提出可安全跨越空水界面的机器人设计规范，助力淡水生态监测
Features characterizing safe aerial-aquatic robots
- 分析现有空水两栖机器人水下入水策略及安全风险
- 提出适配任务与安全的机器人设计要求，支持全周期任务执行
- 展示具备垂直起降能力的新机器人原型，实现无缝空水切换
本文强调环境监测的重要性，尤其关注淡水生态系统在维系生命与全球经济中的关键作用。尽管其价值重大，但数据匮乏制约了对这些生态系统的全面理解，进而影响保护决策。空中-水下机器人被视为淡水传感的有效工具，具备快速部署优势，无需依赖船只或人工团队。为推动该领域发展，本文系统回顾了现有原型机在空-水转换中的水下入水策略，识别各阶段的安全隐患，并提出与任务目标、安全措施相匹配的设计准则。为进一步验证设计要求，本文展示了一款具备垂直起降（VTOL）能力的新型机器人，实现了空中与水下环境间的无缝过渡。
原文摘要 · Abstract (English)
This paper underscores the importance of environmental monitoring, and specifically of freshwater ecosystems, which play a critical role in sustaining life and global economy. Despite their importance, insufficient data availability prevents a comprehensive understanding of these ecosystems, thereby impeding informed decision-making concerning their preservation. Aerial-aquatic robots are identified as effective tools for freshwater sensing, offering rapid deployment and avoiding the need of using ships and manned teams. To advance the field of aerial aquatic robots, this paper conducts a comprehensive review of air-water transitions focusing on the water entry strategy of existing prototypes. This analysis also highlights the safety risks associated with each transition and proposes a set of design requirements relating to robots' tasks, mission objectives, and safety measures. To further explore the proposed design requirements, we present a novel robot with VTOL capability, enabling seamless air water transitions.
Thank you to arXiv for use of its open access interoperability. PaperDance 不是 arXiv 官方产品；中文卡片由大模型生成，请以原文为准。