Recursive tunneling device and methods of forming branched tunneling structures using same

Abstract

A tunneling device is provided. The tunneling device includes a body assembly including an adjustable configuration, and a moveable tip, positioned adjacent to and in series with the body assembly. The tunneling device also includes a computing device(s) in operable communication with the body assembly and the tip. The computing device(s) is configured to control the body assembly and the tip to form a tunnel by moving the tip to displace material of a terrain and form a first portion of the tunnel in the terrain. Additionally, the computing device(s) performs processes including, adjusting the configuration to move the body assembly into the first portion of the tunnel, adjusting the tip to be oriented in a distinct direction to form a second portion of the tunnel in the terrain, and adjusting the configuration to move the body assembly into the second portion of the tunnel.

Description

RECURSIVE TUNNELING DEVICE AND METHODS OF FORMING BRANCHED TUNNELING STRUCTURES USING SAMETECHNICAL FIELD

[0001] The field of the disclosure relates to tunneling devices, and more particularly to recursive tunneling devices configured to form branched tunneling structures.BACKGROUND

[0002] Previous approaches to tunneling devices have ty pically involved utilizing traditional excavation methods such as drilling, blasting, or mechanical digging to create tunnels in various terrains. These methods often require significant manual labor and heavy machinery', resulting in high costs, safety concerns, and environmental impacts. Additionally, the use of these conventional methods may be limited in certain terrains or conditions, such as rocky' or unstable ground, where precise control over the tunneling process is crucial.

[0003] Some existing tunneling devices have incorporated mechanized systems with rotating cutting heads or boring machines to excavate tunnels. These devices may offer increased efficiency and precision compared to manual methods, but they still face limitations in terms of adaptability7to different terrains and the ability to create tunnels with varying shapes and sizes. Furthermore, the control systems in these devices may not provide the flexibility' needed to adjust the tunneling process dynamically based on real-time feedback from the terrain.

[0004] Accordingly, it is desirable to provide a system including a tunneling device capable of creating complex tunnels within a terrain.BRIEF DESCRIPTION

[0005] In one aspect, a tunneling device is proved. The tunneling device includes a body assembly including an adjustable configuration, and a moveable tip, positioned adjacent to and in series with the body assembly. The tunneling device alsoincludes at least one computing device in operable communication with the body assembly and the moveable tip. The at least one computing device is configured to control the body assembly and the moveable tip to form a tunnel by moving the tip to displace material of a terrain and form a first portion of the tunnel in the terrain, where the tip is oriented in a first direction. Additionally, the at least one computing device controls the body assembly and the moveable tip by, in response to moving the tip. adjusting the configuration of the body assembly to move the body assembly into the first portion of the tunnel, and adjusting the tip to be oriented in a second direction to form a second portion of the tunnel in the terrain. The second direction is distinct from the first direction. The second direction is randomly selected. The at least one computing device also controls the body assembly and the moveable tip by adjusting the configuration of the body assembly to move the body assembly into the second portion of the tunnel.

[0006] In another aspect, a system for forming a tunnel is provided. The system includes a tunneling device including a body assembly including an adjustable configuration, and a moveable tip, positioned adjacent to and in series with the body assembly. The tunneling device also includes a controller communicatively coupled to the tunneling device. The controller is configured to provide instructions to control the tunneling device, where the instructions include moving the moveable tip to displace material of a terrain and form a first portion of the tunnel in the terrain, where the moveable tip is oriented in a first direction. Additionally, the controller is configured to provide instructions including, in response to moving the moveable tip, adjusting the configuration of the body assembly to move the body assembly into the first portion of the tunnel, and adjusting the moveable tip to be oriented in a second direction to form a second portion of the tunnel in the terrain. The second direction is distinct from the first direction. The second direction is randomly selected. The controller also provides instructions including adjusting the configuration of the body assembly to move the body assembly into the second portion of the tunnel.

[0007] In yet another aspect, a method for forming a tunnel using a tunneling device is provided. The method includes moving a moveable tip of the tunneling device to displace material of a terrain, where the moveable tip is oriented in a first direction. The method also includes, and in response to moving the moveable tip of the tunneling device, forming a first portion of the tunnel in the terrain, and in response to moving themoveable tip of the tunneling device, adjusting a configuration of a body assembly of the tunneling device to move the tunneling device into the first portion of the tunnel. Additionally, the method includes adjusting the moveable tip to be oriented in a second direction, where the second direction is distinct from the first direction, and forming a second portion of the tunnel in the terrain. The second direction is randomly selected. The second portion is formed adjacent to and connected to the first portion of the tunnel. The method further includes adjusting the configuration of the body assembly of the tunneling device to move the tunneling device into the second portion of the tunnel.BRIEF DESCRIPTION OF THE DRAWINGS

[0008] 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:

[0009] FIG. 1 is a schematic diagram of a system including one embodiment of a tunneling device traveling underground;

[0010] FIGs. 2A and 2B are side views of a portion of the tunneling device shown in FIG. 1 illustrating the tunneling device in distinct operational stages for forming a tunnel;

[0011] FIGs. 3-10 are partial cross-sectional side views of a terrain and tunneling device shown in FIGs. 1-2B performing various processes to form a tunnel in the terrain;

[0012] FIG. 11 is a partial cross-sectional side view of a terrain and a plurality of tunneling devices forming a plurality of tunnels within the terrain;

[0013] FIGs. 12A and 12B are a flow chart of an example method of forming a tunnel using the tunneling device show n in FIG. 1 ; and

[0014] FIG. 13 is a schematic view of the tunneling device shown in FIG.1 including at least one computing device.

[0015] Unless otherwise indicated, the drawings provided herein are meant to illustrate features of embodiments of this disclosure. These features are believed to beapplicable 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

[0016] 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.

[0017] The singular forms “a”, “an”, and “the” include plural references unless the context clearly dictates otherwise.

[0018] “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.

[0019] 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.

[0020] 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 magneto-optical 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.

[0021] Embodiments descnbed 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 tip for displacing material within a terrain to form a tunnel within the terrain. The sequence of adjusting an orientation of the tip, actuating the tip, and expanding / collapsing each expandable section of the tunneling device facilitates the formation of a tunnel and / or allows the tunneling device to move while forming the tunnel. More specifically, the tip is oriented in distinct directions and subsequently actuated after orientation to form a complex, root-like tunnel within the terrain. Additionally, the tunneling device is configured to detect irregularities (e.g., objects, voids) within the terrain, and form tunnels around these irregularities. Furthermore, the movement of the tunneling device to form these complex tunnels can be controlled by an operator, or alternative can be preprogramed, random, and / or automated using an on-board computing device included within the tunneling device.

[0022] FIG. 1 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 cavity7112 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 that tunneling device 102 moves within interior cavity 112 without an external force acting on tunneling device 102.

[0023] During operation, for example, tunneling device 102 may be positioned at a surface 114 of a terrain 115 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 (TD). In some embodiments, tunneling device 102 traverses and / or transitions in tunnel 104 such as bends or size transitions (see, FIG. 5). As tunneling device 102 travels through underground locations, tunneling device 102 is configured to form tunnel 104 in terrain 115 and / or inspect and / or repair any portions of tunnel 104.

[0024] In a non-limiting example, 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 1 18 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.

[0025] In an example embodiment, controller 116 is configured to provide instructions to move tunneling device 102 (e g., tip, expandable sections) through tunnel 104 formed in terrain 115. as discussed herein. Controller 116 includes a transceiver 124, a processor 126, and a memory 128. In some embodiments, controller 1 16 is positionedremotely 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 102 exchange information through a wired link extending between tunneling device 102 and controller 116.

[0026] 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.

[0027] Also, in example embodiments, an operator interface 130 is configured to display information relating to the characteristics 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 andpositioning 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 information such 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.

[0028] 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.

[0029] In other non-limiting examples, and as discussed herein, tunneling device 102 may include at least one computing device 200 (see, FIGs. 2A, 2B, and 12) . That is, tunneling device 102 may include computing device 200 that is in operable communication with distinct portions (e.g.. tip. expandable sections) of tunneling device 102. Computing device 200 may be configured to provide instructions to move tunneling device 102 (e.g., tip, expandable sections) and / or control the movement of tunneling device 102 to form tunnel 104, independent of controller 116, as discussed herein.

[0030] Turning to FIGs. 2A and 2B, 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 (TD) of tunneling device 102, as discussed herein. Tip 136 is shaped to engage material and displace material of terrain 115 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 FIGs. 2 A and 2B, tip 136 is a cone having a width (W ne) 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.

