Tunneling device including expandable sections and fluid valves

Abstract

A tunneling device is provided. The tunneling device (100) includes a tip (136), and a first expandable section (144) that extends along a longitudinal axis and is expandable when pressurized fluid is delivered to the first expandable section. The tunneling device also includes a second expandable section (150) positioned between the tip and the first expandable section. The second expandable section extends along the longitudinal axis and is expandable when pressurized fluid is delivered to the second expandable section. Additionally, the tunneling device includes a fluid line (122) extending along the longitudinal axis and in fluid communication with, in series, the first expandable section, and the second expandable section. The fluid line is configured to supply pressurized fluid, in series, to the first expandable section to expand the first expandable section, and the second expandable section to expand the second expandable section subsequent to expanding the first expandable section.

Description

TUNNELING DEVICE INCLUDING EXPANDABLESECTIONS AND FLUID VALVESSTATEMENT REGARDING FEDERALLY SPONSORED RESEARCH AND DEVELOPMENT

[0001] This invention was made with Government support under contract number 2605291004, awarded by the Department of Defense (DOD). The Government has certain rights in this invention.TECHNICAL FIELD

[0002] The field of the disclosure relates to tunneling devices, and more particularly to tunneling devices including a plurality of expandable sections and fluid valves positioned between the expandable sections.BACKGROUND

[0003] Tunneling devices are used to travel through underground locations and displace material to form and shape tunnels through the underground locations. At least some tunneling devices include a drive system to propel the tunneling devices through underground locations. In addition, a tool may be positioned at the front of the tunneling devices to displace material and form an interior cavity of the tunnel as the tunneling devices travel through the underground locations. However, the underground locations may have varying conditions and obstacles that make travel and access difficult.

[0004] Tunneling devices typically include a body assembly connected to a tool. At least a portion of the body assembly may expand or contract to create the desired tunnel dimensions and / or help propel the tunneling device during operation. For example, pressurized fluid may be delivered to the body assembly through a plurality of valve assemblies and fluid lines. However, the plurality of valve assemblies and fluid lines increase the size and complexity of the tunneling device. In addition, the plurality of valve assemblies and fluid lines may not provide precise control over the characteristics of thebody assembly and may limit the ability of the tunneling device to navigate through varying soil conditions.

[0005] Accordingly, it is desirable to provide a system including a tunneling device with a simplified fluid supply and regulation system.BRIEF DESCRIPTION

[0006] In one aspect, a tunneling device includes a tip, and a first expandable section positioned opposite the tip. The first expandable section extending along a longitudinal axis and expandable when pressurized fluid is delivered to the first section. The tunneling device also includes a second expandable section positioned between the tip and the first expandable section. The second expandable section extending along the longitudinal axis and expandable when the pressurized fluid is delivered to the second expandable section. Additionally, the tunneling device includes a fluid line extending along the longitudinal axis and in fluid communication with, in series, the first expandable section, and the second expandable section. The fluid line is configured to supply the pressurized fluid, in series, to: the first expandable section to expand the first expandable section, and the second expandable section to expand the second expandable section subsequent to expanding the first expandable section.

[0007] In another aspect, a system for forming a tunnel is provided. The system includes a tunneling device and a pressurized fluid source coupled to a fluid line of the tunneling device. The tunneling device includes a tip, and a first expandable section positioned opposite the tip. The first expandable section extending along a longitudinal axis and expandable when pressurized fluid is delivered to the first section. The tunneling device also includes a second expandable section positioned between the tip and the first expandable section. The second expandable section extending along the longitudinal axis and expandable when the pressurized fluid is delivered to the second expandable section. Additionally, the tunneling device includes a fluid line extending along the longitudinal axis and in fluid communication with, in series, the first expandable section, and the second expandable section. The fluid line is configured to supply the pressurized fluid, in series, to: the first expandable section to expand the first expandable section, and the second expandable section to expand the second expandable section subsequent to expanding the first expandable section. The pressurized fluid source of the system is fluidly coupled to the fluid line of thetunneling device. The pressurized fluid source is configured to provide the pressurized fluid to the tunneling device via the fluid line.

[0008] In yet another aspect, a method for forming a tunnel using a tunneling device is provided. The method includes providing pressurized fluid to a first section of the tunneling device, and transitioning the first expandable section of the tunneling device between a first width measured perpendicular to a longitudinal axis of the tunneling device and a second width measured perpendicular to the longitudinal axis in response to the pressurized fluid being provided to the first expandable section. The method also includes providing the pressurized fluid to a second expandable section of the tunneling device subsequent to the delivering of the pressurized fluid to the first expandable section. The second expandable section positioned in series with and adjacent to the first expandable section of the tunneling device. Additionally, the method includes transitioning the second expandable section of the tunneling device between a first length measured parallel to the longitudinal axis of the tunneling device and a second length measured parallel to the longitudinal axis, in response to the pressurized fluid being provided to the second expandable section. Furthermore, the method includes providing the pressurized fluid to a third expandable section of the tunneling device subsequent to the delivering of the pressurized fluid to the second expandable section. The third expandable section positioned in series with and adjacent to the second expandable section of the tunneling device. Finally, the method includes, transitioning the third expandable section of the tunneling device between a distinct, first width measured perpendicular to the longitudinal axis of the tunneling device and a distinct, second width measured perpendicular to the longitudinal axis, in response to the pressurized fluid being provided to the third expandable section.BRIEF DESCRIPTION OF THE DRAWINGS

[0009] These and other features, aspects, and advantages of the present disclosure will become better understood when the following detailed description is read with reference to the accompanying drawings in which like characters represent like parts throughout the drawings, wherein:

[0010] FIG. 1 is a schematic diagram of a system including one embodiment of a tunneling device traveling underground;

[0011] FIG. 2 is a side view of a portion of the tunneling device shown in FIG. 1 illustrating expandable sections and a plurality of fluid valves;

[0012] FIGs. 3A-3F are side views of a portion of the tunneling device shown in FIG. 1 illustrating the tunneling device in various operational stages for forming a tunnel;

[0013] FIG. 4 is a side view of another alternative embodiment of a tunneling device for use with the system shown in FIG. 1, the tunneling device having four fluid valves;

[0014] FIG. 5 is a side view of an additional embodiment of a tunneling device for use with the system shown in FIG. 1, the tunneling device having a distinct segment of a fluid line;

[0015] FIG. 6 is partial cross-sectional side view of the system of FIG. 1 including the tunneling device shown in FIGs. 1 and 2 and a tunnel expansion device;

[0016] FIGs. 7A-7C are partial cross-sectional side views of the tunnel expansion device shown in FIG. 6, and illustrating a process of increasing the width of a tunnel formed using the tunnel device shown in FIGs. 1 and 2; and

[0017] FIGs. 8 A and 8B are a flow chart of an example method of forming a tunnel using the tunneling device shown in FIG. 1.

[0018] Unless otherwise indicated, the drawings provided herein are meant to illustrate features of embodiments of this disclosure. These features are believed to be applicable in a wide variety of systems including one or more embodiments of this disclosure. As such, the drawings are not meant to include all conventional features known by those of ordinary skill in the art to be required for the practice of the embodiments disclosed herein.DETAILED DESCRIPTION

[0019] In the following specification and the claims, reference will be made to a number of terms, which shall be defined to have the following meanings.

[0020] The singular forms “a”, “an”, and “the” include plural references unless the context clearly dictates otherwise.

[0021] “Optional” or “optionally” means that the subsequently described event or circumstance may or may not occur, and that the description includes instances where the event occurs and instances where it does not.

[0022] Approximating language, as used herein throughout the specification and claims, may be applied to modify any quantitative representation that could permissibly vary without resulting in a change in the basic function to which it is related. Accordingly, a value modified by a term or terms, such as “about”, “approximately”, and “substantially”, are not to be limited to the precise value specified. In at least some instances, the approximating language may correspond to the precision of an instrument for measuring the value. Here and throughout the specification and claims, range limitations may be combined and / or interchanged, such ranges are identified and include all the sub-ranges contained therein unless context or language indicates otherwise.

[0023] As used herein, the terms “processor” and “computer,” and related terms, e.g., “processing device,” “computing device,” and “controller” are not limited to just those integrated circuits referred to in the art as a computer, but broadly refers to a microcontroller, a microcomputer, an analog computer, a programmable logic controller (PLC), and application specific integrated circuit (ASIC), and other programmable circuits, and these terms are used interchangeably herein. In the embodiments described herein, “memory” may include, but is not limited to, a computer-readable medium, such as a random access memory (RAM), a computer-readable non-volatile medium, such as a flash memory. Alternatively, a floppy disk, a compact disc - read only memory (CD-ROM), a magnetooptical disk (MOD), and / or a digital versatile disc (DVD) may also be used. Also, in the embodiments described herein, additional input channels may be, but are not limited to, computer peripherals associated with an operator interface such as a touchscreen, a mouse, and a keyboard. Alternatively, other computer peripherals may also be used that may include, for example, but not be limited to, a scanner. Furthermore, in the example embodiment, additional output channels may include, but not be limited to, an operator interface monitor or heads-up display. Some embodiments involve the use of one or more electronic or computing devices. Such devices typically include a processor, processing device, or controller, such as a general purpose central processing unit (CPU), a graphics processing unit (GPU), a microcontroller, a reduced instruction set computer (RISC)processor, an ASIC, a PLC, a field programmable gate array (FPGA), a digital signal processing (DSP) device, and / or any other circuit or processing device capable of executing the functions described herein. The methods described herein may be encoded as executable instructions embodied in a computer readable medium, including, without limitation, a storage device and / or a memory device. Such instructions, when executed by a processing device, cause the processing device to perform at least a portion of the methods described herein. The above examples are exemplary only, and thus are not intended to limit in any way the definition and / or meaning of the term processor and processing device.

