Design concepts for an energy-efficient amphibious unmanned underwater vehicle

Edited book (chapter)

Cubero, Samuel N. and Billingsley, John. 2015. "Design concepts for an energy-efficient amphibious unmanned underwater vehicle." Billingsley, John and Brett, Peter (ed.) Machine vision and mechatronics in practice. Heidelberg, Germany. Springer. pp. 209-223
Chapter Title

Design concepts for an energy-efficient amphibious unmanned underwater vehicle

Book Chapter CategoryEdited book (chapter)
ERA Publisher ID3337
Book TitleMachine vision and mechatronics in practice
AuthorsCubero, Samuel N. (Author) and Billingsley, John (Author)
EditorsBillingsley, John and Brett, Peter
Page Range209-223
Chapter Number18
Number of Pages15
Year2015
PublisherSpringer
Place of PublicationHeidelberg, Germany
ISBN9783662455135
9783662455142
Digital Object Identifier (DOI)https://doi.org/10.1007/978-3-662-45514-2_18
Web Address (URL)http://link.springer.com/book/10.1007/978-3-662-45514-2
Abstract

This paper describes the conceptual design and operating principles of an oscillating-foil propulsion system for an unmanned underwater vehicle called TURTLE ('Tele-operated Unmanned Robot for Telemetry and Legged Exploration'), currently under development. This UUV ('Unmanned Underwater Vehicle) will be designed to be a 6-legged swimming and walking amphibious robot, fitted with foils (or flat fins) which can be manipulated with several degrees of freedom to produce highly efficient underwater propulsion forces. The legs will each have four degrees of freedom, of which the fourth is rotation of a foil that is fitted to the 'shin' to provide propulsion for swimming. By manipulating the movements and rotations of this foil, propulsion forces can be generated to implement a variety of swimming modes, each with its own advantages and disadvantages. The foils attached to the fins allow the main body to be controlled in all six degrees of freedom. It will also be an amphibious robot that will be able to transition between swimming mode and walking mode, for walking on an underwater surface or over dry land if power considerations permit. It must be powerful and strong enough to support itself and light payloads while walking over rough or undulating surfaces commonly found on a beach. The mechanical design will allow the absolute position and orientation of the body to be accurately controlled relative to the ground surface, whether above or below water, for the purpose of precision control of onboard tools and sensors. The space frame construction method keeps water drag low and allows large scale, strong, rigid structures and manipulator limbs (or links) to be built. Space frames also keep material cost, weight and actuator energy usage to very low levels. Such lightweight and energy efficient robots will be useful in many practical applications, such as oil and gas exploration, drilling, mining, construction, automated agriculture, military transport and space exploration.