[0031] In the non-limiting example, tip 136 may move in a variety of directions during operation. For example, tip 136 can move in a direction parallel to longitudinal axis 134 and / or in a rotational direction about longitudinal axis 134 during operation to displace material of terrain 115 when forming tunnel 104. Additionally, or alternatively, tip 136 may also move in a direction perpendicular to longitudinal axis 134. As discussed herein, and with the aid of distinct components (e.g.. expandable sections) of tunneling device 102, tip 136 may also be oriented in various directions (D) before being actuated / moved and / or while being actuated / moved to displace material of terrain 115 to form tunnel 104.

[0032] In a non-limiting example, tip 136 may be controlled by controller 116. More specifically, controller 116 may be 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 of terrain 115 such that tip 136 engages material of the surface 1 14 (see, FIG. 3). Controller 116 provides instructions that cause tunneling device 102 to tunnel into surface 114 and through terrain 115 by moving tip 136. Tip 136 displaces material to form interior cavity 112 of tunnel 104 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 coneshape 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 intenor cavity 112 of tunnel 104 as tip 136 displaces material of terrain 115. 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.

[0033] In another non-limiting example, tip 136 may be controlled by computing device 200 (shown in phantom) included within tunneling device 102. In anon- limiting example shown in FIGs. 2A and 2B. computing device 200 may be disposed, positioned, and / or included within tip 136 of tunneling device 102. In other non-limiting examples, computing device 200 may be positioned within distinct portions of tunneling device 102. Computing device 200 may control the movement of tip 136, in conjunction with or independent of controller 116, when forming tunnel 104 within terrain 115. As discussed herein, instructions provided to tunneling device 102 via computing device 200 may be randomly generated, predetermined, and / or pre-programmed within computing device 200.

[0034] As shown in FIGs. 2 A and 2B, tunneling device 102 includes at least one sensor 140. Sensor(s) 140 may be positioned within and / or positioned on tip 136 of tunneling device 102 and / or elsewhere on tunneling device 102. In non-limiting examples, sensor(s) 140 may be in operable communication with controller 116 and / or computing device 200 - dependent upon whether controller 116 and / or computing device 200 is controlling the movement and / or providing instructions to tunneling device 102. As shown in FIG. 2A and 2B, a first sensor 140A may be positioned on and / or formed within a forward- most portion or forw ard end 138 of tip 136. Additionally, tip 136 may include two distinct sensors 140B, 140C positioned adjacent to first sensor 140A and / or separated from forward end 138 of tip 136. Sensors 140 A. MOB, 140C may be formed from any suitable sensor that may contact, sense, and / or detect the material of terrain 1 15 being displaced during operation. For example, sensors 140 A, MOB, 140C may be formed as pressure sensors that may transmits data relating to pressures imposed on tip 136 during operation. As discussed herein, sensor(s) 140 A. MOB, 140C may indicated to controller 116 and / or computing device 200 when tip 136 of tunneling device 102 comes in contact with a distinct material (e.g.,rock) that may not be displaced by tunneling device 102, and / or when tip is no longer displacing material within terrain 115 (e g., cave, crevasse).

[0035] Tunneling device 102 also includes a body assembly 141 formed of a plurality7of expandable sections 142, 144, 146 positioned adjacent to tip 136. More specifically, expandable sections 142, 144, 146 of body assembly 141 are positioned adjacent to and / or in series with tip 136. and in series with one another. For example, a first expandable section 142 of body assembly 141 is positioned directly adjacent tip 136 and extends along longitudinal axis 134 of tunneling device 102, and a second expandable section 144 of body assembly 141 is positioned adjacent first expandable section 142 and extends along longitudinal axis 134, in series with first expandable section 142 and / or tip 136. In the non-limiting example, first expandable section 142 may be positioned, in series, between second expandable section 144 and tip 136. Additionally, body assembly 141 of tunneling device 102 may also include a third expandable section 146 (shown in phantom as optional) positioned adjacent second expandable section 144 and extending along longitudinal axis 134, in series with first expandable section 142, second expandable section 144, and / or tip 136. Third expandable section 146 may also be positioned opposite tip 136 and / or expandable sections 142, 144. In other example embodiments, first expandable section 142 and / or second expandable section 144 may be positioned between third expandable section 146 and tip 136.

[0036] In the non-limiting examples, each expandable section 142, 144, 146 of body assembly 141 may include an adjustable configuration. More specifically, each expandable section 142, 144. 146 is configured to expand and contract in a direction parallel and / or perpendicular to longitudinal axis 134, between a first configuration (see, FIG. 2A) and a second configuration (see, FIG. 2B). For example, first expandable section 142 is expandable in a direction perpendicular to longitudinal axis 134 betw een a first configuration including a first width (W1142) and a second configuration including a second width (W2142). First width (WI142) and second width (W2142) are measured perpendicular to longitudinal axis 134. Additionally in the non-limiting example, second width (W2142) of first expandable section 142 is greater or larger than first width (WI142). In an example embodiment, first expandable section 142 may be configured to engage sidewall 106 of tunnel 104 when expanded to include second width (W2142). Additionally, and as discussed herein, secondwidth (W2142) of first expandable section 142 includes a measured width that is greater than a width of second expandable section 144 and tip 136.

[0037] Second expandable section 144 is expandable in a direction parallel to longitudinal axis 134 between a distinct, first configuration including a first length (LI 144) (see, FIG. 2A) and a distinct, second configuration including a second length (L2144) (See, FIG. 2B). First length (LI 144) and second length (L2144) of second expandable section 144 are measured parallel to longitudinal axis 134. Additionally in the non-limiting example, second length (L2144) of second expandable section 144 is greater or larger than first length (LI144). In a non-limiting example, adjusting second expandable section 144 from the first configuration (e.g., first length (LI 144)) to the second configuration (e.g., second length ((L2144)) may move or traverse tunneling device 102 through tunnel 104 during operation.

[0038] Similar to first expandable section 142, third expandable section 146 (shown in phantom as optional) is expandable in a direction perpendicular to longitudinal axis 134 between a first configuration including a first width (Wi ne) and a second configuration including a second width (W2i4s). First width (Wl ue) and second width (W2146) are measured perpendicular to longitudinal axis 134. Additionally in the nonlimiting example, second width (W2146) of third expandable section 146 is greater or larger than first width (Wlue). In an example embodiment, third expandable section 146 may be configured to engage sidewall 106 of tunnel 104 when expanded to include second width (W2146). Additionally, and as discussed herein, second width (W2ue) of third expandable section 146 includes a measured width that is greater than a width of second expandable section 144 and tip 136.

[0039] Each expandable section 142, 144, 146 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 expandable sections 142, 144, 146. For example, each expandable section 142, 144, 146 includes a bladder 148, 150, 152 fluidly coupled to fluid line 122 and formed as an elastomeric material that is configured to expand / collapse when pressurized fluid is delivered / removed from bladders 148, 150, 152. In addition, in the example embodiment, reinforcement muscles (e.g., fibers) extend around bladders 148, 150, 152 and are connectedto 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 bladders 148, 150, 152. For example, the fiber reinforcement for expandable sections 142. 146 may form a first arrangement (e.g., looser mesh grid around the circumference of bladder 148, 152 allowing radial expansion or stretching of the mesh / a tight mesh grid around the ends of the bladder) that allows bladders 148, 152 to expand in a radial direction but not in an axial direction when bladder 148, 152 are pressurized. Additionally, the fiber reinforcement for second expandable section 144 may form a first arrangement (e.g., tight mesh grid circumferentially around the bladder 150) that allows bladder 150 to expand in an axial direction but not in a radial direction when bladder 150 is pressurized.

[0040] In addition, in the example embodiment, pressurized fluid source 120 is coupled to each expandable section 142, 144, 146 via fluid line 122. For example, pressurized fluid source 120 is coupled to bladders 148, 150, 152 of expandable sections 142, 144, 146 via fluid line 122. Bladders 148. 150, 152 are configured to transition expandable sections 142, 144, 146 from first configurations (e.g., first width (W1142), first length (LI 144), first width (W l ue)) to the second configuration (e.g., second width (W2142), second length (L2144), second width (W2i4e)) when pressurized fluid is delivered to bladders 148, 150, 152 via fluid line 122. Specifically in the example, where the pressurized fluid is flowed to bladders 148, 150. 152 of expandable sections 142, 144. 146 to expand, transition, and / or transform each expandable section 142, 144, 146 from first configurations to second configurations. Additionally, bladders 148, 150, 152 are configured to transition expandable sections 142, 144, 146 from the second configurations to the first configurations when the pressurized fluid is removed from bladders 148, 150. 152 via fluid line 122. As discussed herein, expandable sections 142, 144, 146 are configured to selectively switch widths / lengths to propel tunneling device 102 through tunnel 104 when pressurized fluid is delivered to or removed from tunneling device 102 via fluid line 122.