[0024] Embodiments described herein relate to a system including a tunneling device. The tunneling device includes a plurality of expandable sections. Each of the expandable sections are configured to expand and collapse in width and / or length during operation of the tunneling device. Additionally, the tunneling device includes a fluid line and a plurality of fluid valves coupled to the expandable sections. The fluid valves regulate and / or control when each section of the tunneling device is expanded and collapse during operation. The sequence of expanding and collapsing each section of the tunneling device facilitates the formation of atunnel and / or allows the tunneling device to move while forming the tunnel. More specifically, the plurality of fluid valves are formed as passive microvalves that facilitate the expanding and collapsing of each of the expandable sections in a sequential order and / or in series, based on predetermined pressure thresholds specific to each passive fluid valve. Additionally, the combination of expandable sections and fluid valves allow the tunneling device to be operably to form the tunnel using a single fluid line fluidly coupled to each valve and expandable section.

[0025] FIG. l is a schematic diagram of a system 100 including a tunneling device 102 traveling underground. For example, tunneling device 102 is configured to travel through a tunnel 104 and / or displace material to form tunnel 104. Tunnel 104 includes a sidewall 106 having an interior surface 108 extending around a central axis 110 and defining interior cavity 112. Tunneling device 102 is configured to fit within interior cavity 112 and travel along the length of tunnel 104. Accordingly, tunneling device 102 facilitates construction of tunnel 104. Additionally, tunneling device 102 can facilitate the inspection and / or repair of tunnel 104. Moreover, tunneling device 102 is self-propelled, meaning thattunneling device 102 moves within interior cavity 112 without an external force acting on tunneling device 102.

[0026] During operation, for example, tunneling device 102 may be positioned at a surface 114 proximate an underground location, and tunneling device 102 travels through surface 114 to form an opening into tunnel 104. In the illustrated embodiment, tunneling device 102 travels in a travel direction 115. In some embodiments, tunneling device 102 traverses transitions in tunnel 104 such as bends or size transitions. As tunneling device 102 travels through underground locations, tunneling device 102 is configured to form tunnel 104 and / or inspect and / or repair any portions of tunnel 104.

[0027] System 100 includes tunneling device 102, a controller 116 communicatively coupled to tunneling device 102, and a fluid supply system 118. Controller 116 is also communicatively coupled to fluid supply system 118 for controlling operation of fluid supply system 118, as discussed herein. Fluid supply system 118 includes a pressurized fluid source 120 that is coupled to tunneling device 102 via a fluid line 122. Fluid supply system 118 is configured to regulate pressurized fluid that is provided, supplied, and / or delivered to, and removed from tunneling device 102 for operation of tunneling device 102, as described further herein.

[0028] In an example embodiment, controller 116 is configured to provide instructions to move tunneling device 102 (e.g., tip) through tunnel 104 and / or to perform inspection or repair operations, as discussed herein. Controller 116 includes a transceiver 124, aprocessor 126, and a memory 128. In some embodiments, controller 116 is positioned remotely from tunneling device 102, e.g., controller 116 is located at a base station that enables an operator on an exterior of tunnel 104 (shown in FIG. 1) to interact with tunneling device 102, and / or controller 116 can be at least partly incorporated into and located on board tunneling device 102. Transceiver 124 is communicatively coupled with tunneling device 102 and is configured to send information to and receive information from a transceiver of tunneling device 102. In some embodiments, transceiver 124 and a transceiver on tunneling device 102 communicate wirelessly. In alternative embodiments, tunneling device 102 and controller 116 communicate in any manner that enables system 100 to operate as described herein. For example, in some embodiments, controller 116 and tunneling device 102exchange information through a wired link extending between tunneling device 102 and controller 116.

[0029] In addition, in some embodiments, controller 116 is at least partly located on board tunneling device 102 and is configured to execute instructions for controlling components of tunneling device 102, such as a maintenance device and drive systems. For example, controller 116 executes instructions that cause tunneling device 102 to move in a selected direction. In alternative embodiments, tunneling device 102 includes any controller that enables system 100 to operate as described herein. In some embodiments, controller 116 is not located on board tunneling device 102.

[0030] Also, in example embodiments, an operator interface 130 is configured to display information relating to the characteristics determined and / or detected by tunneling device 102 for interpretation by the operator. Operator interface 130 may be included on a remote computing device (not shown) and / or may be incorporated with controller 116. Operator interface 130 may include, among other possibilities, a web browser and / or a client application. For example, in some embodiments, operator interface 130 displays images of interior surface 108 based on received signals. In some embodiments, operator interface 130 allows an operator to input and / or view information relating to control of tunneling device 102. In the example embodiment, operator interface 130 is configured to display information relating to the state of one or more of a maintenance device and a power source for interpretation by the operator. For example, state information may include a position of tunneling device 102 along a length of tunnel 104 (shown in FIG. 1). State information may also include a charge status of a power source and / or a current draw for the various drive and positioning motors. In various embodiments, processor 126 translates operator inputs into steering, tool motion, camera control, sensor control, sensor motion, and / or any other commands and sends information via transceiver 124 to tunneling device 102 via a transceiver of tunneling device 102. In some embodiments, operator control of tunneling device 102 is in real time, such as through a joystick, a keyboard, a touchscreen, a remote motion capture system, and / or a wearable motion capture system or other interface having similar function. In other embodiments, tunneling device 102 is controlled partially or wholly according to a pre-programmed routine. In further embodiments, tunneling device 102 is at least partially automated. In some embodiments, an operator inputs informationsuch as operation goals or conditional directions. In further embodiments, information, such as information received by controller 116 from tunneling device 102, control data sent to tunneling device 102, and additional operator inputs or state information (e g., location, time, orientation, datalink quality, battery levels, repair material levels, failure mode indicators), is logged into memory 128.

[0031] Moreover, in the example embodiment, controller 116 is positioned on the exterior of tunnel 104 and communicates with tunneling device 102 positioned within interior cavity 112 of tunnel 104. For example, controller 116 is configured to send information to tunneling device 102 relating to the propulsion and / or steering of tunneling device 102 while tunneling device 102 is moving within interior cavity 112 of tunnel 104 through a wireless connection and / or a tether 132. In alternative embodiments, controller 116 and tunneling device 102 are configured in any manner that enables system 100 to operate as described herein.

[0032] Turning to FIG. 2, and with continued reference to FIG. 1 , tunneling device 102 includes a longitudinal axis 134 and a plurality of components disposed along longitudinal axis 134 of tunneling device 102. In the non-limiting example, tunneling device 102 includes a tip 136 formed on a forward end 138 of tunneling device 102. Forward end 138 is a first portion of tunneling device 102 that may form tunnel 104 and / or is with reference to the forward travel direction 115 of tunneling device 102, as discussed herein. Tip 136 is shaped to engage material and displace material when tip 136 moves during operation. For example, tip 136 includes a tunnelling tool configured to displace material as tip 136 moves. As shown in FIG. 2, tip 136 is a cone having a width (Wise) and tapering to a point that is configured to engage the material. In alternative embodiments, tip 136 is any shape that enables tunneling device 102 to operate as described herein. For example, in some embodiments, tip 136 includes a blade, a helix, a sphere, and / or any other suitable shape.

[0033] In the non-limiting example, tip 136 may move in a direction parallel to longitudinal axis 134 and / or in a rotational direction about longitudinal axis 134 during operation. Additionally, or alternatively, tip 136 may also move in a direction perpendicular to longitudinal axis 134. In the example shown in FIG. 2, tip 136 may be controlled by controller 116. More specifically, and as discussed herein, controller 116 maybe in operable communication with tip 136 to engage, provide instruction, and / or move tip 136 during the operation of tunneling device 102. During operation, tunneling device 102 is positioned proximate surface 114 such that tip 136 engages material of the surface 114 (see, FIG. 1). Controller 116 provides instructions that cause tunneling device 102 to tunnel into surface 114 and through underground locations by moving tip 136. Tip 136 displaces material to form interior cavity 112 when tip 136 is moved. For example, tip 136 displaces the material in directions parallel and / or perpendicular to longitudinal axis 134. In the example embodiment, the cone shape of tip 136 causes material in front of tunneling device 102 to be compacted and directed at least partly in a direction perpendicular to longitudinal axis 134. Width (Wise) of tip 136 defines an initial width of interior cavity 112 of tunnel 104 as tip 136 displaces material. In the example embodiment, system 100 does not require an apparatus to remove at least some of the displaced material because tunneling device 102 compacts the displaced material around tunnel 104.

[0034] Tunneling device 102 also includes a first passive fluid valve 140 positioned opposite tip 136 of tunneling device 102. Additionally, first passive fluid valve 140 is positioned on a back end 142 of tunnel device 102, adjacent a first expandable section 144 of tunneling device 102. In the exemplary embodiment, first passive fluid valve 140 is fluidly coupled to and / or in flow communication with fluid line 122. Specifically, first passive fluid valve 140 is fluidly coupled to pressurized fluid source 120, via fluid line 122, and is configured to receive and / or remove the pressurized fluid from tunneling device 102. First passive fluid valve 140 is formed from any suitable valve. For example, in some embodiments, first passive fluid valve 140 is a microvalve that is configured to facilitate the pressurized fluid flowing to various, distinct portions of tunneling device 102 and / or removing the pressurized fluid from various, distinct portions of tunneling device 102. For example, first passive fluid valve 140 can be formed as a passive microvalve (e g., flap valve, membrane valve, ball valve). In another non-limiting example, first passive fluid valve 140 can be formed as an active microvalve (e.g., magnetic valve, electrostatic valve, external pneumatic valve). For example, in some embodiments, first passive fluid valve 140 is formed as an active microvalve and operably and / or communicatively coupled to controller 116 such that the actuation of first passive fluid valve 140 may be controlled by controller 116 during operation.

[0035] First passive fluid valve 140 includes a first pressure threshold. First pressure threshold determines and / or defines when the pressurized fluid may flow through first passive fluid valve 140 to distinct components or sections of tunneling device 102 (e.g., first expandable section 144). In a non-limiting example where first passive fluid valve 140 is formed as a passive microvalve, the first pressure threshold determines and / or defines the pressure in which the pressurized fluid may “open” first passive fluid valve 140 and flow pressurized fluid to first expandable section 144 and / or distinct sections of tunneling device 102. When the pressure of pressurized fluid does not exceed the first pressure threshold for first passive fluid valve 140, first passive fluid valve 140 may remain “closed,” may not flow to distinct sections / components of tunneling device 102, and / or may flow the pressurized fluid back to pressurized fluid source 120 via fluid line 122. In another non-limiting example where first passive fluid valve 140 is formed as an active microvalve, a sensor (not shown) positioned within fluid line 122 or first passive fluid valve 140 may determine the pressure of pressurized fluid. When the determined pressure of the pressurized fluid exceeds the first pressure threshold, controller 116 may instruct and / or first passive fluid valve 140 may “open” and flow pressurized fluid to first expandable section 144 and / or distinct sections of tunneling device 102.

