Underwater Robot Control Network Without Surface Tethers
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Solution Overview
Problem
Existing underwater robotics and human divers operate independently without effective integration, leading to limitations in dexterous manipulation and life support capacity, respectively, and lack seamless communication and control between the two systems.
Innovation Solution
A networked system architecture that enables data transmission and control of underwater robotics and instruments without surface connectivity, using a combination of hardware and software interfaces, allowing divers to operate submerged computing environments with integrated life support systems and reinforced pressure-resistant compartments, and establishing a LAN/WAN for communication among underwater devices.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If surface connections (tethers or acoustic transmission) are used for control and data transmission, then reliability of communication is improved, but device complexity and operational complexity increase
Solution Approach 1:
The patent introduces an acoustic modem as an intermediary device that enables wireless acoustic communication between underwater devices and the surface, replacing the need for physical tethers while maintaining reliable data transmission. This mediator allows ROVs and AUVs to communicate independently through acoustic waves, reducing operational complexity while preserving communication reliability
Solution Approach 2:
The patent replaces mechanical tether-based control systems with wireless acoustic transmission systems. By substituting the mechanical connection (tether) with acoustic wave transmission, the system eliminates the complexity of physical connections while maintaining reliable communication and control capabilities underwater
2Ease of operation
If surface connections are used for control, then control capability is improved, but autonomy and operational flexibility deteriorate
Solution Approach 1:
The patent implements dynamic operational modes where AUVs can switch between autonomous operation and remote-controlled operation via acoustic communication. This dynamic capability allows the system to adapt to different operational requirements, maintaining control capability when needed while enabling autonomous flexibility when surface connection is unavailable
Solution Approach 2:
The patent creates a universal control system that can operate in multiple modes: fully autonomous, remotely controlled via acoustic modem, or hybrid. This multi-functional approach allows the same underwater vehicle to perform both delicate manipulative tasks requiring human control and autonomous exploration tasks, enhancing operational flexibility without sacrificing control capability
3Ease of operation
If humans operate underwater autonomously with SCUBA or submersibles, then dexterous manipulation capability is improved, but life support capacity and duration of action deteriorate
Solution Approach 1:
The patent merges the capabilities of human operators with robotic systems by enabling two-way acoustic communication and control. Human divers can operate ROVs with dexterous manipulation capabilities while the ROV provides extended life support capacity through its unlimited operational duration and resistance to physiological limitations, combining the strengths of both systems
Solution Approach 2:
The patent uses robotic systems as copies or proxies for human operators underwater. The ROV replicates human manipulative actions through its manipulator arm while being controlled by divers via acoustic communication, allowing humans to perform delicate tasks without directly exposing themselves to the harsh underwater environment and its life support limitations
4Duration of action of moving object
If robots are used for underwater operations, then unlimited life support capacity is improved, but dexterous manipulation capability deteriorates
Solution Approach 1:
The acoustic modem serves as an intermediary that connects human operators to robotic manipulators, enabling real-time control of delicate manipulative tasks. This mediator allows robots with unlimited life support capacity to perform dexterous manipulation by receiving real-time control inputs from human operators through acoustic communication
Solution Approach 2:
The patent replaces direct human manipulation with robotic manipulation controlled through acoustic communication. The robotic manipulator arm substitutes for human hands in performing delicate tasks, while acoustic transmission replaces physical tether control, enabling robots to perform dexterous manipulation with unlimited operational duration
Data Source
AI summary
A networked system architecture including hardware and software elements permits data transmission between underwater systems. The network architecture includes data transmission between underwater computers, instruments, robotic vehicles, human-occupied underwater habitats, and/or worn sensor devices. Data is transmitted over wired communication channels, wireless communication channels, or a combination thereof. The network is established independent of surface connectivity (e.g., a topside connection) and creates a Local Area Network (LAN) or Wide Area Network (WAN) specific to an underwater environment. A system administrator, such as a diver, operates an underwater and waterproof computer to control and operate an underwater and waterproof device (e.g., a robotic vehicle) over the LAN/WAN. The underwater device may be a remotely operated vehicle (ROV), an autonomous underwater vehicle (AUV), a drifting sensor, a moored sensor, or the like.