[0041] As discussed herein, expandable sections 142, 144, 146 facilitate the movement of tunneling device 102 through tunnel 104. That is, the adjustment and / or transition of at least one expandable section 142, 144, 146 between configurations, in addition to the movement of tip 136 to displace material of terrain 115, traverses tunneling device 102 through tunnel 104 formed in terrain 115. In non-limiting examples, theconfiguration of expandable sections 142, 144, 146 may be adjusted and / or transitioned at distinct intervals and / or in distinct sequences to facilitate the movement of tunneling device 102 within tunnel 104 during operation. In a non-limiting example, and based on the transitional configurations of each expandable section 142, 144, 146 of tunneling device 102, tunneling device 102 can traverse through tunnel 104 using a peristaltic locomotion pattern. Additionally, and as discussed herein, the peristaltic locomotion pattern, facilitated by the adjustable and / or transitional configurations of each expandable section 142. 144, 146, allows tunneling device 102 to form tunnel 104, as well as move and / or return (e.g., ingress, egress) through tunnel 104 during operation.

[0042] Although discussed herein as including bladders 148, 150, 152, it is understood that expandable sections 142, 144, 146 of tunneling device 102 can include any suitable mechanism for adjusting a configuration of each section during operation. For example, each expandable section 142. 144, 146 can include an internal, mechanical actuator that is configured to transition expandable sections 142, 144. 146 from first configurations (e.g., first width (W1142), first length (LI 144), first width (W1146)) to the second configuration (e.g., second width (W2142), second length (L2144), second width (W2146)) during operation. Additionally, although three (3) expandable sections 142, 144, 146 are shown in tunneling device 102, it is understood that tunneling device 102 can include more or less expandable sections. Furthermore, the arrangement expandable sections 142, 144, 146 shown is exemplary, and tunneling device 102 can including various expandable sections 142, 144, 146 arranged in any suitable order to propel tunneling device 102 through tunnel 104, as discussed herein. For example, first expandable section 142 may be configured to expand in a direction parallel to longitudinal axis 134. while second expandable section 144 and third expandable section 146 may be configured to expand in a direction perpendicular to longitudinal axis 134.

[0043] A shaft 154 of tunneling device 102 extends between and is coupled to first expandable section 142 and tip 136. As shown in FIGs. 2A and 2B, shaft 154 also extends through first expandable section 142, and may extend through and / or adjacent to the portion of fluid line 122. In the non-limiting example, shaft 154 may be coupled to tip 136 and / or may couple tip 136 to first expandable section 142 to provide support to and / or to facilitate movement of tip 136 during operation, as discussed herein. Shaft 154 may beformed as any suitable component and / or from any suitable material to provide support and / or rigidity to tip 136.

[0044] FIGs. 3-10 are partial cross-sectional views of tunneling device 102 undergoing a sequence of operation and / or various operational stages. More specifically, FIGs. 3-10 depict tunneling device 102. and the various sections and components forming tunneling device 102, during operation to form tunnel 104 within terrain 115. Tunneling device 102 is shown to include only a portion of tether 132. In anon-limiting example, only a portion of tether 132 is show n to prevent obstructing the view of distinct portions of tunnel 104 formed using 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.

[0045] FIG. 3 show s a portion of tunneling device 102 positioned adjacent surface 114 of terrain 115 prior to beginning to form tunnel 104 (see, FIG. 4). In the nonlimiting example, tunneling device 102, and more specifically tip 136 of tunneling device 102 is oriented in a first direction (DI). In non-limiting examples, controller 116 and / or computing device 200 may configure, send instructions to, and / or control tunneling device 102 to adjust tip 136 to be oriented in the first direction (DI). In another non-limiting example, an operator or user (not shown) of tunneling device 102 may orient tip 136 in the first direction (DI) to begin and / or initiate the formation of tunnel 104 within terrain 115.

[0046] Once oriented in the desired direction (e.g., first direction (DI)), tip 136 of tunneling device 102 may be actuated or moved to displace material of terrain 1 15. That is, and as shown in FIG. 4, tip 136 may begin to move, actuate, and / or drive in the first direction (DI) into terrain 115 and displace material of terrain 115 to form a first portion (Pl) of tunnel 104. As discussed herein, tip 136 may actuate, move, and / or drive, with support from shaft 154, in a direction parallel to, perpendicular to, and / or in a rotational direction with respect to longitudinal axis 134 to displace the material of terrain 115. Instructions to actuate tip 136 of tunneling device 102 may be transmitted via controller 116. For example, a user or operator of tunneling device 102 can control the actuation of tip 136 using operator interface 130 (see, FIG. 1), and sending actuation instructions directly to tip 136 using controller 116. Alternatively, instructions to actuate tip 136 may be transmitted from computing device 200 included within tunneling device 102. In one non-limiting example,the instructions to actuate tip 136 generated and / or transmitted by computing device 200 may be predetermined, preconfigured, and / or preprogrammed into computing device 200 and / or tip 136 of tunneling device 102.

[0047] In addition to actuating or moving tip 136, the configuration of at least one expandable section 142. 144, 146 of tunneling device 102 may be adjusted as well. More specifically, the configuration of at least one expandable section 142, 144, 146 may be adjusted, altered, and / or changed simultaneous to or subsequent to actuating tip 136 to move the plurality of expandable sections 142, 144, 146 into first portion (Pl) of tunnel 104. As discussed herein, adjusting and / or transitioning expandable sections 142. 144. 146 of tunneling device 102 facilitates the movement of tunneling device 102 into and / or through tunnel 104. In the non-limiting example show n in FIG. 4, the configuration of at least second expandable section 144 of tunneling device 102 may be adjusted and / or transitioned from the first configuration having the first length (LI 144) to the second configuration having the second length (L2144) to dispose, position, and / or move tunneling device 102 into and / or through first portion (Pl) of tunnel 104. As shown, tunneling device 102, and more specifically tip 136 and expandable sections 142, 144, 146, may be disposed within newly formed first portion (Pl) of tunnel 104.

[0048] Tip 136 may be actuated / moved and / or the configuration of expandable sections 142, 144, 146 of tunneling device 102 may be adjusted until a predetermined travel condition is satisfied. More specifically, once a predetermined travel condition is satisfied for tip 136 of tunneling device 102, operational parameters and / or characteristics of tunneling device 102 may be adjusted, changed, and / or altered. As discussed herein, actuation of tip 136 may (temporarily) cease and / or the orientation of tip 136 may be adjusted to a distinct direction in response to determining the predetermined travel condition is satisfied. Predetermined travel conditions may be based on characteristics of tunneling device 102 and / or tunnel 104. The predetermined travel condition can include, but are not limited to, a time in which tip 136 is actuated and / or displacing material of terrain 115, a size or length of the portion of tunnel 104 formed in terrain 115 by actuated tip 136 of tunneling device 102, and / or a minimum velocity of tip 136 moving in the first (or distinct) direction. In a non-limiting example where the predetermined travel condition includes a time in which tip 136 is actuated, once tip 136 has been actuated for the time, controller 116 and / orcomputing device 200 may adjust operational parameters and / or characteristics of tunneling device 102, as discussed herein. Alternatively, once tip 136 has traveled within terrain 115 for a predetermined distance and / or first portion (Pl ) includes a desired length, controller 116 and / or computing device 200 may adjust operational parameters and / or characteristics of tunneling device 102. In still another example, once tip 136 and / or tunneling device 102 reduces it velocity below a threshold, controller 116 and / or computing device 200 may adjust operational parameters and / or characteristics of tunneling device 102.

[0049] It should be understood that the predetermined travel conditions may be uniform when forming each portion of tunnel 104, or alternatively, may vary with each portion of tunnel 104. For example, the time in which tip 136 is actuated or moved when forming a first portion (Pl) of tunnel 104 may be twenty (20) seconds, while the time for forming a distinct, second portion may be twelve (12) seconds. As such, each portion of tunnel 104 may include different lengths and / or orientations based on varying predetermined travel conditions. In a non-limiting example, the variation in the predetermined travel conditions may be predefined and / or predisposed. In other non-limiting examples, controller 116 and / or computing device 200 may vary the predetermined travel conditions randomly for each portion of tunnel 104 formed using tunneling device 102.

