,Ren, Chenyu,Ji, Xiaoqianget al. Design, Modeling and Implementation of a Projectile-based Mechanism for USVs Charging Tasks[J]. IEEE Robotics and Automation Letters,2022,8(1):288-295.
APA Xue, Kaiwen, Ren, Chenyu, Ji, Xiaoqiang, & Qian, Huihuan Alex. (2022). Design, Modeling and Implementation of a Projectile-based Mechanism for USVs Charging Tasks. IEEE Robotics and Automation Letters, 8(1), 288-295.
MLA Xue, Kaiwen,et al."Design, Modeling and Implementation of a Projectile-based Mechanism for USVs Charging Tasks".IEEE Robotics and Automation Letters 8.1(2022):288-295.
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