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Journal ArticleDOI

Launching the AquaMAV: bioinspired design for aerial-aquatic robotic platforms

11 Mar 2014-Bioinspiration & Biomimetics (IOP Publishing)-Vol. 9, Iss: 3, pp 031001-031001
TL;DR: This evaluation proposes key design principles for the design of successful aerial-aquatic robots, i.e. using a plunge diving strategy for water entry, folding wings for diving efficiency, water jet propulsion for water takeoff and hydrophobic surfaces for water shedding and dry flight.
Abstract: 18.03.15 KB. Ok to add accepted version to spiral, subject to 12 months embargo, now expired.
Citations
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Journal ArticleDOI
28 May 2015-Nature
TL;DR: This work identifies scientific and technological advances that are expected to translate, within appropriate regulatory frameworks, into pervasive use of autonomous drones for civilian applications.
Abstract: We are witnessing the advent of a new era of robots - drones - that can autonomously fly in natural and man-made environments. These robots, often associated with defence applications, could have a major impact on civilian tasks, including transportation, communication, agriculture, disaster mitigation and environment preservation. Autonomous flight in confined spaces presents great scientific and technical challenges owing to the energetic cost of staying airborne and to the perceptual intelligence required to negotiate complex environments. We identify scientific and technological advances that are expected to translate, within appropriate regulatory frameworks, into pervasive use of autonomous drones for civilian applications.

956 citations

Journal ArticleDOI
TL;DR: This review paper identifies a novel classification of flying drones that ranges from unmanned air vehicles to smart dusts at both ends of this spectrum, with their new defined applications.

828 citations

Journal ArticleDOI
TL;DR: The current state of the art in ground and aerial robots, marine and amphibious systems, and human–robot control interfaces are surveyed and the readiness of these technologies with respect to the needs of first responders and disaster recovery efforts is assessed.
Abstract: Robotic technologies, whether they are remotely operated vehicles, autonomous agents, assistive devices, or novel control interfaces, offer many promising capabilities for deployment in real world environments. Post-disaster scenarios are a particularly relevant target for applying such technologies, due to the challenging conditions faced by rescue workers and the possibility to increase their efficacy while decreasing the risks they face. However, fielddeployable technologies for rescue work have requirements for robustness, speed, versatility, and ease of use that may not be matched by the state of the art in robotics research. This paper aims to survey the current state of the art in ground and aerial robots, marine and amphibious systems, and human-robot control interfaces and assess the readiness of these technologies with respect to the needs of first responders and disaster recovery efforts. We have gathered expert opinions from emergency response stakeholders and researchers who conduct field deployments with them in order to understand these needs, and we present this assessment as a way to guide future research toward technologies that will make an impact in real world disaster response and recovery.

182 citations


Cites background from "Launching the AquaMAV: bioinspired ..."

  • ...Another adaptable design that is targeting search and rescue applications is an aerial-aquatic robot (Siddall and Kovač, 2014) that can both fly and dive into the water for brief submerged operations....

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  • ...Another adaptable design that is targeting SAR applications is an aerial‐aquatic robot (Siddall & Kovač, 2014) that can both fly and dive F IGURE 5 Aggressive drone flight through narrow gaps can be achieved with dynamic trajectories and active vision (left; Falanga et al., 2017)....

    [...]

  • ..., 2007), (b) hybrid aerial-aquatic robots can perform surveys in littoral environments (Siddall and Kovač, 2014), and (c) the OceanOne embodied ROV offers an intuitive avatar for underwater manipulation (Khatib et al....

    [...]

  • ...…(a) Snake robots can maneuver into small spaces (Wright et al., 2007), (b) hybrid aerial‐aquatic robots can perform surveys in littoral environments (Siddall & Kovač, 2014), and (c) the OceanOne embodied ROV offers an intuitive avatar for underwater manipulation (Khatib et al., 2016) [Color…...

    [...]

Journal ArticleDOI
25 Oct 2017
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.
Abstract: From millimeter-scale insects to meter-scale vertebrates, several animal species exhibit multimodal locomotive capabilities in aerial and aquatic environments. To develop robots capable of hybrid aerial and aquatic locomotion, we require versatile propulsive strategies that reconcile the different physical constraints of airborne and aquatic environments. Furthermore, transitioning between aerial and aquatic environments poses substantial challenges at the scale of microrobots, where interfacial surface tension can be substantial relative to the weight and forces produced by the animal/robot. We report the design and operation of an insect-scale robot capable of flying, swimming, and transitioning between air and water. This 175-milligram robot uses a multimodal flapping strategy to efficiently locomote in both fluids. Once the robot swims to the water surface, lightweight electrolytic plates produce oxyhydrogen from the surrounding water that is collected by a buoyancy chamber. Increased buoyancy force from this electrochemical reaction gradually pushes the wings out of the water while the robot maintains upright stability by exploiting surface tension. A sparker ignites the oxyhydrogen, and the robot impulsively takes off from the water surface. 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-aquatic microrobot.

147 citations

Journal ArticleDOI
Xingbang Yang1, Tianmiao Wang1, Jianhong Liang1, Guocai Yao1, Miao Liu1 
TL;DR: In this article, the authors classified the current partially-featured AquaUAV into three categories from the scope of the whole UAV field, i.e., the seaplane UAV, the submarine-launched UAV and the submersible UAV.

