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Downloaded from CHINESEJOURNALOFSHIPRESEARCH， ， ， 2 VOL.14 Supp 2 DEC 2019 CHINESE JOURNAL OF SHIP RESEARCH， ， ， VOL.14 Supp 2 DEC 2019 1 To cite this article： ， ［ ］ Liu X Z Cui W C. An overview and analysis of the water-air amphibious vehicles J/OL . Chinese Journal ， ， （ ） of Ship Research 2019 14 Supp 2 .http://www.ship-research.com/EN/Y2019/V14/ISupp 2/1. DOI： 10.19693/j.issn.1673-3185. 01901 An overview and analysis of the water-air amphibious vehicles ， Liu Xiangzhi 1 2，Cui Weicheng*2 ， ， ， 1 College of Control Science and Engineering Zhejiang University Hangzhou 310007 China ， ， ， ， 2 Deep Sea Technology Research Center School of Engineering Westlake University Hangzhou 310024 China Abstract： ， ， The water-air amphibious vehicle a kind of vehicle that can operate both in water and air has been a hot topic of recent research for its potential wide application prospects in military and civil fields. To better understand the ， design requirements of this kind of water-air transmedia vehicles the characteristics of vehicles in different media are ， introduced including the aircraft the surface ship and the submersible. Then a brief analysis is made to compare these three kinds of vehicles and summarize the possible characteristics of water-air transmedia vehicles. According to the ， ： ， flight structure the current water-air amphibious vehicles are divided into three categories fixed-wing vehicle ， rotorcraft and bionic vehicle and the typical prototypes of each category are reviewed. Finally the key technologies and challenges are discussed. Key words： ； ； （ ）； water-air amphibious vehicles trans-media locomotion unmanned aerial vehicles UAV ； submersibles overview CLC number: U662.3 0 Introduction cant differences between the water environment and the air environment, it is not an easy task for a vehi⁃ With the continuous exploration of space by hu⁃ cle to meet the requirements of both media. Since man beings, great progress has been made in both the concept of the water-air transmedia aircraft was [2] marine and aviation technology. Among them, the air⁃ first proposed in 1934 , some countries such as the craft has been widely used due to its advantages in⁃ United States have proposed a number of manned air⁃ cluding high speed and good maneuverability, but it craft designs, but none of them could truly achieve also has such defects as poor endurance and conceal⁃ water-air amphibious operation. Later, scientists be⁃ ment, which can be bettered by submersibles. The gan to attach importance to the development of un⁃ concept of water-air amphibious vehicles was thus manned systems, which have lower complexity and proposed. The water-air amphibious vehicle is a technical difficulty compared with manned vehicles, type of vehicle that can both dive underwater and fly and began to achieve considerable progress. in the air. It not only expands the scope of naviga⁃ In this paper, the characteristics and design re⁃ tion, but also combines the advantages of both air⁃ quirements of aircraft, surface ships and submers⁃ craft and submersibles. ibles are systematically analyzed, along with a com⁃ th Since the early 20 century, the water-air amphib⁃ parative analysis of the vehicles in each type of medi⁃ ious vehicle has been a hot topic for a broad range of um. Existing water-air amphibious vehicles are then [1] applications , including recreation, expeditions, divided into three categories: fixed-wing vehicles, ro⁃ search and rescue, and military, leading to a myriad torcraft and bionic vehicles, and the typical proto⁃ of concepts and variants. However, due to the signifi⁃ types of each category are reviewed according to loco⁃ Received： - - Revised： - - 2019 09 26 2019 11 01 Supported by： ； General Program of National Natural Science Foundation of China (51879157) Innovative Team Construction Pro⁃ ； gram of Hangzhou Start-up Funding for Principal Investigators of Westlake University (041030150118) Authors: Liu Xiangzhi, female, born in 1999, undergraduate. Research interest: intelligent robot. E-mail: [email protected] Cui Weicheng, male, born in 1963, Ph.D., chair professor. Research interest: deep sea technology. E-mail: [email protected] *Corresponding author： Cui Weicheng downloaded from www.ship-research.com CHINESE JOURNAL OF SHIP RESEARCH， ， ， 2 VOL.14 Supp 2 DEC 2019 motion structure. Finally, the key technologies and steels, composite materials, stealth materials, etc., challenges are discussed in detail, including flight providing material security for the development of [7] structure, transmission between media, communica⁃ the fourth and fifth generations of aircraft . General⁃ tion and navigation, and energy and payloads. ly, super-hard aluminum and steel or titanium alloy 1 Single-medium vehicles are used; in order to cope with different pressures, the wings and fuselage usually also use hard alumi⁃ 1.1 Aircraft num as the skin material because it