[0050] Although discussed herein as being based on a predetermined travel condition, in another non-limiting example, an operator of tunneling device 102 can determine and / or control when operational parameters and / or characteristics of tunneling device 102 are adjusted. For example, an operator controlling tunneling device 102, via operator interface 130, may determine independently or using an independent timer that tunneling device 102 has been operating for a desired time. As such, and using controller 116, the operator mayadjust operational parameters and / or characteristics of tunneling device 102. In another nonlimiting example, the operator may be provided a notification on operator interface 130 that predetermined travel conditions have been satisfied and / or operational parameters and / or characteristics of tunneling device 102 should be adjusted. In this example, the operator may provide instructions to tunneling device 102, via controller 116 and / or computing device 200, to adjust the operational parameters and / or characteristics, as discussed herein.

[0051] In a non-limiting example, and in order to determine if tunneling device 102 has satisfied predetermined travel conditions, tunneling device 102 and / or controller 116 / computing device 200 may include a localization system. That is, tunneling device 102 may include a localization system (not shown) for providing data and / or tracking a location, a route or path, a direction, and / or a velocity of tunneling device 102 during operation. Localization system included within tunneling device 102 may also enable an operator to track and / or map tunnel 104 formed by tunneling device 102. as discussed herein.

[0052] In a non-limiting example, and in response to the predetermined travel condition being satisfied by tip 136 of tunneling device 102, tip 136 may temporarily cease actuation and / or movement. That is, tip 136 may cease actuation or movement when the predetermined travel condition is satisfied before receiving additional instructions and / or performing additional processes for forming tunnel 104. By stopping or ceasing the actuation of tip 136, first portion (Pl) of tunnel 104 is completely formed within terrain 115. Instructions to cease the actuation of tip 136 of tunneling device 102 may be transmitted via controller 116. For example, a user or operator of tunneling device 102 can control the actuation of tip 136 using operator interface 130 (see, FIG. 1), and send instructions to cease actuation directly to tip 136 using controller 116. Alternatively, instructions to cease actuation of tip 136 may be transmitted from computing device 200 included within tunneling device 102.

[0053] Once the actuation / movement of tip 136 is stopped, or alternatively without stopping the actuation of tip 136, the orientation of tip 136 for tunneling device 102 may be adjusted to a distinct direction. For example, and as shown in FIG. 5, the orientation of tip 136 may be adjusted from the first direction (DI) (see, FIG. 4) to a distinct or second direction (D2). The distinct, second direction (D2) may be predetermined / preprogramed. may be selected by an operator of tunneling device 102 using controller 116 / operator interface 130, or may be chosen at random by computing device 200. For example, during operation, the second direction is randomly selected by computing device 200. In the non-limiting example shown, tip 136 disposed within first portion (Pl) of tunnel 104 may cease actuation prior to the orientation being adjusted to the second direction (D2), distinct from the first direction (DI). As discussed herein, once tip 136 of tunneling device 102 is oriented to the desired direction, tip 136 may subsequently be actuated again. Additionally as discussedherein, the adjustment of the orientation of tip 136 may change the travel path or route of tunneling device 102, and in turn may vary the geometry, shape, and / or configuration of tunnel 104 formed in terrain 115. In another non-limiting example where tip 136 does not stop actuating, tunneling device 102 may continue to displace material of terrain 115 simultaneous to adjusting the orientation from the first direction (DI) to the second, distinct direction (D2).

[0054] In addition to adjusting the orientation of tip 136, the configuration of expandable section 142, 144, 146 of tunneling device 102 may also be adjusted. More specifically, subsequent to determining tip 136 of tunneling device 102 has satisfied predetermined travel conditions, the configuration of at least one expandable section 142, 144, 146 may be adjusted from the second configuration (e.g., second width (W2142), second length (L2144), second width (W2146)) to the first configuration (e.g., first width (WI 142), first length (LI 144), first width (Wlue)). The configuration of at least one expandable section 142. 144, 146 may be adjusted to facilitate the movement of tip 136 and / or tunneling device 102 in the distinct, second direction (D2) to form tunnel 104, as discussed herein. In non-limiting examples, the configuration of at least one expandable section 142, 144, 146 may be adjusted prior to, simultaneous to, or subsequent to ceasing actuation of tip 136 and / or adjusting the orientation of tip 136 from the first direction (DI) to the second direction (D2).

[0055] Adjusting the orientation of tip 136, and in some examples subsequently actuating and / or moving tip 136. may form second portion (P2) of tunnel 104 within terrain 115. That is, and as shown in FIG. 6, once oriented in the distinct direction (e.g., second direction (D2)), tip 136 of tunneling device 102 may be actuated again, or alternatively remain actuated, to displace material of terrain 115 and form a second portion (P2) of tunnel 104. As shown, second portion (P2) of tunnel 104 is formed adjacent to and connected to first portion (Pl) of tunnel 104. As discussed herein, tip 136 may actuate, move, and / or drive, with support from shaft 154, in a direction parallel to, perpendicular to, and / or in a rotational direction with respect to longitudinal axis 134 to displace the material of terrain 115. In addition to actuating tip 136, the configuration of at least one expandable section 142, 144, 146 of tunneling device 102 may be adjusted as well. More specifically, the configuration of at least one expandable section 142, 144, 146 may be adjusted, altered, and / or changed simultaneous to or subsequent to actuating tip 136 to move the plurality7ofexpandable sections 142, 144, 146 into second portion (P2) of tunnel 104 and / or move expandable sections 142, 144. 146 in the second direction (D2). As discussed herein, adjusting and / or transitioning expandable sections 142. 144. 146 of tunneling device 102 facilitates the movement of tunneling device 102 into and / or through tunnel 104. As show n in FIG. 6, tunneling device 102, and more specifically tip 136 and expandable sections 142, 144, 146, may be disposed within newly formed second portion (P2) of tunnel 104.

[0056] Instructions to actuate and / or move tip 136 and / or adjust the configuration of expandable sections 142, 144, 146 included in tunneling device 102 may be transmitted via controller 116. For example, a user or operator of tunneling device 102 can control the actuation of tip 13 / adjustment of expandable sections 142, 144, 146 using operator interface 130 (see, FIG. 1), and sending instructions directly to tip 136 and / or expandable sections 142, 144, 146 using controller 116. Alternatively, instructions to actuate tip 136 and / or adjust the configuration of expandable sections 142, 144, 146 may be transmitted from computing device 200 included within tunneling device 102. In one nonlimiting example, the instructions to actuate tip 136 and / or adjust the configuration of expandable sections 142, 144, 146 that are generated and / or transmitted by computing device 200 may be predetermined, preconfigured, and / or preprogrammed into computing device 200 of tunneling device 102.

[0057] Additionally, as shown in FIG. 6, the orientation of tip 136 may be adjusted to a distinct, third direction (D3). As discussed herein, the orientation of tip 136 may be adjusted to the distinct, third direction in response to determining that tunneling device 102, and more specifically tip 136 of tunneling device 102, satisfies a predetermined travel condition. The adjustment of the orientation of tip 136 may change the travel path or route of tunneling device 102, and in turn may vary the geometry, shape, and / or configuration of tunnel 104 formed in terrain 115, as discussed herein.

[0058] FIGs. 7 and 8 show various operational stages for forming distinct portions (e g., third portion (P3), fourth portion (P4)) of tunnel 104 within terrain 115. Third portion (P3) (see FIG. 7) and fourth portion (see, FIG. 8) may be formed using tunneling device 102 by performing substantially similar processes as discussed herein with respect to FIGs. 3-6. For example, subsequent to orienting tip 136 in a third direction (D3) (see, FIG. 6), tip 136 may be actuated to displace material of terrain 1 15 to form third portion (P3) oftunnel 104, as shown in FIG. 7. As shown, third portion (P3) of tunnel 104 is formed adjacent to and connected to second portion (Pl) of tunnel 104. Additionally, the configuration of expandable sections 142. 144, 146 of tunneling device 102 may also be adjusted to move tunneling device 102, and more specifically expandable sections 142, 144, 146 into third portion (P3) of tunnel 104. In response to tunneling device 102, and more specifically tip 136 of tunneling device 102. satisfying a predetermined travel condition, the orientation of tip 136 may be adjusted to a distinct, fourth direction (D4). as shown in FIG. 7. As shown in FIG. 8, and subsequent to orienting tip 136 in the fourth direction (D4) (see, FIG. 7), tip 136 may be actuated to displace material of terrain 115 to form fourth portion (P4) of tunnel 104. Similarly, the configuration of expandable sections 142, 144. 146 of tunneling device 102 may also be adjusted to move tunneling device 102, and more specifically expandable sections 142, 144, 146 into fourth portion (P4) of tunnel 104, as shown in FIG. 8 as well. Fourth portion (P4) of tunnel 104 is formed adjacent to and connected to third portion (P3) of tunnel 104.

