Paper Info
Title
aMussels: Diving and Anchoring in a New Bio-inspired Under-Actuated Robot Class for Long-Term Environmental Exploration and Monitoring.
Abstract
In the last decade, the growing interest in underwater vehicles allowed significant progress in underwater robotic missions. Despite of this, underwater habitats remain one of the most challenging environments on earth due to their extreme and unpredictable conditions. The development of underwater platforms for environmental monitoring raises several challenges in terms of mobility. To monitor the huge extension of underwater habitats, vertical navigation, is needed in underwater robots. In this paper, several solutions for diving systems in a novel type of underwater robot called aMussel (artificial mussel) are investigated. These systems are: pump-based hydraulic, anchoring, a pistontype and a rolling diaphragm-based and they were compared in order to find the best trade-off between the aMussel's requirements: low-power work regime, resistance at high pressure (2.5 bar) and geometrical constraints. The solution that best meets all the requirements is the rolling diaphragm-based system, ensuring high performance and high reliability, with low maintenance and environmental impact and an acceptable low power consumption, suggesting this to be the best way to build such under-actuated and long-term running underwater robots.
Year
DOI
Venue
2017
10.1007/978-3-319-64107-2_24
Lecture Notes in Computer Science
Keywords
Field
DocType
Underwater robotics,Swarm robotics,Autonomous robots
Environmental impact assessment,Anchoring,Computer science,Simulation,High pressure,Underwater robotics,Robot,Environmental monitoring,Marine engineering,Swarm robotics,Underwater
Conference
Volume
ISSN
Citations 
10454
0302-9743
1
PageRank 
References 
Authors
0.36
8
6
Name
Order
Citations
PageRank
Donati, E.1215.55
Godfried J. van Vuuren210.36
Katsuaki Tanaka310.36
Donato Romano441.50
Thomas Schmickl552454.83
Cesare Stefanini618845.66