possesses high [8-9] tensile strength and fatigue resistance . Besides, An aircraft is a machine that is able to fly by gain⁃ the material of an aircraft needs to be as light as pos⁃ ing support from the air. It counters the force of gravi⁃ sible, which can be demonstrated by the case of ty by using either static lift or the dynamic lift of an small drones. For example, the DJI Phantom 4 Pro airfoil, or in a few cases the downward thrust from jet V2.0 weighs only 1.3 kg as its body is made of titani⁃ [3] engines . Fig. 1 shows a concise division of aircraft. um alloy and magnesium alloy, and the arms are made of carbon fiber. Correspondingly, the load ca⁃ pacity and flight speed of small drones will also be Aircraft more limited. The DJI Phantom 4 Pro has a wheel⁃ base of 350 mm, a maximum speed of 50 km/h, and [10] Lighter than Heavier than a flight endurance time of 30 minutes or less . air air Aircraft are known for their fast speed, high level, Hot air balloon Air ship Other Fixed-wing Rotorcraft Other and strong ability to overcome obstacles. Compared with rotorcraft, fixed-wing aircraft also have such ad⁃ Fig.1 Types of aircraft vantages as strong load capacity and long range; ro⁃ Depending on how the lift is generated, aircraft torcraft have the capacity for vertical lift, hovering, can be divided into two categories: those that are and small movements forward or backward that most lighter than air and those that are heavier than air. fixed-wing aircraft do not have, making rotorcraft The former rely on the static buoyancy of the air to suitable for many occasions. Compared with lift off, while the latter rely on aerodynamics to over⁃ fixed-wing aircraft, the disadvantages of rotorcraft in⁃ [4] come their own gravity . Aerodynamic lift using clude their low speed, high fuel consumption and wings is the most common method. Except for air⁃ short range. In addition, the flight controls of rotor⁃ ships and hot air balloons, most aircraft rely on craft are also more complicated, as control is mainly large-area wings or rotors to generate enough lift to achieved by adjusting the attitude of the fuselage stay in the air. A fixed-wing aircraft is kept in the and speed of the rotor. Pitching/rolling will directly air by the forward movement of its wings, and a rotor⁃ cause the body to move forward and back/left and craft by its spinning wing-shaped rotors. right, resulting in non-linear, strong-coupling and [11] In order to ensure maximum lightness and maneu⁃ interference-sensitive characteristics . For a verability, an aircraft needs to be equipped with a fixed-wing aircraft, certain moveable surfaces on the lightweight, high power-to-weight ratio engine and a wings and tail, called "control surfaces", are used to ' driving device that functions in air. Most aircraft en⁃ maneuver and control the aircraft s attitude or orien⁃ [12] gines are either lightweight reciprocating engines or tation , as shown in Fig. 2. The basic principle is to [5] gas turbines , and small multi-rotor drones are usu⁃ utilize the difference in air pressure generated by dif⁃ ally electric. Compared with other engines, gas tur⁃ ferent airflow velocities between both sides of the bines can provide greater thrust, higher speed and Rudder higher efficiency. Therefore, almost all large Elevators [6] high-speed or high-altitude aircraft use jet engines . The engine itself is not a complete aviation power fa⁃ cility; generally, the combination of an engine with Ailerons air propellers is required to obtain lift and thrust. In recent decades, new aerospace materials and advanced processes have been developed rapidly, such as high-strength aluminum alloys, titanium al⁃ ［ ］ 13 loys, high-temperature alloys, ultra-high-strength Fig.2 The control surfaces of an airplane downloaded from www.ship-research.com Liu X Z, et al. An overview and analysis of the water-air amphibious vehicles 3 ' wing s surface in order to achieve orientation. A submersible relies on buoyancy to remain in the 1.2 Surface ships water, and the magnitude of buoyancy is basically equal to gravity. Thus, the weight and center of gravi⁃ Surface ships, including ships, boats, and hover⁃ ty of a submersible need to be adjusted slightly and [14] crafts , can generally be divided into two categories: accurately in order to descend or change attitude. unpowered and powered, as shown in Fig. 3. Man- There are basically two methods of submersible buoy⁃ powered and wind-powered are the two most com⁃ ancy and attitude control: hydrostatic force and hy⁃ mon types of the former. They are slow ships with drodynamic force, as shown in Fig. 4. To submerge small payloads which are usually used for entertain⁃ hydrostatically, submarines and some large submers⁃ ment and daily use, such as canoes and sailboats. ibles have ballast tanks which can hold varying [19] Motorized ships such as liners and aircraft carriers amounts of water and air .
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