[0059] When forming tunnel 104 within terrain 115, tunneling device 102 may encounter irregularities within terrain 115. For example, and as shown in FIG. 8, tunneling device 102 forming the fourth portion (P4) of tunnel 104 may hit or contact an object 156 (shown in phantom as optional). Object 156 can include a component distinct from the material included within terrain 115 and / or a component in which tunneling device 102 may not displace and / or pass through. In a non-limiting example, object 156 may be formed as a rock. During the process of forming tunnel 104 within terrain 115. it may be determined and / or detected that tip 136 of tunneling device 102 contacts object 156. For example, sensor(s) 140 (see, FIG. 2A) included within tip 136 may determine, detect, and / or identify that tip f36 has contacted object 156. Once detected, the actuation or movement of tip 136 may cease and / or the adjustment of the configuration of expandable sections 142, 144, 146 for moving tunneling device into the fourth portion (P4) may also cease. The detection of tip 136 contacting object 156, and subsequent ceasing of the actuation of tip 136, may also occur prior to tip 136 satisfying the predetermined travel condition. In a non-limiting example, controller 116, an operator using operator interface 130, and / or computing device 200 may subsequently adjust the orientation of tip 136 and again actuate tip 136 to move tunneling device 102 around object 156 and / or form tunnel 104 adjacent object 156. In another non-limiting example where the predetermined travel condition includes a time inwhich tip 136 is actuated, unactuated tip 136 may wait until the time is up and / or a new time of actuation begins before becoming operational after contacting object 156.

[0060] In another non-limiting example, and as show n in FIG. 8, tunneling device 102 forming the fourth portion (P4) of tunnel 104 may encounter a void 158 (shown in phantom as optional) in terrain 115. Void 158 can include an open space, such as a cave or crevasse within terrain 115 and / or an absence of displaceable material forming terrain 115. During the process of forming tunnel 104 within terrain 115, it may be determined and / or detected that tip 136 of tunneling device 102 discontinues displacing the material of terrain 115. For example, sensor(s) 140 (see, FIG. 2A) included within ftp 136 may determine, detect, and / or identify that tip 136 is no longer displacing and / or in contact with the material of terrain 115 and / or may be partially positioned within void 158 of terrain 115. Once determined that tip 136 may be positioned and / or disposed within void 158. the actuation of tip 136 may cease and / or the adjustment of the configuration of expandable sections 142. 144, 146 for moving tunneling device into the fourth portion (P4) may also cease. The detection of tip 136 discontinuing the displacement of the material to form tunnel 104, and subsequent ceasing of the actuation of tip 136, may also occur prior to tip 136 satisfying the predetermined travel condition. In a non-limiting example, controller 116, an operator using operator interface 130. and / or computing device 200 may subsequently adjust the orientation of tip 136 and again actuate tip 136 to move tunneling device 102 around void 158 and / or form tunnel 104 to avoid void 158. In another non-limiting example where the predetermined travel condition includes a time in which tip 136 is actuated, tip 136 may wait until the time is up and / or a new time of actuation begins before becoming operational after determining that tip 136 discontinuous displacing the material of terrain 1 15 as a result of being positioned within void 158.

[0061] In forming tunnel 104, tunneling device 102 may also return to previously formed portions of tunnel 104. That is, subsequent to forming at least one distinct portion of tunnel 104, the configuration of at least one expandable section 142, 144, 146 may be adjusted to return tunneling device 102 into at least one previously formed portion of tunnel 104 within terrain 115. For example, and as shown in FIG. 9, after forming the fourth portion (P4) of tunnel 104, the configuration of at least one expandable section 142, 144, 146 may be adjusted to return, reverse, and / or back-up tip 136 and expandable section 142, 144, 146 oftunneling device 102 into previously formed second portion (P2) of tunnel 104. As similarly discussed herein with respect to moving expandable sections 142, 144. 146 of tunneling device 102 into portions of tunnel 104, the transitional configurations of each expandable section 142, 144, 146 facilitates a peristaltic locomotion pattern for tunneling device 102 to return or reverse tunneling device 102 within previously formed portions of tunnel 104. In a non-limiting example, controller 116 and / or computing device 200 may provide instructions to tunneling device 102 to return to a previously formed portion of tunnel 104. Instructions for tunneling device 102 to return to previously formed portions of tunnel 104 may be based on the localization system and / or localization data (e.g., location, tunnel 104 path, a direction of tunneling device 102, etc.) provided with respect to tunneling device 102 and / or tunnel 104. Alternatively, an operator controlling tunneling device 102 may choose when to adjust the configuration of at least one expandable section 142, 144, 146 to return, reverse, and / or back-up tip 136 and expandable section 142, 144, 146 of tunneling device 102 into previously formed portion of tunnel 104. Moreover, controller 116 and / or computing device 200 may randomly send instructions to tunneling device 102 during operation to return, reverse, and / or back-up tunneling device 102 into a previously formed portion(s) of tunnel 104. In other nonlimiting examples, tunneling device 102 may be returned, reversed, and / or backed-up into a previously formed portion of tunnel 104 in response to detecting tip 136 contacts object 156 (see. FIG. 8) or discontinuous displacement of material of terrain 115 as a result of void 158 (see. FIG. 8), as previously discussed herein.

[0062] Subsequent to adjusting the configuration of at least one expandable section 142. 144, 146 to return, reverse, and / or back-up tip 136 and expandable section 142, 144, 146 of tunneling device 102 into previously formed portion of tunnel 104, the orientation of tip 136 may be adjusted. For example, and as shown in FIG. 9, after tunneling device 102 is returned to and / or disposed within second portion (P2) of tunnel 104, the orientation of tip 136 for tunneling device 102 may be adjusted to a distinct, fifth direction (D5). As similarly discussed herein, subsequent to orienting tip 136 in fifth direction (D5), tip 136 may be actuated to displace material of terrain 115 to form fifth portion (P5) of tunnel 104, as show n in FIG. 10. Fifth portion (P5) of tunnel 104 is formed adjacent to and connected to second portion (P2) of tunnel 104. Additionally, the configuration of expandable sections 142, 144, 146 of tunneling device 102 may also be adjusted to move tunneling device 102, and more specifically expandable sections 142, 144, 146 into fifth portion (P5) of tunnel 104.

[0063] Although shown as being oriented in various directions, it is understood that tip 136 may be oriented in any three-dimensional direction and / or may form tunnel 104 in any three-dimensional direction within terrain 115. For example, tip 136 of tunneling device 102 may be oriented and subsequently form a portion of tunnel 104 that is positioned, disposed, and / or configured to extend in a direction in-and-out of the pages, as shown.

[0064] Processes for forming tunnel 104 may continue for a predetermined time, until a predetermined configuration for tunnel 104 is achieved, and / or until an operator of tunneling device 102 retrieves tunneling device 102 from tunnel 104. As such, complex, root-like tunnels 104 can be formed in terrain 1 15 and facilitate exploration of terrain 1 15 (e.g., search and / or detection of natural resources), the creation of natural energy storage and / or exchange with terrain 115 (e.g., storage and retrieval of excess solar energy), and / or provide structural foundations for components that utilize structural material deposited into the complex, tree-like tunnel 104 to form high-strength foundations for the components.

[0065] FIG. 11 depicts another non-limiting example of terrain 115. More specifically, terrain 115 shown in FIG. 11 includes two distinct tunneling devices 102, 102A forming distinct tunnels 104, 104 A. Each tunneling device 102, 102A deployed within terrain 115 and forming tunnels 104, 104A can communicate with one another during operation. For example, each tunneling device 102, 102A may communicate with one another and / or with controller 116 / computing device 200 to identify a location of each tunneling device 102, 102A, each subsequent direction tip 136 may be oriented, and / or where each portion of tunnel 104, 104A is formed within terrain 115. This may prevent tunneling devices 102, 102A from crashing into one another during operation and / or may prevent one tunneling device 102, 102A from entering tunnel 104, 104 A formed from the distinct tunneling device 102. 102A. Furthermore, tunneling devices 102, 102A may communicate with one another to form a desired configuration for each tunnel 104, 104A and / or to explore a desired amount of terrain 115 during operation.

[0066] FIGs. 12A and 12B show a flow chart of an example method of forming a tunnel (see, FIG. 1; tunnel 104) using a tunneling device (see, FIGs. 1, 2A and 2B; tunneling device 102). Specifically. FIGs. 12A and 12B show a flowchart depicting one example process for forming a tunnel using a tunneling device. In some cases, the processescan be performed using system 100 including tunneling device 102, as discussed above with respect to FIGs. 1 -11. Additionally, the processes discussed herein are performed on a tunneling device that is inserted and / or at least partially disposed within a surface of terrain in which the tunnel is being formed.

