Robotic Fish Gliding and Swimming Propulsion Control
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Solution Overview
Problem
Current underwater gliders are large, heavy, costly, slow, and lack maneuverability, making them inadequate for smaller bodies of water and requiring improved control systems for effective data capture and propulsion in shallower environments.
Innovation Solution
A robotic submersible with a housing, adjustable buoyancy, and linear actuators for controlling center of gravity and propulsion, enabling both gliding and swimming modes, along with a controller managing sensor adjustments and propulsion systems for autonomous operation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Use of energy by moving object
If traditional underwater gliders are used, then energy efficiency is improved, but size, weight, and cost increase significantly
Solution Approach 1:
The robotic submersible divides the propulsion function into two distinct modes: gliding mode that uses buoyancy and gravity for energy-efficient travel, and swimming mode that uses a motor-driven tail for maneuverability. This segmentation allows the system to achieve energy efficiency without requiring continuous motor operation, thereby reducing the need for heavy energy storage systems
Solution Approach 2:
The system dynamically switches between gliding and swimming modes based on operational requirements. The controller adjusts the buoyancy and activates the motor only when swimming mode is needed, optimizing energy usage while maintaining the ability to perform maneuvers. This dynamic operation allows a smaller, lighter design compared to traditional gliders that rely on continuous buoyancy adjustment
2Use of energy by moving object
If traditional underwater gliders are used, then energy efficiency is improved, but speed and maneuverability deteriorate
Solution Approach 1:
The robotic submersible employs periodic switching between gliding and swimming modes. During gliding phases, the system travels efficiently using buoyancy changes. When speed or maneuverability is required, the motor is activated for swimming mode. This periodic action pattern allows the system to achieve higher average speeds and better maneuverability than continuous gliding while maintaining energy efficiency
Solution Approach 2:
The system changes operational parameters by adjusting buoyancy and motor activation to switch between modes. By controlling the buoyancy pump and motor timing, the system can transition from energy-efficient gliding to faster swimming mode, effectively managing speed requirements without compromising energy efficiency
3Adaptability or versatility
If sensor configurations are adjusted for different data capture needs, then adaptability is improved, but center of gravity and buoyancy change requiring system reconfiguration
Solution Approach 1:
The robotic submersible features an automated buoyancy and center of gravity adjustment system controlled by a microcontroller. When sensors are added or removed, the system automatically detects the change in weight distribution and adjusts the buoyancy pump and linear actuator positions to restore proper balance. This self-service capability eliminates manual reconfiguration and reduces operational complexity
Solution Approach 2:
The system uses feedback from weight sensors and position sensors to monitor changes in center of gravity and buoyancy. The microcontroller processes this feedback and automatically adjusts the buoyancy pump and linear actuators to maintain optimal operating conditions. This closed-loop feedback system simplifies sensor reconfiguration by making the adjustment process automatic rather than manual
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
The robotic submersible achieves efficient data capture, adaptable sensor configurations, and high maneuverability, allowing for faster speeds and energy-saving capabilities in various aquatic environments.
Implementation Method 1
a pump and a pump tank adjust the buoyancy of a submersible housing
Implementation Method 2
a second linear actuator controls a position of a battery pack and/or adjusts a center of gravity
Data Source
AI summary
A robotic submersible includes a housing having a body and a tail. In another aspect, a pump and a pump tank adjust the buoyancy of a submersible housing. In a further aspect, a first linear actuator controls the pump and/or a buoyancy, and/or a second linear actuator controls a position of a battery and/or adjusts a center of gravity. Another aspect includes a pump and at least one linear actuator that control gliding movements of the housing. In still a further aspect, a motor couples a tail with a body, such that the motor controls the movements of the tail to create a swimming movement. Moreover, an additional aspect provides a controller selectively operating the pump, first actuator, second actuator, and motor to control when swimming and gliding movements occur.