Global S&T Development Trend Analysis Platform of Resources and Environment
DOI | 10.1002/2017WR020672 |
Development of Autonomous Boat-Type Robot for Automated Velocity Measurement in Straight Natural River | |
Sanjou, Michio; Nagasaka, Tsuyoshi | |
2017-11-01 | |
发表期刊 | WATER RESOURCES RESEARCH
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ISSN | 0043-1397 |
EISSN | 1944-7973 |
出版年 | 2017 |
卷号 | 53期号:11 |
文章类型 | Article |
语种 | 英语 |
国家 | Japan |
英文摘要 | The present study describes an automated system to measure the river flow velocity. A combination of the camera-tracking system and the Proportional/Integral/Derivative (PID) control could enable the boat-type robot to remain in position against the mainstream; this results in reasonable evaluation of the mean velocity by a duty ratio which corresponds to rotation speed of the screw propeller. A laser range finder module was installed to measure the local water depth. Reliable laboratory experiments with the prototype boat robot and electromagnetic velocimetry were conducted to obtain a calibration curve that connects the duty ratio and mean current velocity. The remaining accuracy in the target point was also examined quantitatively. The fluctuation in the spanwise direction is within half of the robot length. It was therefore found that the robot remains well within the target region. We used two-dimensional navigation tests to guarantee that the prototype moved smoothly to the target points and successfully measured the streamwise velocity profiles across the mainstream. Moreover, the present robot was found to move successfully not only in the laboratory flume but also in a small natural river. The robot could move smoothly from the starting point near the operator's site toward the target point where the velocity is measured, and it could evaluate the cross-sectional discharge. |
英文关键词 | automated velocity measurement field survey autonomous boat robot velocity profile discharge natural river |
领域 | 资源环境 |
收录类别 | SCI-E |
WOS记录号 | WOS:000418736700024 |
WOS关键词 | PARTICLE IMAGE VELOCIMETRY ; LARGE-SCALE ; DISCHARGE MEASUREMENTS ; SURFACE VELOCITY ; PID CONTROL ; FLOW ; TEMPERATURE ; SEVERN ; SYSTEM ; FIELD |
WOS类目 | Environmental Sciences ; Limnology ; Water Resources |
WOS研究方向 | Environmental Sciences & Ecology ; Marine & Freshwater Biology ; Water Resources |
引用统计 | |
文献类型 | 期刊论文 |
条目标识符 | http://119.78.100.173/C666/handle/2XK7JSWQ/21456 |
专题 | 资源环境科学 |
作者单位 | Kyoto Univ, Dept Civil & Earth Resources Engn, Nishikyo Ku, Kyoto, Japan |
推荐引用方式 GB/T 7714 | Sanjou, Michio,Nagasaka, Tsuyoshi. Development of Autonomous Boat-Type Robot for Automated Velocity Measurement in Straight Natural River[J]. WATER RESOURCES RESEARCH,2017,53(11). |
APA | Sanjou, Michio,&Nagasaka, Tsuyoshi.(2017).Development of Autonomous Boat-Type Robot for Automated Velocity Measurement in Straight Natural River.WATER RESOURCES RESEARCH,53(11). |
MLA | Sanjou, Michio,et al."Development of Autonomous Boat-Type Robot for Automated Velocity Measurement in Straight Natural River".WATER RESOURCES RESEARCH 53.11(2017). |
条目包含的文件 | 条目无相关文件。 |
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