[0036] Tunnel device 102 also includes first expandable section 144 positioned adjacent to first passive fluid valve 140. More specifically, first expandable section 144 is positioned adjacent first passive fluid valve 140 and opposite tip 136 formed on forward end 138 of tunneling device 102. First expandable section 144 also extends along longitudinal axis 134 of tunneling device 102. In the non-limiting examples, first expandable section 144 is expandable in a direction perpendicular to longitudinal axis 134 between a first width (WI144) and a second width (W2144). First width (WI144) and second width (W2144) are measured perpendicular to longitudinal axis 134. Additionally in the nonlimiting example, second width (W2144) of first expandable section 144 is greater or larger than first width (WI144). In an example embodiment, first expandable section 144 may be configured to engage sidewall 106 of tunnel 104 when expanded to include second width (W2144). Additionally, and as discussed herein, width (W2H4) of first expandable section 144 includes a measured width that is greater than a width of an second expandable section and tip 136.

[0037] First expandable section 144 may include pneumatic artificial muscles having elastomeric tubular membranes with fiber reinforcements and radial and / or axial actuators. The pneumatic artificial muscles operate based on the pressurized fluid provided to first expandable section 144. For example, first expandable section 144 can include a bladder 146 fluidly coupled to first passive fluid valve 140 via fluid line 122 and formed as an elastomeric material that is configured to expand / collapse when pressurized fluid is delivered / removed from bladder 158. In addition, in the example embodiment, reinforcement muscles (e g., fibers) extend around bladder 146 and are connected to radial and / or axial actuators. In the example embodiment, the muscles are reinforced with a fiber mesh pattern that constrains the direction and amount of expansion of bladder 146. For example, the fiber reinforcement may form a first arrangement (e g., looser mesh grid around the circumference of bladder 146 allowing radial expansion or stretching of the mesh / a tight mesh grid around the ends of the bladder) that allows bladder 146 to expand in a radial direction but not in an axial direction when bladder 146 is pressurized.

[0038] In addition, in the example embodiment, pressurized fluid source 120 is coupled to first expandable section 144 via fluid line 122. For example, pressurized fluid source 120 is coupled to bladder 146 of first expandable section 144 via fluid line 122 and first passive fluid valve 140. Bladder 146 is configured to transition first expandable section 144 from first width (WI144) to second width (W2144) when pressurized fluid is delivered to bladder 146 via fluid line 122. Specifically in the example, where the pressurized fluid includes a pressure that exceeds the first pressure threshold of first passive fluid valve 140, first passive fluid valve 140 facilitates pressurized fluid flowing to bladder 146 of first expandable section 144 to expand, transition, and / or transform first expandable section 144 from first width (WI144) to second width (W2144). Additionally, bladder 146 is configured to transition first expandable section 144 from second width (W2144) to first width (WI144) when the pressurized fluid is removed from bladder 146 via fluid line 122. As discussed herein, first expandable section 144 is configured to selectively switch widths and propel tunneling device 102 when pressurized fluid is delivered to or removed from tunneling device 102 via fluid line 122.

[0039] In the non-limiting example, tunneling device 102 also includes a second passive fluid valve 148 positioned adjacent first expandable section 144 and between first expandable section 144 and tip 136 formed on forward end 138 of tunneling device 102. Additionally, and as discussed herein, second passive fluid valve 148 is positioned between first expandable section 144 and an second expandable section 150 of tunneling device 102. In the exemplary embodiment, second passive fluid valve 148 is fluidly coupled to and / or in flow communication with fluid line 122. Specifically, second passive fluid valve 148 is fluidly coupled to first expandable section 144, via fluid line 122, and is configured to receive and / or remove the pressurized fluid from tunneling device 102. Similar to first passive fluid valve 140, second passive fluid valve 148 is formed from any suitable valve. For example, second passive fluid valve 148 includes a microvalve (e.g., active, passive) that is configured to facilitate the pressurized fluid to flow to various, distinct portions for tunneling device 102 and / or remove / allow the pressurized fluid to flow from various, distinct portions of tunneling device 102 back to pressurized fluid source 120 during operation.

[0040] Second passive fluid valve 148 also includes a second pressure threshold. Second pressure threshold of second passive fluid valve 148 is greater than the first pressure threshold of the first passive fluid valve 140. Similar to first pressure threshold, second pressure threshold determines and / or defines when the pressurized fluid may flow through second passive fluid valve 148 to distinct components or sections of tunneling device 102 (e.g., second expandable section 1 0). In a non-limiting example where second passive fluid valve 148 is formed as a passive microvalve, the second pressure threshold determines and / or defines the pressure in which the pressurized fluid may “open” second passive fluid valve 148 and flow pressurized fluid to second expandable section 150 and / or distinct sections of tunneling device 102. When the pressure of pressurized fluid does not exceed the second pressure threshold for second passive fluid valve 148, second passive fluid valve 148 may remain “closed” and pressurized fluid does not flow to distinct sections / components of tunneling device 102, and / or flows back to pressurized fluid source 120 via fluid line 122. Second passive fluid valve 148 may also operate independent of first passive fluid valve 140.

[0041] Tunnel device 102 also includes second expandable section 150 positioned adjacent to second passive fluid valve 148. More specifically, second expandable section 150 is positioned adjacent second passive fluid valve 148 and between second passivefluid valve 148 and tip 136 formed on forward end 138 of tunneling device 102. Additionally, and as discussed herein, second expandable section 150 is positioned between first expandable section 144 and a second expandable section. Second expandable section 150 extends along longitudinal axis 134 of tunneling device 102. In the non-limiting examples, second expandable section 150 is expandable in a direction parallel to longitudinal axis 134 between a first length (LI 150) and a second length (L2iso). First length (LI 150) and second length (L2iso) are measured parallel to longitudinal axis 134. Additionally in the non-limiting example, second length (L2iso) of second expandable section 150 is greater or larger than first length (LI 150).

[0042] Similar to first expandable section 144, second expandable section 150 may include pneumatic artificial muscles having elastomeric tubular membranes with fiber reinforcements and radial and / or axial actuators. For example, second expandable section 150 can include a bladder 152 fluidly coupled to second passive fluid valve 148 via fluid line 122 and formed as an elastomeric material that is configured to expand / collapse when pressurized fluid is delivered / removed from bladder 152. In the example embodiment, reinforcement muscles (e g., fibers) extend around bladder 152 and are connected to radial and / or axial actuators. In the example embodiment, the muscles are reinforced with a fiber mesh pattern that constrains the direction and amount of expansion of bladder 152. For example, the fiber reinforcement may form a first arrangement (e.g., tight mesh grid circumferentially around the bladder) that allows first bladder 146 to expand in an axial direction but not in a radial direction when bladder 152 is pressurized.

[0043] In addition, pressurized fluid source 120 is coupled to second expandable section 150 via fluid line 122. For example, pressurized fluid source 120 is coupled to bladder 152 of second expandable section 150 via fluid line 122 and second passive fluid valve 148. Bladder 152 is configured to transition second expandable section 150 from first length (LI 150) to second length (L2iso) when pressurized fluid is delivered to bladder 152 via fluid line 122. Specifically in the example, where the pressurized fluid includes a pressure that exceeds the second pressure threshold of second passive fluid valve 148, second passive fluid valve 148 facilitates pressurized fluid flowing to bladder 152 of second expandable section 150 to expand, transition, and / or transform second expandable section 150 from first length (LI 150) to second length (L2iso). Additionally, bladder 152 isconfigured to transition second expandable section 150 from second length (L2iso) to first length (L 1 iso) when the pressurized fluid is removed from bladder 152 via fluid line 122. As discussed herein, and in conjunction with distinct sections of tunneling device 102, second expandable section 150 is configured to selectively switch lengths and propel tunneling device 102 when pressurized fluid is delivered to or removed from tunneling device 102 via fluid line 122.

[0044] In the non-limiting example, tunneling device 102 includes a third passive fluid valve 154 positioned adjacent second expandable section 150 and between second expandable section 150 and tip 136 formed on forward end 138 of tunneling device 102. Additionally, and as discussed herein, third passive fluid valve 154 is positioned between second expandable section 150 and a third expandable section 156 of tunneling device 102. In the exemplary' embodiment, third passive fluid valve 154 is fluidly coupled to and / or in flow communication with fluid line 122. Specifically, third passive fluid valve 154 is fluidly coupled to second expandable section 150, via fluid line 122, and is configured to receive and / or remove the pressurized fluid from tunneling device 102. Similar to fluid valves 140, 148 discussed herein, third passive fluid valve 154 is formed from any suitable, microvalve (e.g., active, passive) that is configured to facilitate the pressurized fluid to flow to various, distinct portions for tunneling device 102 and / or remove / allow the pressurized fluid to flow from various, distinct portions of tunneling device 102 back to pressurized fluid source 120 during operation.

[0045] Third passive fluid valve 154 also includes a third pressure threshold. Third pressure threshold of third passive fluid valve 154 is greater than the second pressure threshold of the second passive fluid valve 148. Similar to first pressure threshold, third pressure threshold determines and / or defines when the pressurized fluid may flow through third passive fluid valve 154 to distinct components or sections of tunneling device 102 (e g., third expandable section 156). In anon-limiting example where third passive fluid valve 154 is formed as a passive microvalve, the third pressure threshold determines and / or defines the pressure in which the pressurized fluid may “open” third passive fluid valve 154 and flow pressurized fluid to third expandable section 156 and / or distinct sections of tunneling device 102. When the pressure of pressurized fluid does not exceed the third pressure threshold for third passive fluid valve 154, third passive fluid valve 154 may remain“closed,” may not flow to distinct sections / components of tunneling device 102, and / or may flow the pressurized fluid back to pressurized fluid source 120 via fluid line 122. As similarly discussed herein, third passive fluid valve 154 operates independent of first passive fluid valve 140 and / or second passive fluid valve 148.