104 citations

References
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Journal ArticleDOI
TL;DR: The design and control of RHex is described, a power autonomous, untethered, compliant-legged hexapod robot that achieves fast and robust forward locomotion traveling at speeds up to one body length per second and traversing height variations well exceeding its body clearance.
Abstract: In this paper, the authors describe the design and control of RHex, a power autonomous, untethered, compliant-legged hexapod robot. RHex has only six actuators—one motor located at each hip— achieving mechanical simplicity that promotes reliable and robust operation in real-world tasks. Empirically stable and highly maneuverable locomotion arises from a very simple clock-driven, open-loop tripod gait. The legs rotate full circle, thereby preventing the common problem of toe stubbing in the protraction (swing) phase. An extensive suite of experimental results documents the robot’s significant “intrinsic mobility”—the traversal of rugged, broken, and obstacle-ridden ground without any terrain sensing or actively controlled adaptation. RHex achieves fast and robust forward locomotion traveling at speeds up to one body length per second and traversing height variations well exceeding its body clearance.

1,343 citations

Journal ArticleDOI
09 Mar 2007-Science
TL;DR: A spinal cord model and its implementation in an amphibious salamander robot is presented that demonstrates how a primitive neural circuit for swimming can be extended by phylogenetically more recent limb oscillatory centers to explain the ability of salamanders to switch between swimming and walking.
Abstract: The transition from aquatic to terrestrial locomotion was a key development in vertebrate evolution. We present a spinal cord model and its implementation in an amphibious salamander robot that demonstrates how a primitive neural circuit for swimming can be extended by phylogenetically more recent limb oscillatory centers to explain the ability of salamanders to switch between swimming and walking. The model suggests neural mechanisms for modulation of velocity, direction, and type of gait that are relevant for all tetrapods. It predicts that limb oscillatory centers have lower intrinsic frequencies than body oscillatory centers, and we present biological data supporting this.

1,068 citations

Journal ArticleDOI
TL;DR: This work has shown that mucus-based defences, including filter feeding, adhesion and abhesion, can be modelled on the basis of the state of mucus on fish surfaces and experimental approaches.
Abstract: Introduction Basic biology of mucus Production and composition The state of mucus on fish surfaces Biophysical properties of fish mucus Experimental approaches Osmotic, ionic and acid-base regulation, gas exchange and excretion Unstirred layers Water Ions Respiratory gases, acid-base balance and ammonia excretion Defence Locomotion Filter feeding, adhesion and abhesion Conclusions References page 401 402

744 citations

Book
01 Oct 2007
TL;DR: In this paper, the authors introduce fixed, rigid, flexible, and flapping wing aerodynamic models for fixed and flexible wing aerodynamics, and propose a flexible wing model for flapping aerodynamics.
Abstract: 1. Introduction 2. Fixed, rigid wing aerodynamics 3. Flexible wing aerodynamics 4. Flapping wing aerodynamics.

580 citations

Journal ArticleDOI
TL;DR: The requirements for the exploration mission in the Fukushima Daiichi Nuclear Power Plants are presented, the implementation is discussed, and the results of the mission are reported.
Abstract: On March 11, 2011, a massive earthquake (magnitude 9.0) and accompanying tsunami hit the Tohoku region of eastern Japan. Since then, the Fukushima Daiichi Nuclear Power Plants have been facing a crisis due to the loss of all power that resulted from the meltdown accidents. Three buildings housing nuclear reactors were seriously damaged from hydrogen explosions, and, in one building, the nuclear reactions became out of control. It was too dangerous for humans to enter the buildings to inspect the damage because radioactive materials were also being released. In response to this crisis, it was decided that mobile rescue robots would be used to carry out surveillance missions. The mobile rescue robots needed could not be delivered to the Tokyo Electric Power Company (TEPCO) until various technical issues were resolved. Those issues involved hardware reliability, communication functions, and the ability of the robots' electronic components to withstand radiation. Additional sensors and functionality that would enable the robots to respond effectively to the crisis were also needed. Available robots were therefore retrofitted for the disaster reponse missions. First, the radiation tolerance of the electronic componenets was checked by means of gamma ray irradiation tests, which were conducted using the facilities of the Japan Atomic Energy Agency (JAEA). The commercial electronic devices used in the original robot systems operated long enough (more than 100 h at a 10% safety margin) in the assumed environment (100 mGy/h). Next, the usability of wireless communication in the target environment was assessed. Such tests were not possible in the target environment itself, so they were performed at the Hamaoka Daiichi Nuclear Power Plants, which are similar to the target environment. As previously predicted, the test results indicated that robust wireless communication would not be possible in the reactor buildings. It was therefore determined that a wired communication device would need to be installed. After TEPCO's official urgent mission proposal was received, the team mounted additional devices to facilitate the installation of a water gauge in the basement of the reactor buildings to determine flooding levels. While these preparations were taking place, prospective robot operators from TEPCO trained in a laboratory environment. Finally, one of the robots was delivered to the Fukushima Daiichi Nuclear Power Plants on June 20, 2011, where it performed a number of important missions inside the buildings. In this paper, the requirements for the exploration mission in the Fukushima Daiichi Nuclear Power Plants are presented, the implementation is discussed, and the results of the mission are reported. © 2013 Wiley Periodicals, Inc. (Webpage: http://www.astro.mech.tohoku.ac.jp/)

513 citations