Keywordsrobot; unmanned underwater vehicle; UUV; walking; swimming
ANZSRC Field of Research 2020400703. Autonomous vehicle systems
400799. Control engineering, mechatronics and robotics not elsewhere classified
401505. Special vehicles
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Byline AffiliationsKhalifa University, United Arab Emirates
School of Mechanical and Electrical Engineering
Journal TitleMachine Vision and Mechatronics in Practice
Institution of OriginUniversity of Southern Queensland
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Petty, Matt K., Billingsley, John and Tran-Cong, Thanh. 1997. "Autonomous LHD loading." Werner, Bob (ed.) 4th Annual Conference on Mechatronics and Machine Vision in Practice (MViP 1997). Toowoomba, Australia 23 - 25 Sep 1997 Los Alamitos, CA. United States. https://doi.org/10.1109/MMVIP.1997.625330
Carbon dioxide sensing - a mechatronic approach
Maxwell, Andrew, Hancock, Nigel and Billingsley, John. 1997. "Carbon dioxide sensing - a mechatronic approach." Werner, B. (ed.) 4th Annual Conference on Mechatronics and Machine Vision in Practice (MViP 1997). Toowoomba, Australia 23 - 25 Sep 1997 Los Alamitos, CA. United States. https://doi.org/10.1109/MMVIP.1997.625292
More machine vision applications in the NCEA
Billingsley, John. 2006. "More machine vision applications in the NCEA." Billingsley, John (ed.) 13th Annual Conference on Mechatronics and Machine Vision in Practice. (M2VIP 2006). Toowoomba, Australia 05 - 07 Dec 2006 Manila, Philippines.
Some machine vision applications in agriculture
Billingsley, John. 2006. "Some machine vision applications in agriculture." Gonzalez, Dante Jorge Dorantes (ed.) 10th International Conference on Mechatronics Technology (ICMT 2006). Mexico City 20 - 24 Nov 2006 Mexico.
Viewpoint
Billingsley, John. 2006. "Viewpoint." Sensor Review. 26 (4), pp. 261-261.
Machine vision applications in agriculture
Billingsley, John. 2005. "Machine vision applications in agriculture." Shamsudin, H. M. Amin (ed.) 9th International Conference on Mechatronics Technology. Kuala Lumpur, Malaysia 05 - 07 Dec 2005 Kuala Lumpur, Malaysia.
Essentials of mechatronics
Billingsley, John. 2006. Essentials of mechatronics. United States. John Wiley & Sons.
The role of native rodents in seed dispersal and seed predation of the Bunya Pine (Araucaria bidwillii)
Smith, I. R., Withers, Kerry and Billingsley, John. 2005. "The role of native rodents in seed dispersal and seed predation of the Bunya Pine (Araucaria bidwillii)." Cree, Alison (ed.) 22nd Annual Conference of the Australian and New Zealand Society for Comparative Physiology and Biochemistry (ANZSCPB 2005). Dunedin, New Zealand 09 - 11 Dec 2005 New Zealand.
Application of machine vision technology to identification of oestrous in the Julia Creek dunnart (Sminthopsis douglasi)
Bjursell, A., Dunn, M., Withers, K., Senior, G., Lundie-Jenkins, G. and Billingsley, J.. 2005. "Application of machine vision technology to identification of oestrous in the Julia Creek dunnart (Sminthopsis douglasi)." Cree, Alison (ed.) 22nd Annual Conference of the Australian and New Zealand Society for Comparative Physiology and Biochemistry (ANZSCPB 2005). Dunedin, New Zealand 09 - 11 Dec 2005 New Zealand.
The steering of trailed implements for tractor path tracking
Ong, Clement and Billingsley, John. 2003. "The steering of trailed implements for tractor path tracking." Billingsley, John (ed.) 10th Annual Conference on Mechatronics and Machine Vision in Practice (MViP 2003). Perth, Australia 09 - 11 Dec 2003 Taunton, England.
Machine vision classification of animals
Dunn, Mark, Billingsley, John and Finch, Neal. 2003. "Machine vision classification of animals." Billingsley, John (ed.) 10th Annual Conference on Mechatronics and Machine Vision in Practice (MViP 2003). Perth, Australia 09 - 11 Dec 2003 Research Studies Press.
Teaching mechatronics principles using laboratory classes
Billingsley, John and Dunlop, Reg. 2003. "Teaching mechatronics principles using laboratory classes." Billingsley, John (ed.) 10th Annual Conference on Mechatronics and Machine Vision in Practice (MViP 2003). Perth, Australia 09 - 11 Dec 2003 Taunton, England.
Unusual vision - machine vision applications at the NCEA
Billingsley, John and Dunn, Mark. 2005. "Unusual vision - machine vision applications at the NCEA." Sensor Review. 25 (3), pp. 202-208. https://doi.org/10.1108/02602280510606480
Torpor in the carnivorous marsupial Sminthopsis macroura: effects of food quality and food quantity
Withers, Kerry W., White, Debra H. and Billingsley, John. 2000. "Torpor in the carnivorous marsupial Sminthopsis macroura: effects of food quality and food quantity." Heldmaier, Gerhard, Klingenspor, Martin and Klaus, Susanne (ed.) 11th International Hibernation Symposium. Jungholz, Austria 13 - 18 Aug 2000 Berlin, Germany.