[0046] As shown in FIG. 2, tunnel device 102 also includes third expandable section 156 positioned adjacent to third passive fluid valve 154. More specifically, third expandable section 156 is positioned adjacent third passive fluid valve 154 and between third passive fluid valve 154 and tip 136 formed on forward end 138 of tunneling device 102. Additionally, and as discussed herein, third expandable section 156 is positioned between first expandable section 144 and tip 136. Similar to first expandable section 144, third expandable section 156 also extends along longitudinal axis 134 of tunneling device 102. In the non-limiting examples, third expandable section 156 is expandable in a direction perpendicular to longitudinal axis 134 between a distinct, first width (W1156) and a distinct, second width (W2156). Distinct first width (Wlise) and distinct second width (W2ise) are measured perpendicular to longitudinal axis 134. Additionally in the non-limiting example, distinct second width (W2156) of third expandable section 156 is greater or larger than distinct first width (Wl ise). In an exemplary embodiment, third expandable section 156 may be configured to engage sidewall 106 of tunnel 104 when expanded to include distinct second width (W2i56). Additionally, and similar to second width (W2144) of first expandable section 144, distinct, second width (W2156) of third expandable section 156 includes a measured width that is greater than a width of second expandable section 150 and tip 136.

[0047] Similarto first expandable section 144, third expandable section 156 may include pneumatic artificial muscles having elastomeric tubular membranes with fiber reinforcements and radial and / or axial actuators. For example, third expandable section 156 can include a bladder 158 fluidly coupled to third passive fluid valve 154 via fluid line 122 and formed as an elastomeric material that is configured to expand / collapse when pressurized fluid is delivered / removed from bladder 158. In the example embodiment, reinforcement muscles (e.g., fibers) extend around bladder 158 and are connected to radial and / or axial actuators. Additionally, the muscles are reinforced with a fiber mesh pattern that constrains the direction and amount of expansion of bladder 158. For example, the fiber reinforcementmay form a first arrangement (e.g., looser mesh grid around the circumference of bladder allowing radial expansion or stretching of the mesh / a tight mesh grid around the ends of the bladder) that allows bladder 158 to expand in a radial direction but not in an axial direction when bladder 158 is pressurized.

[0048] In addition, in the example embodiment, pressurized fluid source 120 is coupled to third expandable section 156 via fluid line 122. For example, pressurized fluid source 120 is coupled to bladder 158 of third expandable section 156 via fluid line 122 and third passive fluid valve 154. Bladder 158 is configured to transition third expandable section 156 from distinct first width (Wliss) to distinct second width (W2156) when pressurized fluid is delivered to bladder 158 via fluid line 122. Specifically in the example, where the pressurized fluid includes a pressure that exceeds the third pressure threshold of third passive fluid valve 154, third passive fluid valve 154 facilitates pressurized fluid flowing to bladder 158 of third expandable section 156 to expand, transition, and / or transform third expandable section 156 from first width (Wl ise) to second width (W2i5e). Additionally, bladder 158 is configured to transition third expandable section 156 from second width (W2156) to first width (Wlise) when the pressurized fluid is removed from bladder 158 via fluid line 122. As discussed herein, and in conjunction with first expandable section 144 and second expandable section 150 of tunneling device 102, third expandable section 156 is configured to selectively switch widths and propel tunneling device 102 when pressurized fluid is delivered to or removed from tunneling device 102 via fluid line 122.

[0049] A shaft 160 of tunneling device 102 extends between and is coupled to third passive fluid valve 154 and tip 136. As shown in FIG. 2, shaft 160 also extends through third expandable section 156, and may extend through and / or adjacent to the portion of fluid line 122 coupling third passive fluid valve 154 to third expandable section 156. In the non-limiting example, shaft 160 may be coupled to tip 136 and / or may couple tip 136 to third passive fluid valve 154 to provide support to and / or to facilitate movement of tip 136 during operation, as discussed herein. Shaft 160 may be formed as any suitable component and / or from any suitable material to provide support and / or rigidity to tip 136.

[0050] Additionally as shown in FIG. 2, tunneling device 102 can also include a retrieval cable 162. Cable 162 may be coupled or affixed to tunneling device 102 to facilitate the retrieval and / or recovery of tunneling device 102 after forming tunnel 104, as discussed herein. In the non-limiting example, retrieval cable 162 may be releasably coupled and / or affixed to an outside of fluid line 122, adjacent to first passive fluid valve 140 of tunneling device 102. In other non-limiting examples, retrieval cable 162 may be coupled and / or affixed to any distinct and / or multiple portions of tunneling device 102. As discussed herein, retrieval cable 162 may be configured to facilitate an operator of tunneling device 102 to receive, remove, and / or pull tunneling device 102 out from and / or through tunnel 104. Retrieval cable 162 may be formed from any suitable material that may facilitate the retrieval of tunneling device 102, as discussed herein.

[0051] FIGs. 3A-3F are side views of tunneling device 102 undergoing a sequence of operation and / or various operational stages. More specifically, FIGs. 3A-3F depict tunneling device 102, and the various sections and components forming tunneling device 102, during operation to form tunnel 104. FIG. 2 depicts tunneling device 102 in a rest or first stage of operation, wherein no sections 144, 150, 156 of tunneling device 102 are expanded and / or no fluid valves 140, 148, 154 are flowing the pressurized fluid to distinct sections or portions of tunneling device 102. Additionally, and as discussed herein, FIGs. 3A-3C depict tunneling device 102 transitioning to a fourth operational stage and / or a completely expanded configuration (see, FIG. 3C), while FIGs. 3D-3F depict tunneling device 102 transitioning back to the first operational stage and / or to a completely shrunken or collapsed configuration (see, FIG. 3F). It is to be understood that similarly numbered and / or named components may function in a substantially similar fashion. Redundant explanation of these components has been omitted for clarity.

[0052] FIG. 3 A is an example embodiment of tunneling device 102 in a second operational stage. As shown, first expandable section 144 is expanded to the second width (W2144). First expandable section 144 may be expanded, transitioned, and / or transformed to second width (W2144), from first width (WI144) (see, FIG. 2), as a result of pressurized fluid being supplied to bladder 146. As discussed herein, the pressurized fluid is provided to bladder 146 of first expandable section 144 via first passive fluid valve 140 and as a result of the pressurized fluid exceeding the first pressure threshold of first passivefluid valve 140. In addition to being provided to bladder 146, the pressurized fluid may also be provided to second passive fluid valve 148.

[0053] FIG. 3B is an example embodiment of tunneling device 102 in a third operational stage. As shown, first expandable section 144 remains expanded to the second width (W2i44). First expandable section 144 remains expanded as a result of the pressurized fluid continuing to exceed the first pressure threshold of first passive fluid valve 140. Additionally in the non-limiting example, second expandable section 150 is expanded to the second length (L2iso). Second expandable section 150 may be expanded, transitioned, and / or transformed to second length (L2iso), from first length (LI 150) (see, FIG. 3A), as a result of pressurized fluid being supplied to bladder 152. More specifically, the pressurized fluid is provided to bladder 152 of second expandable section 150 via second passive fluid valve 148 and as a result of the pressurized fluid exceeding the second pressure threshold of second passive fluid valve 148. In addition to being provided to bladder 152, the pressurized fluid may also be provided to third passive fluid valve 154.

[0054] Simultaneous to, or immediately subsequent to, providing the pressurized fluid to bladder 152 to expand second expandable section 150, tip 136 may begin to move. That is, and prior to transition third expandable section 156 (see, FIG. 3C), tip 136 may begin to move in a direction parallel to longitudinal axis 134 and / or in a rotational direction about longitudinal axis 134. As discussed herein, tip 136 may move based on instructions provided by controller 116 (see, FIG. 1), and may continue to move during distinct operational stages.

[0055] FIG. 3C is an example embodiment of tunneling device 102 in a fourth operational stage. In the example, first expandable section 144 remains expanded to the second width (W2144) as a result of the pressurized fluid continuing to exceed the first pressure threshold of first passive fluid valve 140. Additionally, second expandable section 150 remains expanded to the second length (L2iso) as a result of the pressurized fluid continuing to exceed the second pressure threshold of second passive fluid valve 148. In the exemplary embodiment, third expandable section 156 is expanded to the distinct second width (W2156). Third expandable section 156 may be expanded, transitioned, and / or transformed to second width (W2i5e), from first width (Whse) (see, FIG. 3B), as a result of pressurized fluid being supplied to bladder 158. That is, the pressurized fluid is provided tobladder 158 of third expandable section 156 via third passive fluid valve 154 and as a result of the pressurized fluid exceeding the third pressure threshold of third passive fluid valve 154. During the expanding or transition of third expandable section 156, tip 136 may continuously operate and / or move. In a non-limiting example, FIG. 3C shows tunneling device 102 in its complete and / or fully expanded configuration and / or operational stage.

[0056] FIG. 3D is an example embodiment of tunneling device 102 in a fifth operational stage. In the example, first expandable section 144 has the first width (WI144) in the fifth operational stage. First expandable section 144 may be transitioned to first width (W1144), from second width (W1144) (see, FIG. 3C), as a result of pressurized fluid no longer being supplied to bladder 146. As discussed herein, the pressurized fluid may not be provided to bladder 146 of first expandable section 144 via first passive fluid valve 140 when the pressurized fluid does not exceed the first pressure threshold of first passive fluid valve 140. As such, in the example, first passive fluid valve 140 is “closed” and prevents the pressurized fluid from flowing to bladder 146 of first expandable section 144, and / or causes the pressurized fluid to flow to pressurized fluid source 120 via fluid line 122.

[0057] In the non-limiting example shown in FIG. 3D, third expandable section 156 remains in a state having the second width (W2i5e) as a result of the pressurized fluid continuing to exceed the third pressure threshold at third passive fluid valve 154. Additionally, second expandable section 150 remains at the second length (L2iso) as a result of the pressurized fluid continuing to exceed the second pressure threshold at second passive fluid valve 148. During the transition of first expandable section 144, tip 136 may continuously operate and / or move.