[0067] In process SI, and subsequent to positioning tunneling device 102 adjacent surface 114 of terrain 115, tip 136 of tunneling device 102 may move and / or be actuated. More specifically, tip 136 of tunneling device 102 may be moved and / or actuated in a direction parallel to, perpendicular to, and / or in a rotational direction with respect to longitudinal axis 134 to displace the material of terrain 115. Additionally, tip 136 of tunneling device 102 may be oriented in a first direction (DI ) prior to and / or simultaneous to being actuated.

[0068] In process S2, a first portion (Pl) of tunnel 104 is formed. More specifically, and in response to moving / actuating tip 136 oriented in the first direction (DI) (e.g., process SI) and the displacement of material in terrain 115, a first portion (Pl) of tunnel 104 may be formed in terrain 115.

[0069] In process S3, the configuration of body assembly 141 of tunneling device 102 may be adjusted as well. More specifically, the configuration of at least one expandable section 142, 144, 146 of body assembly 141 may be adjusted, altered, and / or changed in response to actuating tip 136 (e.g., process SI) and / or the formation of first portion (Pl) of tunnel 104 within terrain 115 (e.g., process S2). The configuration of expandable section 142, 144, 146 may be adjusted simultaneous to or subsequent to actuating tip 136 to move the plurality of expandable sections 142. 144, 146 into first portion (Pl) of tunnel 104. That is, adjusting and / or transitioning expandable sections 142, 144, 146 of tunneling device 102 facilitates the movement of tunneling device 102 into and / or through tunnel 104, and / or more specifically first portion (Pl). In a non-limiting example, the configuration of at least one the plurality of expandable sections 142, 144, 146 may be adjusted from first configurations (e.g., first width (WI142), first length (LI 144), first width (Wine)) to the second configuration (e.g., second width (W2142), second length (L2144), second width (W2146)), to facilitate the movement of tunneling device 102 into the first portion (Pl) of tunnel 104.

[0070] In process S4, it may be determined if a predetermined travel condition is satisfied for tunneling device 102. That is, tip 136 may be moved / actuated and / or the configuration of expandable sections 142, 144. 146 of tunneling device 102 may be adjusted until a predetermined travel condition is satisfied. In response to determining that tip 136 ortunneling device 102 does not satisfy the predetermined travel condition (e.g., “NO” at process S4), processes SI -S3 may be repeated and / or may continue to be performed. In response to determining that tip 136 or tunneling device 102 does satisfy the predetermined travel condition (e.g., “YES” at process S4), processes for forming tunnel 104 may continue to process S5. The predetermined travel conditions may be based on characteristics of tunneling device 102 and / or formed portions of tunnel 104. The predetermined travel condition can include, but are not limited to, a time in which tip 136 is moved / actuated and / or displaces material of terrain 115, a size or length of the portion (e.g., first portion (Pl)) of tunnel 104 formed in terrain 115 by actuated tip 136 of tunneling device 102, and / or a minimum velocity of tip 136 moving in the first (or distinct) direction.

[0071] In process S5 (shown in phantom as optional), and in response to determining that tip 136 or tunneling device 102 does satisfy the predetermined travel condition (e.g., “YES” at process S4), tip 136 may temporarily cease movement and / or actuation. That is, tip 136 may cease actuation when the predetermined travel condition is satisfied before performing additional processes for forming tunnel 104. By stopping or ceasing the actuation of tip 136, the first portion (Pl) of tunnel 104 is completely formed within terrain 115.

[0072] In process S6, the orientation of tip 136 may be adjusted. More specifically, the orientation of tip 136 for tunneling device 102 may be adjusted to a direction distinct and / or different from the first direction (DI) (e.g., process SI). For example, the orientation of tip 136 may be adjusted from the first direction (DI) to a distinct or second direction (D2). In a non-limiting example where the movement and / or actuation of tip 136 ceases (e.g., process S5) in response to determining tunneling device 102 satisfies a predetermined travel condition (e.g., “YES” at process S4), the orientation of tip 136 may be adjusted while tunneling device 102 is stationary' within the first portion (Pl) of tunnel 104 and / or tip 136 is not displacing material of terrain 115. In another non-limiting examplewhere tip 136 remains actuated, the orientation of tip 136 may be adjusted while tip 136 of tunneling device 102 continues to displace material within terrain 115.

[0073] In process S7 (shown in phantom as optional), tip 136 may be moved and / or actuated. That is, and where the actuation and / or movement of tip 136 ceases (e.g., process S5) in response to determining tunneling device 102 satisfies a predetermined travel condition (e g., “YES” at process S4), tip 136 oriented in the distinct direction (e.g., second direction (D2)) may be moved and / or actuated once again. Alternatively where tip 136 does not cease or stop actuating, process S7 may not be performed.

[0074] In process S8 (see, FIG. 12B), a distinct portion of tunnel 104 may be formed. That is, and based on the adjusted orientation of tip 136 in the distinct direction (e.g., second direction (D2)), a distinct or second portion (P2) of tunnel 104 is formed. Distinct portion of tunnel 104 may be formed terrain 115 in response to moving / actuating tip 136 oriented in the distinct direction (DI) (e.g., process S6) and the displacement of material in terrain 115.

[0075] In process S9, the configuration of body assembly 141 of tunneling device 102 may be adjusted. More specifically , the configuration of at least one expandable section 142. 144, 146 of body assembly 141 may be adjusted, altered, and / or changed in response to moving and / or actuating tip 136 (e.g., process S7) and / or the formation of distinct or second portion (P2) of tunnel 104 within terrain 115 (e.g., process S8). Adjusting and / or transitioning expandable sections 142, 144, 146 of tunneling device 102 facilitates the movement of tunneling device 102 into and / or through tunnel 104, and / or more specifically distinct or second portion (P2) of tunnel 104.

[0076] Subsequent to process S9, process S4 may be performed. That is, after oriented tip 136 in a distinct direction in process S6, forming a distinct portion of tunnel 104 in process S8, and adjusting the configuration of expandable sections 142, 144, 146 in process S9, it may be determined again if tunneling device 102 satisfied the predetermined travel condition in process S4. In response to determining that tip 136 or tunneling device 102 does not satisfy the predetermined travel condition after forming the distinct portion of tunnel 104 (e g., “NO” at process S4), processes S7-S9 may be repeated and / or may continue to be performed. In this non-limiting example, the orientation of tip 136 may not be adjusted and / or may maintain in the distinct or second direction (D2). In response to determining thattip 136 or tunneling device 102 does satisfy the predetermined travel condition (e.g., “YES” at process S4), processes S6-S9 may be repeated, after the orientation of tip 136 is adjusted again to a distinct or third direction (D3).

[0077] In process S 10, it may be determined or detected if tip 136 of tunneling device 102 contacts object 156 within terrain 115. For example, sensor(s) 140 (see, FIG. 2A) included within tip 136 may determine, detect, and / or identify that tip 136 has contacted object 156. In response to determining that tip 136 or tunneling device 102 does not contact object 156 (e.g.. “NO” at process S10). processes performed by tunneling device 102 may continue to process S i l and / or processes S4 may be repeated and / or may continue to be performed. In response to determining that tip 136 of tunneling device 102 does contact (e.g., “YES” at process S10) object 156, processes for forming tunnel 104 may repeat process S5 and / or may perform process S12.

[0078] In process Si l, it may be determined or detected that tip 136 of tunneling device 102 discontinues the displacement of material within terrain 115. For example, sensor(s) 140 (see, FIG. 2A) included within tip 136 may determine, detect, and / or identify that tip 136 is no longer displacing and / or in contact with the material of terrain 115 and / or may be partially positioned within void 158 of terrain 115. In response to determining that tip 136 or tunneling device 102 continues to displace material within terrain 115 (e.g., “NO” at process Si l), processes S4 and / or S5-S9 may be repeated and / or may continue to be performed. In response to determining that tip 136 of tunneling device 102 discontinues displacing material within terrain 115 (e.g., ‘YES” at process Si l), processes for forming tunnel 104 may repeat process S5 and / or may perform process P12.

