Journal ArticleDOI
Design and demonstration of a seabird-inspired fixed-wing hybrid UAV-UUV system.
William J. Stewart,Warren Weisler,Marc MacLeod,Thomas C. Powers,Aaron Defreitas,Richard Gritter,Mark Anderson,Kara Peters,Ashok Gopalarathnam,Matthew Bryant +9 more
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This paper looks to the natural world for solutions to many of the challenges associated with the design of fixed-wing cross-domain vehicles, inspired by multiple animals that cross between aerial and underwater domains, including the common murre.Abstract:
This paper looks to the natural world for solutions to many of the challenges associated with the design of fixed-wing cross-domain vehicles. One example is the common murre, a seabird that flies from nesting locations to feeding areas, dives underwater to catch prey and returns. This hunting expedition provides an outline of a possible mission for a cross-domain vehicle. While the challenges of cross-domain vehicles are many, the focus of this paper was on buoyancy management and propulsion. Potential solutions to each challenge, inspired by multiple animals that cross between aerial and underwater domains, are investigated. From these solutions, three design concepts are considered, a quadrotor/fixed-wing hybrid, a vertical takeoff and landing (VTOL) tailsitter aircraft, and a waterjet-assisted takeoff vehicle. A comparison was made between the capability of each concept to complete two missions based on the common murres' hunting expedition. As a result of this comparison, the VTOL tailsitter design was selected for further study. In-depth design was conducted and a prototype vehicle was built. The completed vehicle prototype successfully conducted submerged operation as well as four air flights. Flights consisted of egress from water, flight in air, ingress into water in each flight, and water locomotion. A total of 11 min, 23 s of flight time was recorded as well as underwater swims down to 12 ft (3.7 m) below the surface.read more
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Journal ArticleDOI
Testing and Characterization of a Fixed Wing Cross-Domain Unmanned Vehicle Operating in Aerial and Underwater Environments
Warren Weisler,William J. Stewart,Mark Anderson,Kara Peters,Ashok Gopalarathnam,Matthew Bryant +5 more
TL;DR: Test results and performance characterization of the first fixed-wing unmanned vehicle capable of full cross-domain operation in both the aerial and underwater environments with repeated transition and low-energy loitering capabilities are presented.
Journal ArticleDOI
Design, fabrication, and characterization of a multimodal hybrid aerial underwater vehicle
TL;DR: An improved design of a multimodal HAUV capable of level and vertical flight, hovering, and underwater glide is presented, which includes a newly developed lightweight pneumatic buoyancy system and excludes the linear actuator commonly used for pitch control of gliders.
Proceedings ArticleDOI
A Novel Concept for Hybrid Unmanned Aerial Underwater Vehicles Focused on Aquatic Performance
Alexandre C. Horn,Pedro M. Pinheiro,Ricardo B. Grando,Cesar B. da Silva,Armando Alves Neto,Paulo Drews +5 more
TL;DR: In this paper, the HyDrone, a hybrid vehicle for aerial and underwater applications, is presented, with the respective control laws used to stabilize the system in the air and under the water.
Journal ArticleDOI
Towards Fully Autonomous UAVs: A Survey.
Taha Elmokadem,Andrey V. Savkin +1 more
TL;DR: A survey of recent developments in the field of unmanned aerial vehicles related to safe autonomous navigation can be found in this article, where a great part of the focus is on advanced methods capable of producing three-dimensional avoidance maneuvers and safe trajectories.
Journal ArticleDOI
MEDUSA: A Multi-Environment Dual-Robot for Underwater Sample Acquisition
Diego Debruyn,Raphael Zufferey,S. F. Armanini,Crystal Winston,André Farinha,Yufei Jin,M. Kovac +6 more
TL;DR: The proposed solution encompasses a multirotor capable of landing and floating on the water, and a tethered mobile underwater pod that can be deployed to depths of several meters, and considerably simplifies robotic underwater monitoring.
References
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Aircraft structures for engineering students
TL;DR: In this paper, the authors present a self-contained course in aircraft structures, which corresponds to and complements the general course work from the beginning of the second year of study through the advanced topics of the final year.
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Reproductive Performance of Seabirds: The Importance of Population and Colony Size
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Journal ArticleDOI
A biologically inspired, flapping-wing, hybrid aerial-aquatic microrobot
Yufeng Chen,Yufeng Chen,Hongqiang Wang,Hongqiang Wang,E. Farrell Helbling,E. Farrell Helbling,Noah T. Jafferis,Noah T. Jafferis,Raphael Zufferey,Aaron Ong,Aaron Ong,Aaron Ong,Kevin Y. Ma,Kevin Y. Ma,Nick Gravish,Pakpong Chirarattananon,M. Kovac,Robert J. Wood,Robert J. Wood +18 more
TL;DR: This work analyzes the dynamics of flapping locomotion in an aquatic environment, identifies the challenges and benefits of surface tension effects on microrobots, and further develops a suite of new mesoscale devices that culminate in a hybrid, aerial-aquaticmicrorobot.