[0058] FIG. 3E is an example embodiment of tunneling device 102 in a sixth operational stage. In the example, first expandable section 144 is in a state having the first width (WI144) as a result of the pressurized fluid no longer exceeding the first pressure threshold at first passive fluid valve 140. Additionally, second expandable section 150 has the first length (LI 150). Second expandable section 150 may be transitioned to first length (LI150), from second length (L2iso) (see, FIG. 3D), as a result of pressurized fluid no longer being supplied to bladder 152. second expandable section. For example, second passive fluid valve 148 may reduce or stop the flow of pressurized fluid to bladder 152 of secondexpandable section 150 when the pressurized fluid does not exceed the second pressure threshold at second passive fluid valve 148. As such, and in the example, second passive fluid valve 148 may be “closed”, and prevent the pressurized fluid from flowing to bladder 152 of second expandable section 150, and / or may cause the pressurized fluid to flow to pressurized fluid source 120 via fluid line 122.

[0059] In the non-limiting example, third expandable section 156 remains in a state having the second width (W2ise) as a result of the pressurized fluid continuing to exceed the third pressure threshold at third passive fluid valve 154. Additionally, tip 136 may discontinue operation and / or moving. That is, controller 116 may cease engaging, providing instructions, and / or moving tip 136. In exemplary embodiments, tip 136 may stop moving just prior to, simultaneous to, and / or immediately after second expandable section 150 is transitioned to first length (LI 150).

[0060] FIG. 3F is an example embodiment of tunneling device 102 in its first operational stage - as similarly shown and discussed herein with respect to FIG. 2. In the example, third expandable section 156 has the first width (W1 ise) in the first operational stage. Third expandable section 156 may be transitioned to first width (W1156), from second width (W2156) (see, FIG. 3D), as a result of pressurized fluid no longer being supplied to bladder 158. third expandable section 156 For example, third passive fluid valve 154 may stop or reduce the flow of pressurized fluid to bladder 158 of third expandable section 156 when the pressurized fluid does not exceed the third pressure threshold at third passive fluid valve 154. As such, and in the example, third passive fluid valve 154 may be “closed”, and may prevent the pressurized fluid from flowing to bladder 158 of third expandable section 156, and / or may cause the pressurized fluid to flow to pressurized fluid source 120 via fluid line 122. Additionally, and where each valve 140, 148, 154 is formed as microvalve (e.g., passive valve), the pressurized fluid may be flowed back to pressurized fluid source 120 via fluid line 122. In a non-limiting example, FIG. 3F shows tunneling device 102 in its completely shrunken and / or fully collapsed configuration and / or operational stage.

[0061] FIGs. 4 and 5 show additional exemplary embodiments of tunneling device 102. It is to be understood that similarly numbered and / or named components may function in a substantially similar fashion. Redundant explanation of these components has been omitted for clarity.

[0062] Tunneling device 102 shown in FIG. 4 includes a fourth fluid valve 164 positioned between third expandable section 156 and tip 136. In the example embodiment, fourth fluid valve 164 is fluidly coupled to and / or in flow communication with fluid line 122. Specifically, fourth fluid valve 164 is fluidly coupled to tip 136, via fluid line 122, and is configured to receive and / or remove the pressurized fluid from tunneling device 102. Similar to fluid valves 140, 148, 154 discussed herein, fourth fluid valve 164 is formed from any suitable valve such as a microvalve (e.g., active, passive) and is configured to facilitate the pressurized fluid to flow to various, distract portions of tunneling device 102 and / or remove / allow the pressurized fluid to flow from various, distinct portions of tunneling device 102 to pressurized fluid source 120 during operation. As shown in FIG. 4 shaft 160 may extend longitudinally through and / or adjacent to fourth fluid valve 164 to provide support to tip 136.

[0063] Fourth fluid valve 164 includes a fourth pressure threshold. Fourth pressure threshold of fourth fluid valve 164 is greater than the third pressure threshold of third passive fluid valve 154. Fourth pressure threshold determines and / or defines when the pressurized fluid may flow through fourth fluid valve 164 to tip 136. That is, tip 136 may operate and / or move based on pressurized fluid regulated by fourth fluid valve 164. When fourth fluid valve 164 causes pressurized fluid to be provided to tip 136, 138, tip 136, 138 moves in a direction parallel to longitudinal axis 134 and / or in a rotational direction about longitudinal axis 134. In a non-limiting example where fourth fluid valve 164 is formed as a passive microvalve, the fourth pressure threshold is the pressure at which the pressurized fluid may “open” fourth fluid valve 164 and flow' pressurized fluid to tip 136 of tunneling device 102. When the pressure of pressurized fluid does not exceed the fourth pressure threshold for fourth fluid valve 164, fourth fluid valve 164 may remain “closed,” and prevents pressurized fluid flowing to tip 136, and / or causes the pressurized fluid to flow to pressurized fluid source 120 via fluid line 122. As similarly discussed herein, fourth fluid valve 164 operates independent of first passive fluid valve 140 and / or second passive fluid valve 148.

[0064] FIG. 5 is another example embodiment of tunneling device 102. As shown, tunneling device 102 includes a distinct segment 166 of fluid line 122 positioned between third expandable section 156 and tip 136. In the exemplar}' embodiment, segment 166 of fluid line 122 is fluidly coupled to and / or in flow communication with third expandablesection 156 and tip 136. Distinct segment 166 of fluid line 122 is tip 136third expandable section 156configured to receive and / or remove the pressurized fluid from tunneling device 102. Distinct segment 166 of fluid line 122 may provide pressurized fluid to tip 136 during operation. That is, tip 136 may operate and / or move based on supplied, provided, and / or flowed pressurized fluid from distinct segment 166. In the non-limiting example, in addition to providing pressurized fluid to bladder 158 of third expandable section 156, third passive fluid valve 154 may also provide or flow pressurized fluid to tip 136, via distinct segment 166 of fluid line 122, when the pressure of pressurized fluid exceeds the third pressure threshold of third passive fluid valve 154.

[0065] FIG. 6 is a side, partial cross-sectional view of system 100 including tunneling device 102 and tunnel 104 formed by tunneling device 102. In the non-limiting example, tunneling device 102 is shown to have formed tunnel 104 completely through surface 114 and exited or breached surface 114. Additionally as shown, retrieval cable 162 coupled to tunneling device 102 may also be disposed within and / or extend through tunnel 104 formed by tunneling device 102. Cable 162 may be operably coupled to a winch system 168 positioned adjacent tunnel 104 and / or surface 114. Winch system 168 may be configured to rotate to spool retrieval cable 162, and pull tunneling device 102 back through tunnel 104, in a direction opposite travel direction 115 (see, FIG. 1).

[0066] Although discussed herein as including a winch system 168, it is understood that tunneling device 102 and retrieval cable 162 coupled thereto, may be received, pulled, and / or removed using any suitable device and / or technique including, but not limited to, an operator manually pulling retrieval cable 162 until tunneling device 102 is retrieved.

[0067] System 100 shown in FIG. 6 may also include a tunnel expansion device 200 used to increase the width (W1104, W2io4)(see also, FIG. 7C) and / or bore size of tunnel 104 formed by tunneling device 102. Similar to bladders of different sections of tunneling device 102 discussed herein, tunnel expansion device 200 may include pneumatic artificial muscles having elastomeric tubular membranes with fiber reinforcements and radial and / or axial actuators. The pneumatic artificial muscles operate based on the pressurized fluid provided to tunnel expansion device 200. For example, tunnel expansion device 200 can include a fluidic muscle member 202 formed as an elastomeric material that is configuredto expand / collapse when pressurized fluid is delivered / removed from fluidic muscle member 202. In the non-limiting example shown in FIG. 6, fluidic muscle member 202 of tunnel expansion device 200 may be fluidly coupled to a distinct fluid supply system 204. Distinct fluid supply system 204 includes a pressurized fluid source 206 that is coupled to fluidic muscle member 202 via a fluid line 208. In other non-limiting examples, fluidic muscle member 202 of tunnel expansion device 200 may be fluidly coupled to fluid supply system 118 (see, FIG. 1), along with tunneling device 102.

[0068] In the example embodiment, reinforcement muscles (e.g., fibers) extend around fluidic muscle member 202 and are connected to radial and / or axial actuators. The muscles may be reinforced with a fiber mesh pattern that constrains the direction and amount of expansion of fluidic muscle member 202. For example, the fiber reinforcement may form a first arrangement (e.g., looser mesh grid around the circumference of bladder 146 allowing radial expansion or stretching of the mesh / a tight mesh grid around the ends of the bladder) that allows fluidic muscle member 202 to expand in a radial direction of tunnel 104 but not in an axial direction when fluidic muscle member 202 is pressurized.

[0069] Fluidic muscle member 202 is configured to transition tunnel expansion device 200 from first width (WI200) to second width (W2200) (see, FIG. 7C) when pressurized fluid is delivered to tunnel expansion device 200 via fluid line 208. Specifically in the example, pressurized fluid flows to fluidic muscle member 202 of tunnel expansion device 200 to expand, transition, and / or transform tunnel expansion device 200 from first width (WI200) to second width (W2200). Additionally, fluidic muscle member 202 is configured to transition tunnel expansion device 200 from second width (W2200) to first width (WI200) when the pressurized fluid is removed from fluidic muscle member 202 via fluid line 208. The first width (WI200) of tunnel expansion device 200 is equal to or smaller than the width (WI104) of tunnel 104 to facilitate the movement of tunnel expansion device 200 through tunnel 104 and to increase the width (W2IO4) of tunnel 104 (see, FIG. 7C). Conversely, the second width (W2200) of tunnel expansion device 200 is larger than the width (WI 104) of tunnel 104 formed by tunneling device 102. In an exemplary embodiment, tunnel expansion device 200 may be configured to engage sidewall 106 of tunnel 104 and / or displace or compact material within tunnel 104 when expanded to include second width (W2200).