[0079] In process S 12 (shown in phantom as optional), the configuration of body assembly 141 for tunneling device 102 may be adjusted to return tunneling device 102 into at least one previously formed portion of tunnel 104 within terrain 115. For example, after forming various portions (e.g.. first portion (Pl), second portion (P2)) of tunnel 104, the configuration of at least one expandable section 142, 144, 146 of body assembly 141 may be adjusted to return, reverse, and / or back-up tip 136 and expandable section 142, 144, 146 of tunneling device 102 into previously formed portion (e.g., first portion (Pl)) of tunnel 104. As similarly discussed herein with respect to moving expandable sections 142. 144, 146 of tunneling device 102 into portions of tunnel 104, the adjustable and / or transitionalconfigurations of each expandable section 142, 144, 146 facilitates a peristaltic locomotion pattern for tunneling device 102 to return or reverse tunneling device 102 within previously formed portions of tunnel 104. As discussed herein, tunneling device 102 may be returned, reversed, and / or backed-up into a previously formed portion of tunnel 104 in response to detecting tip 136 contacts object 156 (e.g., “YES” at process S10) and / or discontinuous displacing material of terrain 115 as a result of void 158 (e.g., “YES” at process Si l). Additionally, or alternatively, tunneling device 102 may be returned, reversed, and / or backed- up into a previously formed portion of tunnel 104 at random and / or after forming a predetermined number of portions of tunnel 104. For example, after forming a first portion (Pl), second portion (P2), third portion (P3), and fourth portion (P4) of tunnel 104, tunneling device 102 may be returned, reversed, and / or backed-up into a previously formed portion (e.g., second portion (P2)) of tunnel 104 before performing processes P6-P9 to form a fifth, distinct portion (P5) of tunnel 104.

[0080] In the example embodiment, any steps of the method shown and discussed herein with respect to FIGs. 12A and 12B 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, processes S10 and Si l may be continuously performed and / or may only be performed when sensor(s) 140 of tunneling device 102 are triggered, as discussed herein.

[0081] FIG. 13 depicts a schematic view of tunneling device 102. In the non-limiting example shown in FIG. 13, tunneling device 102 may include at least one computing device 200 that may be configured to control the movement of tunneling device 102 to form tunnel 104 (see e.g.. FIGs. 3-10) by performing the processes S1-S12 discussed herein with respect to FIGs. 12A and 12B. It is 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.

[0082] It is understood that computing device(s) 200 may be implemented as a computer program product stored on a computer readable storage medium. The computer readable storage medium can be a tangible device that can retain and store instructions for use by an instruction execution device. The computer readable storagemedium may be, for example, but is not limited to, an electronic storage device, a magnetic storage device, an optical storage device, an electromagnetic storage device, a semiconductor storage device, or any suitable combination of the foregoing. A non-exhaustive list of more specific examples of the computer readable storage medium includes the following: a portable computer diskette, a hard disk, a random access memory’ (RAM), a read-only memory' (ROM), an erasable programmable read-only memory (EPROM or Flash memory), a static random access memory (SRAM), a portable compact disc read-only memory (CD- ROM), a digital versatile disk (DVD), a memory stick, a floppy disk, a mechanically encoded device such as punch-cards or raised structures in a groove having instructions recorded thereon, and any suitable combination of the foregoing. A computer readable storage medium, as used herein, is not to be construed as being transitory’ signals per se, such as radio waves or other freely propagating electromagnetic waves, electromagnetic waves propagating through a waveguide or other transmission media (e.g., light pulses passing through a fiber-optic cable), or electrical signals transmitted through a wire.

[0083] Computer readable program instructions described herein can be downloaded to respective computing / processing devices from a computer readable storage medium or to an external computer or external storage device via a network, for example, the Internet, a local area network, a wide area network and / or a wireless network. The network may comprise copper transmission cables, optical transmission fibers, wireless transmission, routers, firewalls, switches, gateway computers and / or edge servers. A network adapter card or network interface in each computing / processing device receives computer readable program instructions from the network and forwards the computer readable program instructions for storage in a computer readable storage medium within the respective computing / processing device.

[0084] Computer readable program instructions for carrying out operations of the present disclosure may be assembler instructions, instruction-set-architecture (ISA) instructions, machine instructions, machine dependent instructions, microcode, firmware instructions, state-setting data, or either source code or object code written in any combination of one or more programming languages, including an object oriented programming language such as Java, Python, Smalltalk, C++ or the like, and conventional procedural programming languages, such as the “C” programming language or similarprogramming languages. The computer readable program instructions may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the latter scenario, the remote computer may be connected to the user's computer through any ty pe of network, including a local area network (LAN) or a wide area network (WAN), or the connection may be made to an external computer (for example, through the Internet using an Internet Service Provider). In some embodiments, electronic circuitry including, for example, programmable logic circuitry, field-programmable gate arrays (FPGA), or programmable logic arrays (PLA) may execute the computer readable program instructions by utilizing state information of the computer readable program instructions to personalize the electronic circuitry, in order to perform aspects of the present disclosure.

[0085] Aspects of the present disclosure are described herein with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the disclosure. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer readable program instructions.

[0086] These computer readable program instructions may be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions / acts specified in the flowchart and / or block diagram block or blocks. These computer readable program instructions may also be stored in a computer readable storage medium that can direct a computer, a programmable data processing apparatus, and / or other devices to function in a particular manner, such that the computer readable storage medium having instructions stored therein comprises an article of manufacture including instructions which implement aspects of the function / act specified in the flowchart and / or block diagram block or blocks.

[0087] The computer readable program instructions may also be loaded onto a computer, other programmable data processing apparatus, or other device to cause a series of operational steps to be performed on the computer, other programmable apparatus or other device to produce a computer implemented process, such that the instructions which execute on the computer, other programmable apparatus, or other device implement the functions / acts specified in the flowchart and / or block diagram block or blocks.

[0088] The flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to various embodiments of the present disclosure. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of instructions, which comprises one or more executable instructions for implementing the specified logical function(s). In some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and / or flowchart illustration, and combinations of blocks in the block diagrams and / or flowchart illustration, can be implemented by special purpose hardware-based systems that perform the specified functions or acts or cany7out combinations of special purpose hardware and computer instructions.

[0089] Tunneling device 102 may include any ty pe of computing device(s) 200 and for example includes at least one processor or processing component(s) 202, storage component 204, and a communications pathway 206. In general, processing component(s) 202 execute program code which is at least partially fixed or stored in storage component 204. While executing program code, processing component(s) 202 can process data, which can result in reading and / or writing transformed data from / to storage component 204 for further processing. The pathway 206 provides a communications link between each of the components in computing device(s) 200. Computing device(s) 200 may also be implemented in a distributed manner such that different components reside in different physical locations.

[0090] Storage component 204 may also include modules, data and / or electronic information relating to various other aspects of tunneling device 102. Specifically, operational modules, electronic information, and / or data relating to predetermined travel condition data 208, localization data 210, and communication data 212. The operational modules, information, and / or data may include the required information and / or may allow tunneling device 102, and specifically computing device 200, to perform the processes discussed herein for forming tunnel 104 in terrain 115 (see, FIGs. 3-10).

[0091] Tunneling device 102, and specifically computing device 200 of tunneling device 102, may also be in communication with external storage component 218. External storage component 218 may be configured to store various modules, data and / or electronic information relating to various other aspects of tunneling device 102, similar to storage component 204 of computing device(s) 200. Additionally, external storage component 218 may be configured to share (e.g.. send and receive) data and / or electronic information with computing device(s) 200 of tunneling device 102. In the non-limiting example shown in FIG. 13, external storage component 218 may include any or all of the operational modules and / or data shown to be stored on storage component 204 (e.g., data 208-212). In a non-limiting example, external storage component 218 may be a cloud-based storage component or system.

[0092] In a non-limiting example shown in FIG. 13, computing device(s) 200 may be in communication with and / or may be configured to share (e.g., send and receive) data and / or electronic information over a network (not shown). The network may represent a closed network, such as a local area network (LAN) or may include the internet. During operation of computing device 200, data generated, determined and / or detected by tunneling device 102 may be shared over the network.

[0093] Furthermore, it is understood that computing device(s) 200 of tunneling device or relevant components thereof (such as an API component, agents, etc.) may also be automatically or semi-automatically deployed into a computer system by sending the components to a central server or a group of central servers. The components are then downloaded into a target computer that will execute the components. The components are then either detached to a directory or loaded into a directory that executes a program that detaches the components into a directory. Another alternative is to send the componentsdirectly to a directory7on a client computer hard drive. When there are proxy servers, the process will select the proxy server code, determine on which computers to place the proxy servers' code, transmit the proxy server code, and then install the proxy server code on the proxy computer. The components will be transmitted to the proxy server and then it will be stored on the proxy server.

[0094] 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) increasing the strength and robustness of tunnel constructions; (d) reducing the apparatuses required to remove displaced material from tunnels during construction; (e) reducing the size of the device used to create the tunnels; and (f) forming complex, root-like tunnels within a terrain that can provide improved exploration of the terrain, and / or provide improved structural support to components using the root-like configuration of the tunnels.

