Soft Jellyfish Robot With Adaptive Three-Axis Depth Control
Solution Overview
Problem
Current robotic systems for monitoring marine environments, such as coral reefs, lack the ability to achieve omnidirectional movement and upward thrust, and often require expensive and cumbersome equipment, limiting their widespread use.
Innovation Solution
A soft robotic jellyfish apparatus with nine soft actuators, controlled by three submersible pumps and an adaptive controller, enables omnidirectional movement by modulating undulation frequency based on depth tracking errors, incorporating sensors for depth, temperature, and light, and utilizing a bioinspired control method for three-dimensional navigation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If diver-supported video equipment is used to monitor coral reefs, then visual data can be collected, but the equipment is big, expensive, and difficult to use in most areas
Solution Approach 1:
The patent creates a biomimetic copy of a jellyfish organism, replicating its bell shape and tentacle structure to achieve natural-looking locomotion and environmental interaction. This biological inspiration allows the robot to achieve monitoring capabilities without the complex mechanical structures of traditional equipment
Solution Approach 2:
The robotic jellyfish uses soft, flexible materials for its bell and tentacles, allowing it to deform and undulate naturally in the water. This flexibility enables omnidirectional movement and upward thrust while maintaining a compact, simple structure that is easy to deploy
2Measurement precision
If stationary sensor nodes are deployed to monitor marine environments, then temperature and visual data can be collected, but the system cannot achieve mobile monitoring or upward movement
Solution Approach 1:
The robotic jellyfish transforms from a static sensor platform to a dynamic, mobile system by implementing undulatory motion of its tentacles and bell. This dynamic capability allows the robot to navigate horizontally and vertically, adapt to different monitoring locations, and actively seek out areas of interest in the marine environment
Solution Approach 2:
The robot integrates multiple sensing capabilities (temperature, light, depth sensors) within a single mobile platform that can perform both environmental monitoring and navigation functions. This multi-functionality eliminates the need for separate stationary sensor nodes while providing enhanced versatility
3Speed
If traditional propeller-based propulsion is used, then forward movement can be achieved, but omnidirectional movement and upward thrust are not possible
Solution Approach 1:
The robotic jellyfish divides its propulsion system into multiple independent components - nine soft actuators distributed around the bell that can be controlled individually or in groups. This segmentation allows different regions of the bell to undulate in coordinated patterns, generating thrust in multiple directions including horizontal swimming and vertical ascent
Solution Approach 2:
The robot achieves propulsion through periodic undulation of its bell and tentacles, creating rhythmic waves that propagate through the water. By modulating the frequency and phase of these periodic movements, the robot can control its speed and direction, achieving omnidirectional movement capabilities
4Measurement precision
If complex control systems are implemented to achieve precise depth control, then navigation accuracy improves, but system complexity and computational requirements increase
Solution Approach 1:
The robotic jellyfish implements a closed-loop control system that continuously monitors depth using a pressure sensor and adjusts the undulation frequency of its actuators accordingly. This feedback mechanism enables precise depth control by comparing actual depth with target depth and making real-time adjustments to propulsion, achieving accurate navigation without complex computational algorithms
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 apparatus achieves efficient three-dimensional movement, minimal environmental impact, and effective monitoring capabilities, with the ability to swim horizontally, vertically, and maintain depth, while being neutrally buoyant and powered by onboard systems.
Implementation Method 1
a pressure sensor for detecting the pressure of the ambient marine environment corresponding to depth in the marine environment
Implementation Method 2
a plurality of submersible pumps (e.g., three submersible pumps) within the body portion, each one of the plurality of submersible pumps controlling the activation of particular ones (e.g., three) of the plurality of soft actuators
Implementation Method 3
The adaptive controller modulates the undulation frequency based on the depth tracking error to achieve omnidirectional movement (e.g., three-dimensional movement) of the apparatus within the marine environment
Data Source
AI summary
An underwater robot apparatus that is capable of omnidirectional lateral movement using Bluetooth, depth, temperature, and light sensors for monitoring the marine environment. The apparatus is an adaptive, three-axis control soft robotic apparatus embedded with sensors and can swim in three dimensions to record aquatic life. An adaptive controller within the soft robotic apparatus produces positive upward motion despite its negative buoyancy and additional pressure vessel mass. A submersible impellor pump is connected to each actuator grouping wherein propulsion is created by filling and emptying of nine tentacles with surrounding ambient water. The apparatus produces maximum thrust using a full stroke actuation scheme at a frequency of 0.3 Hz. In addition to upward motion, the apparatus effects lateral motion utilizing two of three sets of actuator groups for more complex travel. An onboard pressure sensor coupled with the adaptive controller, allows the apparatus to autonomously hold to a predetermined depth.