[0070] FIGs. 7A-7C are side views of system 100 including tunnel expansion device 200 for expanding or increasing a width (WI104) of tunnel 104. Tunnel 104 may be formed using tunneling device 102 of system 100 as discussed herein. It is to be understood that similarly numbered and / or named components may function in a substantially similar fashion. Redundant explanation of these components has been omitted for clarity.

[0071] In the example embodiment shown in FIG. 7 A, tunnel 104 may be formed from tunneling device 102 (not shown), as similarly discussed herein. Tunneling device 102 may also carry retrieval cable 162 through tunnel 104, such that retrieval cable 162 is disposed within and / or extends through tunnel 104. In the non-limiting example, tunneling device 102 may be removed from tunnel 104, and retrieval cable 162 may be subsequently coupled directly to tunnel expansion device 200 of system 100. Tunnel expansion device 200 may be positioned directly adjacent surface 114 and tunnel 104.

[0072] FIG. 7B shows an example embodiment of tunnel expansion device 200 inserted into tunnel 104. More specifically, tunnel expansion device 200, fluidly coupled to pressurized fluid source 206 of distinct fluid supply system 204 via fluid line 208 may be lowered in, inserted into, and / or positioned within tunnel 104 formed by tunneling device 102. Tunnel expansion device 200 shown in FIG. 7B has first width (WI200) that is smaller than a width (WI104) of tunnel 104.

[0073] After initial alignment, tunnel expansion device 200 may be moved into, and subsequently through tunnel 104 via winch system 168 coupled to retrieval cable 162. For example, retrieval cable 162 is coupled directly to tunnel expansion device 200 pulls tunnel expansion device 200 through tunnel 104 using winch system 168. FIG. 7C shows tunnel expansion device 200 positioned within tunnel 104. Tunnel expansion device 200 positioned within tunnel 104 is expanded to second width (W2200) that is larger than a width (WI104) of tunnel 104. Tunnel expansion device 200 may be expanded to the second width (W2200) by providing pressurized fluid to fluidic muscle member 202 of tunnel expansion device 200 via fluid supply system 204. In non-limiting examples, tunnel expansion device 200 may be incrementally moved through tunnel 104 to expand and / or increase the width (W2IO4) of tunnel 104. That is, tunnel expansion device 200 having first width (WI200), may be positioned within a portion of tunnel 104. Tunnel expansion device 200 may then beexpanded, via fluidic muscle member 202, to second width (W2200) that is larger than the width (W 1104) of tunnel 104. Tunnel expansion device 200 may in turn press against sidewalls 106 of tunnel 104, and / or displace or compact material surrounding tunnel 104. The displacing and / or compacting of the material may increase width (W2IO4) of a portion of tunnel 104 adjacent to tunnel expansion device 200. In the non-limiting example, the width (W2IO4) may be equal to or larger than second width (W2200) of tunnel expansion device 200. Subsequent to increasing the width (W2IO4) of a portion of tunnel 104, tunnel expansion device 200 may be transitioned to the first width (WI200) by removing pressurized fluid from fluidic muscle member 202. After transitioning to the first width (WI200), tunnel expansion device 200 may again be moved through tunnel 104, in a direction toward surface 114 / winch system 168, to be positioned adjacent a portion of tunnel 104 including width (W1104). Then the expansion and compacting process may occur again, until all of tunnel 104 includes increased width (W2IO4), and tunnel expansion device 200 is removed from tunnel 104.

[0074] FIGs. 8A and 8B show a flow chart of an example method of forming a tunnel (see, FIG. 1; tunnel 104) using a tunneling device (see, FIGs. 1 and 2; tunneling device 102). FIGs. 8A and 8B show an exemplary process for forming a tunnel. Specifically, FIGs. 8A and 8B show a flowchart depicting one example process for forming a tunnel using a tunneling device. In some cases, the processes can be performed using system 100 including tunneling device 102, as discussed above with respect to FIGs. 1 -5. Additionally, the processes discussed herein are performed on a tunneling device that is inserted and / or at least partially disposed within a surface in which the tunnel is being formed.

[0075] In process Pl, as shown in FIG. 8A, a pressurized fluid is provided to tunneling device 102. More specifically, a pressurized fluid is provided to first passive fluid valve 140 of the tunneling device 102. First passive fluid valve 140 includes a first pressure threshold. In non-limiting examples, the pressurized fluid is provided via a fluid line fluidly coupled to tunneling device 102, and more specifically, first passive fluid valve 140.

[0076] In process P2, a pressure of the pressurized fluid is determined. For example, the pressure of the pressurized fluid is determined at first passive fluid valve 140 of the tunneling device 102. In a non-limiting example, first passive fluid valve 140 includes a sensor for determining the pressure of the pressurized fluid. The pressure determined or detected by the sensor is communicated to controller 116 in communication with tunnelingdevice 102 to control at least a portion of the operation of tunneling device 102, as discussed herein. In other non-limiting examples, first passive fluid valve 140 is formed as a passive microvalve that adjusts operational parameters (e.g., “opens” valve, “closes” valve) based on the determined and / or actual pressure of the pressurized fluid flowing therein or therethrough.

[0077] In process P3, it is determined if the pressure of the pressurized fluid exceeds the first fluid threshold of first passive fluid valve 140. For example, the determined pressure of the pressurized fluid provided to first passive fluid valve 140 is compared to the first pressure threshold of first passive fluid valve 140 for tunneling device 102 to determine if the pressure is greater than, equal to, or less than the first pressure threshold. As discussed herein, first passive fluid valve 140 includes a sensor for determining or detecting the pressure of the pressurized fluid, and communicates the pressure to controller 116. Controller 116 in turn may determine if the detected pressure of the pressurized fluid exceeds the first fluid threshold of first passive fluid valve 140. In another non-limiting example, it may be determined that the pressure of the pressurized fluid exceeds the first fluid threshold of first passive fluid valve 140 when first passive fluid valve 140, formed as a passive microvalve, adjusts, switches, and / or changes its operational parameters from a “closed” position to an “open” position.

[0078] In response to determining if the pressure of the pressurized fluid provided to first passive fluid valve 140 exceeds the first pressure threshold (e.g., “YES” at process P3), the pressurized fluid flows through first passive fluid valve 140. For example, as a result of the pressurized fluid having a pressure that exceeds the first pressure threshold of first passive fluid valve 140, first passive fluid valve 140 may “open” and allow the pressured fluid to flow to distinct portions of tunneling device 102. In process P4, the pressurized fluid flows to a first expandable section 144 of tunneling device 102 positioned adjacent first passive fluid valve 140. More specifically, the pressurized fluid flows to a bladder 146 of first expandable section 144 that is fluidly coupled to first passive fluid valve 140 via fluid line 122. Additionally in process P4, the pressurized fluid flows and / or provided to a second passive fluid valve 148 of tunneling device 102. Second passive fluid valve 148 is positioned proximate first passive fluid valve 140, and / or first expandable section 144 of tunneling device 102 is positioned between and is fluidly coupled to both first passive fluid valve 140 and second passive fluid valve 148.

[0079] In process P5, first expandable section 144 of tunneling device 102 is transitioned from a first width to a second width. More specifically, and as a result of flowing the pressurized fluid to bladder 146 of first expandable section 144 (e.g., process P4), bladder 146 expands, grows, and / or increases in width to transition first expandable section 144 of tunneling device 102 from a first width to a second width, where the second width is greater than the first. In a non-limiting example, the width of first expandable section 144 is measured perpendicular to a longitudinal axis 134 of tunneling device 102 and / or longitudinal axis 134 of tunnel 104 being formed using tunneling device 102.

[0080] In process P6, the pressure of the pressurized fluid is determined or detected. That is, the pressure of the pressurized fluid is determined at second passive fluid valve 148 of tunneling device 102. Second passive fluid valve 148 includes a second fluid threshold that is greater than first fluid threshold of first passive fluid valve 140 for tunneling device 102. In non-limiting examples, and similar to first passive fluid valve 140, second passive fluid valve 148 includes a sensor for determining or detecting the pressure of the pressurized fluid, or is formed as a passive microvalve that adjusts operational parameters (e.g., “opens” valve, “closes” valve) based on the determined and / or actual pressure of the pressurized fluid flowing therein or therethrough.

[0081] In process P7, it is determined if the pressure of the pressurized fluid exceeds the second fluid threshold of second passive fluid valve 148. More specifically, the determined pressure of the pressurized fluid provided to second passive fluid valve 148 is compared to the second pressure threshold of second passive fluid valve 148 for tunneling device 102 to determine if the pressure is greater than, equal to, or less than the second pressure threshold. As similarly discussed herein, controller 116 in operably communication with second passive fluid valve 148 may receive the pressure from a sensor on second passive fluid valve 148 and determine if the pressure of the pressurized fluid exceeds the second fluid threshold of second passive fluid valve 148. In another non-limiting example, it may be determined that the pressure of the pressurized fluid exceeds the second fluid threshold of second passive fluid valve 148 when second passive fluid valve 148, formed as a passive microvalve, adjusts, switches, and / or changes its operational parameters from a “closed” position to an “open” position.

[0082] In response to determining the pressure of the pressurized fluid provided to second passive fluid valve 148 exceeds the second pressure threshold (e.g., “YES” at process P7), the pressurized fluid flows through second passive fluid valve 148. For example, the pressurized fluid has a pressure that exceeds the second pressure threshold of second passive fluid valve 148 and second passive fluid valve 148 may “open” and / or allow the pressured fluid to flow to distinct portions of tunneling device 102. In process P8, the pressurized fluid flows to a second expandable section 150 of tunneling device 102 positioned adjacent second passive fluid valve 148. More specifically, the pressurized fluid flows to a bladder 152 of second expandable section 150 that is fluidly coupled to second passive fluid valve!48 via fluid line 122. Additionally in process P8, the pressurized fluid flows to a third passive fluid valve 154 of tunneling device 102. Third passive fluid valve 154 is positioned proximate second passive fluid valve 148, and / or second expandable section 150 of tunneling device 102 is positioned between and is fluidly coupled to both second passive fluid valve 148 and third passive fluid valve 154.

