Smooth, spheroidal, appendage free underwater robot capable of 5 DOF motions

a robot and appendage technology, applied in underwater equipment, waterborne vessels, special-purpose vessels, etc., can solve the problems of small disruption to the surrounding, and achieve the effect of creating relatively small disruptions to the surrounding fluid

Inactive Publication Date: 2013-11-07
ELECTRIC POWER RES INST INC
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Benefits of technology

[0005]A new 5 degree of freedom (DOF) underwater robot is provided. This robot is propelled using a novel pump-valve system and is therefore able to achieve a smooth, symmetric outside shape. The yaw direction of the robot is stabilized using feedback control. The pitch direction is designed to be passively stable by placing the center of mass below the geometric center. The vehicle therefore does not need external stabilizers and can have a smooth outer shape. Due to its symmetry and unique design, the robot is capable of unique motions and maneuvers such as turning in place, sideways translation, and forward-stop-reverse motions. In addition, due to the propulsion system being completely internal, this robot is very quiet and creates relatively small disruptions to the surrounding fluid.

Problems solved by technology

In addition, due to the propulsion system being completely internal, this robot is very quiet and creates relatively small disruptions to the surrounding fluid.

Method used

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  • Smooth, spheroidal, appendage free underwater robot capable of 5 DOF motions
  • Smooth, spheroidal, appendage free underwater robot capable of 5 DOF motions
  • Smooth, spheroidal, appendage free underwater robot capable of 5 DOF motions

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Embodiment Construction

[0033]An underwater vehicle propulsion system is provided that allows a smooth, symmetric underwater robot to move with 5 degrees of freedom (DOF). Maneuvering forces and moments are provided by using internal pumps and valves to eject fluid jets through various exit ports. The degrees of freedom include surge, sway, heave, pitch, and yaw. In a specific embodiment, the vehicle is entirely symmetric and has no external appendages such as propellers or fins. The use of an internal propulsion system allows the robot to operate very quietly and create few disruptions to the surrounding fluid. These robots can be used for a variety of applications ranging from the inspection of water-filled piping structures, to exploration of underwater infrastructure and wildlife, just to name a few examples. In a specific embodiment, the robot is completely or substantially smooth yet capable of stable motions in 5 translations or rotations.

[0034]In a specific embodiment, a smooth spheroidal robot is ...

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Abstract

An underwater robot includes a body including a first end, and a second end, opposite the first end, and first and second actuation units positioned inside the body. Each actuation unit includes a pump and two valves connected to the pump. The first and second actuation units generate jets of fluid that are discharged through the first and second ends to propel the underwater robot, and the first and second ends are smooth.

Description

CROSS-REFERENCE TO RELATED APPLICATIONS[0001]This patent application claims priority to U.S. provisional patent applications 61 / 642,007, filed May 3, 2012, and 61 / 714,290, filed Oct. 16, 2012, which are all incorporated by reference along with all other references cited in this application.TECHNICAL FIELD[0002]The present invention relates to the field of underwater vehicles, including, more particularly, to underwater robots.BACKGROUND OF THE INVENTION[0003]To access complex underwater structures robots must be tetherless, compact, highly maneuverable, and have a smooth body shape with minimal appendages. These requirements are challenging because few propulsive systems can be designed to fit into a smooth, streamlined body. A moment referred to as the “Munk moment” is destabilizing for elongated bodies. For example, the moment tends to rotate them broadside to the flow.[0004]Thus, there is a need to provide improved robotic systems and techniques.BRIEF SUMMARY OF THE INVENTION[000...

Claims

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Application Information

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Patent Type & Authority Applications(United States)
IPC IPC(8): B63G8/16B63G8/08
CPCB63G8/16B63G8/08B63G2008/004
Inventor ASADA, HARUHIKO HARRYMAZUMDAR, ANIRBANLOZANO, MARTINFITTERY, AARON MICHAEL
Owner ELECTRIC POWER RES INST INC
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