[0095] 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.

[0096] 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.

[0097] This written 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, andmay 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

WHAT IS CLAIMED IS:

1. A tunneling device comprising: a body assembly having an adjustable configuration: a moveable tip positioned adjacent to and in series with said body assembly; and at least one computing device in operable communication with said body assembly and said moveable tip, said at least one computing device configured to control said body assembly and said moveable tip to form a tunnel by: moving said moveable tip to displace material of a terrain and form a first portion of the tunnel in the terrain with said moveable tip oriented in a first direction; in response to moving said moveable tip, adjusting the configuration of said body assembly to move said body assembly into the first portion of the tunnel; adjusting said moveable tip to be oriented in a second direction to form a second portion of the tunnel in the terrain, the second direction distinct from the first direction, wherein the second direction is randomly selected; and adjusting the configuration of said body assembly to move said body assembly into the second portion of the tunnel.

2. The tunneling device of claim 1, wherein said body assembly compnses a plurality of expandable sections comprising: a first expandable section positioned adjacent said moveable tip and extending along a longitudinal axis, said first expandable section expandable in a direction perpendicular to the longitudinal axis between a first configuration and a second configuration; anda second expandable section positioned opposite said moveable tip and extending along the longitudinal axis, said second expandable section expandable in a direction parallel to the longitudinal axis between a distinct, first configuration and a distinct, second configuration.

3. The tunneling device of claim 1, wherein said at least one computing device is further configured to control said body assembly and said moveable tip by: adjusting said moveable tip to be oriented in a third direction to form a third portion of the tunnel in the terrain, the third direction distinct from the first direction and the second direction; and adjusting the configuration of said body assembly to move said body assembly into the third portion of the tunnel.

4. The tunneling device of claim 3, wherein said at least one computing device is further configured to control said body assembly and said moveable tip by: adjusting the configuration of said body assembly to return said body assembly and said moveable tip to be disposed in at least one of the first portion of the tunnel, or the second portion of the tunnel; adjusting said moveable tip to be oriented in one of the first direction, the second direction, the third direction, or a fourth direction to form a fourth portion of the tunnel in the terrain, the fourth direction distinct from the first direction, the second direction, and the third direction; and adjusting the configuration of said body assembly to move said body assembly into the fourth portion of the tunnel.

5. The tunneling device of claim 1, wherein said at least one computing device is further configured to control said body assembly and said moveable tip by: determining if said moveable tip has satisfied a predetermined travel condition; andin response to said moveable tip satisfying said predetermined travel condition, ceasing movement of said moveable tip prior to adjusting said moveable tip to be oriented in the second direction.

6. The tunneling device of claim 5, wherein the predetermined travel condition includes at least one of: a time in which said moveable tip is moved, a size of the first portion of the tunnel formed in the terrain, and / or a minimum velocity of said moveable tip moving in the first direction.

7. The tunneling device of claim 1, further comprising: at least one sensor positioned within said moveable tip, said at least one sensor in operable communication with said at least one computing device.

8. The tunneling device of claim 7, wherein said at least one computing device is further configured to control said body assembly and said moveable tip by: detecting, via said at least one sensor, that said moveable tip contacts an object disposed within the terrain; and ceasing movement of said moveable tip prior to adjusting of said moveable tip to be oriented in the second direction.

9. The tunneling device of claim 7, wherein said at least one computing device is further configured to control said body assembly and said moveable tip by: determining, via said at least one sensor, that said moveable tip discontinues displacing the material of the terrain; ceasing movement of said moveable tip; and adjusting the configuration of said body assembly to return said body assembly and said moveable tip to be disposed in at least one of the first portion of the tunneland / or the second portion of the tunnel.

10. A system for forming a tunnel, the system comprising: a tunneling device comprising: a body assembly having an adjustable configuration; and a moveable tip positioned adjacent to and in series with said bodyassembly; and a controller communicatively coupled to said tunneling device, said controller configured to provide instructions to control said tunneling device, the instructions including: moving said moveable tip of said tunneling device to displace material of a terrain and form a first portion of the tunnel in the terrain with said moveable tip oriented in a first direction; in response to moving said moveable tip, adjusting the configuration of said body assembly of said tunneling device to move said body assembly into the first portion of the tunnel; adjusting said moveable tip to be oriented in a second direction to form a second portion of the tunnel in the terrain, the second direction distinct from the first direction, wherein the second direction is randomly selected; and adjusting the configuration of said body assembly to move said body assembly into the second portion of the tunnel.

11. The system of claim 10, wherein said controller is configured to provide instructions to control said tunneling device, the instructions further including: adjusting said moveable tip to be oriented in a third direction to form a third portion of the tunnel in the terrain, the third direction distinct from the first direction and the second direction; andadjusting the configuration of said body assembly to move said body assembly into the third portion of the tunnel.

12. The system of claim 11, wherein said controller is configured to provide instructions to control said tunneling device, the instructions further including: adjusting the configuration of said body assembly to return said body assembly and said moveable tip to be disposed in at least one of the first portion of the tunnel, or the second portion of the tunnel; adjusting said moveable tip to be oriented in one of the first direction, the second direction, the third direction, or a fourth direction to form a fourth portion of the tunnel in the terrain, the fourth direction distinct from the first direction, the second direction, and the third direction; and adjusting the configuration of said body assembly to move said body assembly into the fourth portion of the tunnel.

13. The system of claim 11, wherein said controller is configured to provide instructions to control said tunneling device, the instructions further including: determining if said moveable tip has satisfied a predetermined travel condition, the predetermined travel condition includes at least one of: a time in which said moveable tip is moved, a size of the first portion of the tunnel formed in the terrain, or a minimum velocity of said moveable tip moving in the first direction; and in response to said moveable tip satisfying the predetermined travel condition, ceasing moving of said moveable tip prior to said adjusting of said moveable tip to be oriented in the second direction.

14. A method for forming a tunnel using a tunneling device, said method comprising:moving a moveable tip of said tunneling device to displace material of a terrain, said moveable tip oriented in a first direction; in response to moving said moveable tip of said tunneling device, forming a first portion of the tunnel in the terrain; in response to moving said moveable tip of said tunneling device, adjusting a configuration of a body assembly of said tunneling device to move said tunneling device into the first portion of the tunnel; adjusting said moveable tip to be oriented in a second direction, the second direction distinct from the first direction, wherein the second direction is randomly selected; forming a second portion of the tunnel in the terrain, the second portion formed adjacent to and connected to the first portion of the tunnel; and adjusting the configuration of said body assembly of said tunneling device to move said tunneling device into the second portion of the tunnel.

15. The method of claim 14, further comprising: adjusting said moveable tip to be oriented in a third direction, the third direction distinct from the first direction and the second direction; forming a third portion of the tunnel in the terrain, the third portion formed adjacent to and connected to the second portion of the tunnel; and adjusting the configuration of at least one of said body assembly of said tunneling device to move said tunneling device into the third portion of the tunnel.

16. The method of claim 15, further comprising: adjusting the configuration of at least one of said body assembly of said tunneling device to return said tunneling device to be disposed in at least one of the first portion of the tunnel, or the second portion of the tunnel; adjusting said moveable tip to be oriented in one of:the first direction, the second direction, the third direction, or a fourth direction distinct from the first direction, the second direction, and the third direction; forming a fourth portion of the tunnel in the terrain, the fourth portion formed adjacent to and connected to at least one of the first portion or the second portion of the tunnel; and adjusting the configuration of said body assembly of said tunneling device to move said tunneling device in into the fourth portion of the tunnel.

17. The method of claim 14, further comprising: determining if said tunneling device has satisfied a predetermined travel condition; and in response to said tunneling device satisfying the predetermined travel condition, ceasing movement of said moveable tip of said tunneling device prior to said adjusting of said moveable tip to be oriented in the second direction.

18. The method of claim 17, wherein the predetermined travel condition includes at least one of: a time in which said moveable tip of said tunneling device is moved, a size of the first portion of the tunnel formed in the terrain, or a minimum velocity of said tunneling device moving in the first direction.

19. The method of claim 14, further comprising: detecting said moveable tip of said tunneling device contacts an object disposed within the terrain; andceasing movement of said moveable tip of said tunneling device prior to said adjusting of said moveable tip to be oriented in the second direction.

20. The method of claim 14, further comprising: determining said moveable tip of said tunneling device discontinues displacing the material of the terrain; ceasing movement of said moveable tip of said tunneling device; and adjusting the configuration of at least one of said body assembly of said tunneling device to return said tunneling device to be disposed in at least one of the first portion of the tunnel, or the second portion of the tunnel.

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