[0083] In process P9, as shown in FIG. 8B, second expandable section 150 of tunneling device 102 is transitioned from a first length to a second length. For example, the pressurized fluid flows to bladder 152 of second expandable section 150 (e.g., process P8; FIG. 8A), and bladder 152 expands, grows, and / or increases in length to transition the second expandable section 150 of tunneling device 102 from a first length to a second length, where the second length is greater or longer than the first length. In a non-limiting example, the length of second expandable section 150 is measured parallel to longitudinal axis 134 of tunneling device 102 and / or a longitudinal axis of tunnel 104 being formed using tunneling device 102.

[0084] In process P10, a tip 136 of tunnel device 102 is moved. For example, subsequent (or simultaneous) to the transition of second expandable section 150 from the first length to the second length (e.g., process P9), tip 136 of tunnel device 102 may begin to move. Tip 136 may begin to move at process P10 and may continue to move until the end of the processes described herein (e.g., processes P1-P17), or may intermittently move and stop through the various processes Pl -Pl 7. Tip 136 of tunneling device 102 may be positioned opposite first passive fluid valve 140. In non-limiting examples, tip 136 may movein a direction parallel to longitudinal axis 134 of tunneling device 102 and / or in a rotational direction about the longitudinal axis 134 of tunneling device 102.

[0085] In process Pl 1, the pressure of the pressurized fluid is determined or detected. More specifically, the pressure of the pressurized fluid is determined at third passive fluid valve 154 valve of tunneling device 102. Third passive fluid valve 154 includes a third fluid threshold that is greater than the second fluid threshold of second passive fluid valve 148 for tunneling device 102. In non-limiting examples, and as similarly discussed herein, third passive fluid valve 154 includes a sensor for determining or detecting the pressure of the pressurized fluid, or is formed as a passive microvalve that adjusts operational parameters (e.g., “opens” valve, “closes” valve) based on the determined and / or actual pressure of the pressurized fluid flowing therein or therethrough.

[0086] In process P12, it is determined if the pressure of the pressurized fluid exceeds the third fluid threshold of third passive fluid valve 154. For example, the determined pressure of the pressurized fluid provided to third passive fluid valve 154 is compared to the third pressure threshold of third passive fluid valve 154 for tunneling device 102 to determine if the pressure is greater than, equal to, or less than the third pressure threshold. As similarly discussed herein, controller 116 in operably communication with third passive fluid valve 154 may receive the pressure from a sensor in third passive fluid valve 154 and determine if the pressure of the pressurized fluid exceeds the third fluid threshold of third passive fluid valve 154. In another non-limiting example, it may be determined that the pressure of the pressurized fluid exceeds the third fluid threshold of third passive fluid valve 154 when third passive fluid valve 154, formed as a passive microvalve, adjusts, switches, and / or changes its operational parameters from a “closed” position to an “open” position.

[0087] In response to determining the pressure of the pressurized fluid provided to third passive fluid valve 154 exceeds the third pressure threshold (e.g., “YES” at process P12), the pressurized fluid flows through third passive fluid valve 154. For example, the pressurized fluid has a pressure that exceeds the third pressure threshold of third passive fluid valve 154 and third passive fluid valve 154 may “open” and / or allow the pressured fluid to flow to distinct portions of the tunneling device 102. In process Pl 3, the pressurized fluid flows and / or provided to a third expandable section 156 of tunneling device 102 positioned adjacent third passive fluid valve 154, and / or between third passive fluid valve 154 and tip136. In the example embodiment, the pressurized fluid flows to a bladder 158 of third expandable section 156 that is fluidly coupled to third passive fluid valve 154 via fluid line 122.

[0088] In process P14, third expandable section 156 of tunneling device 102 is transitioned from a distinct first width to a distinct second width. For example, the pressurized fluid flows to bladder 158 of third expandable section 156 (e.g., process P13), and bladder 158 increases in width to transition third expandable section 156 of tunneling device 102 from the distinct first width to the distinct second width. The distinct second width is greater than the distinct first width. In a non-limiting example, the distinct width of third expandable section 156 is measured perpendicular to longitudinal axis 134 of the tunneling device 102 and / or a longitudinal axis of tunnel 104 being formed using tunneling device 102.

[0089] In response to determining the pressure of the pressurized fluid provided to first passive fluid valve 140 does not exceed the first pressure threshold (e.g., “NO” at process P4; FIG. 8A), first expandable section 144 of tunneling device 102 is transitioned from the second width to the first width. In process P15 bladder 146 decreases in width from the state of process P5 to transition first expandable section 144 of tunneling device 102. First expandable section’s 144 width may transition from the second width to the first width. The second width is greater than the first width.

[0090] In response to determining the pressure of the pressurized fluid provided to second passive fluid valve 148 does not exceed the second pressure threshold (e.g., “NO” at process P7; FIG. 8A), second expandable section 150 of tunneling device 102 is transitioned from the second length to the first length. For example, in process P16 bladder 152 decreases in length from the state in process P9 (FIG. 8B) to transition second expandable section 150 of tunneling device 102. Second expandable section’s 150 length may transition from the second length to the first length. The second length is greater than the first length.

[0091] In response to determining the pressure of the pressurized fluid provided to third passive fluid valve 154 does not exceed the third pressure threshold (e.g., “NO” at process P12; FIG. 8B), third expandable section 156 of tunneling device 102 is transitioned from the second width to the first width. For example, in process P17 bladder 158 decreases in width form the width in process P5 to transition third expandable section 156 oftunneling device 102. Third expandable section’s 156 width may transition from the second width to the first width. The second width is greater than the first width.

[0092] In the example embodiment, any steps of the method shown and discussed herein with respect to FIGs. 8A and 8B are repeated any number of times required for tunneling device 102 to travel a desired distance through and / or to displace material and form a desired length of tunnel 104. Additionally , it is understood that each process can operate independently of other processes discussed herein. For example, each of the plurality of fluid valves for tunneling device 102 can function or operate independently. As such, and with reference to FIGs. 8A and 8B, third expandable section 156 may transition and / or remain transitioned to the second width (e.g., process P14; FIG. 8B) while first expandable section 144 transitions from the second width to the first width (e.g., process P15; FIG. 8A).

[0093] An example technical effect of the methods, systems, and devices described herein includes at least one of: (a) reducing the time to construct tunnels through underground locations; (b) enabling tunneling operations and / or formations of an interior cavity of a tunnel at greater distances from an access opening; (c) reducing the power requirements for tunneling devices during tunneling operations; (d) increasing the strength and robustness of tunnel constructions; (e) reducing the apparatuses required to remove displaced material from tunnels during construction; and (f) reducing the size of the device used to create the tunnels.

[0094] Example embodiments of devices, systems and methods for use in tunneling operations are described above in detail. The methods, devices, and systems are not limited to the specific embodiments described herein, but rather, components of devices, systems, and / or steps of the methods may be utilized independently and separately from other components and / or steps described herein. For example, the method may also be used in combination with other components, and are not limited to practice only with tunnels as described herein. Rather, the example embodiment can be implemented and utilized in connection with many other applications.

[0095] Although specific features of various embodiments of the disclosure may be shown in some drawings and not in others, this is for convenience only. In accordance with the principles of the disclosure, any feature of a drawing may be referenced and / or claimed in combination with any feature of any other drawing.

[0096] This writen description uses examples to disclose the embodiments, including the best mode, and also to enable any person skilled in the art to practice the embodiments, including making and using any devices or systems and performing any incorporated methods. The patentable scope of the disclosure is defined by the claims, and may include other examples that occur to those skilled in the art. Such other examples are intended to be within the scope of the claims if they have structural elements that do not differ from the literal language of the claims, or if they include equivalent structural elements with insubstantial differences from the literal language of the claims.

Claims

1. WHAT IS CLAIMED IS:

1. A tunneling device comprising: a tip; a first expandable section positioned opposite said tip, said first expandable section extending along a longitudinal axis and expandable when pressurized fluid is delivered to said first expandable section; a second expandable section positioned between said tip and said first expandable section, said second expandable section extending along the longitudinal axis and expandable when the pressurized fluid is delivered to said second expandable section; and a fluid line extending along the longitudinal axis and in fluid communication with, in series, said first expandable section, and said second expandable section, said fluid line configured to supply the pressurized fluid, in series, to: said first expandable section to expand said first expandable section, and said second expandable section to expand said second expandable section subsequent to expanding said first expandable section.

2. The tunneling device of claim 1, further comprising: a third expandable section positioned between said tip and said second expandable section, said third expandable section extending along the longitudinal axis and expandable when the pressurized fluid is delivered to said third expandable section, wherein said fluid line is in fluid communication with said third expandable section and is configured to supply the pressurized fluid, in series, to said third expandable section to expand said third expandable section subsequent to expanding said second expandable section.

3. The tunneling device of claim 2, further comprising: a first passive fluid valve positioned adjacent the first expandable section and opposite said tip, said first passive fluid valve fluidly coupled to said fluid line and configured to receive the pressurized fluid from said fluid line; a second passive fluid valve positioned between said first expandable section and said second expandable section, said second passive fluid valve fluidly coupled to said fluid line and configured to receive the pressurized fluid from said fluid line; and a third passive fluid valve positioned between said second expandable section and said third expandable section, said third passive fluid valve fluidly coupled to said fluid line and configured to receive the pressurized fluid from said fluid line.

4. The tunneling device of claim 3, wherein: said first passive fluid valve has a first pressure threshold and is configured to flow the pressurized fluid to said first expandable section and said second passive fluid valve in response to a determined pressure of the pressurized fluid exceeding said first pressure threshold, said second passive fluid valve has a second pressure threshold, greater than the first pressure threshold, said second passive fluid valve configured to flow the pressurized fluid to said second expandable section and said third passive fluid valve, subsequent to said first passive fluid valve flowing the pressurized fluid to said first expandable section, in response to the determined pressure of the pressurized fluid exceeding the second pressure threshold, and said third passive fluid valve has a third pressure threshold, greater than the second pressure threshold, said third passive fluid valve configured to flow the pressurized fluid to said third expandable section, subsequent to said second passive fluid valve flowing the pressurized fluid to said second expandable section, in response to the determined pressure of said pressurized fluid exceeding the third pressure threshold.

5. The tunneling device of claim 4, wherein said fluid line is in operably communication with said tip and is configured to supply the pressurized fluid to said tip in response to said determined pressure of the pressurized fluid exceeding a fourth pressure threshold, and wherein the fourth pressure threshold is greater than the third pressure threshold.

6. The tunneling device of claim 3, further comprising a shaft coupled to said third passive fluid valve and said tip, said shaft extending through said third expandable section.

7. The tunneling device of claim 2, wherein: said first expandable section is expandable in a direction perpendicular to the longitudinal axis between a first width measured perpendicular to the longitudinal axis and a second width measured perpendicular to the longitudinal axis, wherein the second width is greater than the first width, said second expandable section is expandable in a direction parallel to the longitudinal axis between a first length measured parallel to the longitudinal axis and a second length measured parallel to the longitudinal axis, wherein the second length is greater than the first length, and said third expandable section is expandable in the direction perpendicular to the longitudinal axis between a distinct, first width measured perpendicular to the longitudinal axis and a distinct, second width measured perpendicular to the longitudinal axis, wherein the distinct, second width is greater than the distinct, first width.

8. The tunneling device of claim 7, wherein: said first expandable section further comprises a first bladder fluidly coupled to said fluid line and configured to: receive the pressurized fluid from said fluid line to expand said first expandable section between the first width and the second width, andrelease the pressurized fluid to collapse said first expandable section between the second width and the first width; said second expandable section further comprises a second bladder fluidly coupled to said fluid line and configured to: receive the pressurized fluid from said fluid line to expand said second expandable section between the first length and the second length, and release the pressurized fluid to collapse said second expandable section between the second length and the first length; and said third expandable section further comprises a third bladder fluidly coupled to said fluid line and configured to: receive the pressurized fluid from said fluid line to expand said third expandable section between the distinct, first width and the distinct, second width, and release the pressurized fluid to collapse said third expandable section between the distinct, second width, and the distinct, first width.

9. A system for forming a tunnel, the system comprising: a tunneling device comprising: a tip; a first expandable section positioned opposite said tip, said first expandable section extending along a longitudinal axis and expandable when pressurized fluid is delivered to said first expandable section; a second expandable section positioned between said tip and said first expandable section, said second expandable section extending along the longitudinal axis and expandable when the pressurized fluid is delivered to said second expandable section; anda fluid line extending along the longitudinal axis and in fluid communication with, in series, said first expandable section and said second expandable section, said fluid line configured to supply the pressurized fluid, in series, to: said first expandable section to expand said first expandable section, and said second expandable section to expand said second expandable section subsequent to expanding said first expandable section; and a pressurized fluid source fluidly coupled to said fluid line of said tunneling device, said pressurized fluid source configured to provide the pressurized fluid to said tunneling device via said fluid line.

10. The system of claim 9, wherein the tunneling device further comprises: a third expandable section positioned between said tip and said second expandable section, said third expandable section extending along the longitudinal axis and expandable when the pressurized fluid is delivered to said third expandable section, wherein said fluid line is in fluid communication with said third expandable section and is configured to supply the pressurized fluid, in series, to said third expandable section to expand said third expandable section subsequent to expanding said second expandable section.

11. The system of claim 10, wherein the tunneling device further comprises: a first passive fluid valve positioned adjacent said first expandable section and opposite said tip, said first passive fluid valve fluidly coupled to said fluid line and configured to receive the pressurized fluid from said fluid line; a second passive fluid valve positioned between said first expandable sectionand said second expandable section, said second passive fluid valve fluidly coupled to said fluid line and configured to receive the pressurized fluid from said fluid line; and a third passive fluid valve positioned between said second expandable section and said third expandable section, said third passive fluid valve fluidly coupled to said fluid line and configured to receive the pressurized fluid from said fluid line.

12. The system of claim 11, wherein: said first passive fluid valve has a first pressure threshold and is configured to flow the pressurized fluid to said first expandable section and said second passive fluid valve in response to a determined pressure of the pressurized fluid exceeding the first pressure threshold, said second passive fluid valve has a second pressure threshold, greater than said first pressure threshold, said second passive fluid valve configured to flow the pressurized fluid to said second expandable section and said third passive fluid valve, subsequent to said first passive fluid valve flowing the pressurized fluid to said first expandable section, in response to the determined pressure of the pressurized fluid exceeding the second pressure threshold, and said third passive fluid valve has a third pressure threshold, greater than said second pressure threshold, said third passive fluid valve configured to flow the pressurized fluid to said third expandable section, subsequent to said second passive fluid valve flowing the pressurized fluid to said second expandable section, in response to the determined pressure of the pressurized fluid exceeding the third pressure threshold.

13. The system of claim 10, wherein: said first expandable section is expandable in a direction perpendicular to the longitudinal axis between a first width measured perpendicular to the longitudinal axis and a second width measured perpendicular to the longitudinal axis, wherein the second width is greater than the first width, said second expandable section is expandable in a direction parallel to thelongitudinal axis between a first length measured parallel to the longitudinal axis and a second length measured parallel to the longitudinal axis, wherein the second length is greater than for first length, and said third expandable section is expandable in the direction perpendicular to the longitudinal axis between a distinct, first width measured perpendicular to the longitudinal axis and a distinct, second width measured perpendicular to the longitudinal axis, wherein the distinct, second width is greater than the distinct, first width.

14. The system of claim 13, wherein: said first expandable section further comprises a first bladder fluidly coupled to said fluid line and configured to receive and release the pressurized fluid from said fluid line to expand said first expandable section between the first width and the second width; said second expandable section further comprises a second bladder fluidly coupled to said fluid line and configured to receive and release the pressurized fluid from said fluid line to expand said second expandable section between the first length and the second length; and said third expandable section further comprises a third bladder fluidly coupled to said fluid line and configured to receive and release the pressurized fluid from said fluid line to expand said third expandable section between the distinct, first width and the distinct, second width.

15. The system of claim 9, further comprising: a tunnel expansion device disposed within the tunnel formed by said tunneling device, said tunnel expansion device comprising a fluidic muscle member fluidly coupled to said fluid line, wherein said fluidic muscle member is configured to receive and release the pressurized fluid from said fluid line to transition said tunnel expansion device between a first expansion device width and a second expansion device width, the second expansion device width greater than the first expansion device width.

16. The system of claim 15, wherein said tunnel expansion device is one of: coupled to said tunneling device and configured to alternate between the first expansion device width and the second expansion device width as said tunneling expansion device is removed from the tunnel, or a cable extending through at least a portion of the tunnel formed by said tunneling device, said cable configured to pull said tunnel expansion device through the tunnel.

17. A method for forming a tunnel using a tunneling device, said method comprising: providing pressurized fluid to a first expandable section of said tunneling device; transitioning the first expandable section of the tunneling device between a first width measured perpendicular to a longitudinal axis of said tunneling device and a second width measured perpendicular to the longitudinal axis in response to the pressurized fluid being provided to the first expandable section; providing the pressurized fluid to a second expandable section of the tunneling device subsequent to the delivering of the pressurized fluid to the first expandable section, the second expandable section positioned in series with and adjacent to the first expandable section of the tunneling device; transitioning the second expandable section of the tunneling device between a first length measured parallel to the longitudinal axis of the tunneling device and a second length measured parallel to the longitudinal axis, in response to the pressurized fluid being provided to the second expandable section; providing the pressurized fluid to a third expandable section of the tunneling device subsequent to the delivering of the pressurized fluid to the second expandable section, the third expandable section positioned in series with and adjacent to the second expandablesection of the tunneling device; and transitioning the third expandable section of the tunneling device between a distinct, first width measured perpendicular to the longitudinal axis of the tunneling device and a distinct, second width measured perpendicular to the longitudinal axis, in response to the pressurized fluid being provided to the third expandable section.

18. The method of claim 17, further comprising: determining a pressure of the pressurized fluid at a first passive fluid valve positioned adjacent the first expandable section, the first passive fluid valve having a first pressure threshold; in response to the determined pressure of the pressurized fluid exceeding the first fluid threshold of the first passive fluid valve, flowing the pressurized fluid to: the first expandable section of the tunneling device to transition the first expandable section between the first width and the second width; and a second passive fluid valve positioned between the first expandable section and the second expandable section of the tunneling device, the second passive fluid valve having a second pressure threshold greater than said first pressure threshold; determining the pressure of the pressurized fluid at the second passive fluid valve; in response to the determined pressure of the pressurized fluid exceeding the second fluid threshold of the second passive fluid valve, flowing the pressurized fluid to: the second expandable section of the tunneling device to transition the second expandable section between the first length and the second length; and a third passive fluid valve positioned between the second expandable section and the second expandable section of the tunneling device, the third passive fluid valve having a third pressure threshold, greater than the secondpressure threshold; determining the pressure of the pressurized fluid at the third passive fluid valve; and in response to the determined pressure of the pressurized fluid exceeding the third fluid threshold of the third passive fluid valve, flow ing the pressurized fluid to: the third expandable section of the tunneling device to transition the third expandable section between the distinct, first width and the distinct, second width.

19. The method of claim 17, further comprising: moving a tip of the tunneling device prior to transitioning the third expandable section, the tip of said tunneling device positioned adjacent the third expandable section and opposite the first expandable section; and continuously moving the tip when transitioning the third expandable section betw een the distinct, first width and the distinct, second width.

20. The method of claim 17, further comprising: ceasing said providing of the pressurized fluid to the first expandable section of said tunneling device; transitioning the first expandable section of the tunneling device between the second width and the first width in response to the pressunzed fluid ceasing being provided to the first expandable section; ceasing said providing of the pressurized fluid to the second expandable section of the tunneling device subsequent to said ceasing of the pressurized fluid provided to the first expandable section; transitioning the second expandable section of the tunneling device between the second length and the first length, in response to the pressurized fluid ceasing being provided to the second expandable section;ceasing said providing of the pressurized fluid to the third expandable section of the tunneling device subsequent to said ceasing of the pressurized fluid provided to the second expandable section; and transitioning the third expandable section of the tunneling device between the distinct, second width and the distinct, first width, in response to the pressurized fluid ceasing being provided to the third expandable section.

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