An amphibious robot for surf zone science and environmental monitoring

OCEANS 2009 ◽  
2009 ◽  
Author(s):  
T. R. Consi ◽  
B. R. Ardaugh ◽  
T. R. Erdmann ◽  
M. Matsen ◽  
M. Peterson ◽  
...  
Keyword(s):  
Environmental Monitoring ◽  
Surf Zone ◽  
Amphibious Robot

A Horseshoe Crab Inspired Surf Zone Robot With Righting Capabilities

2014 ◽  
Author(s):  
Gregory Krummel ◽  
Krishnanand N. Kaipa ◽  
Satyandra K. Gupta
Keyword(s):  
Fluid Dynamics ◽  
Computational Fluid Dynamics ◽  
Horseshoe Crab ◽  
Surf Zone ◽  
Mechanical Design ◽  
Material Selection ◽  
Open Water ◽  
Computational Fluid Dynamics Simulations ◽  
Dynamics Simulations ◽  
Amphibious Robot

In this paper, we present the design of RoboCrab, an amphibious robot capable of traversing moderate surf zone environments. By taking inspiration from the morphology, locomotion, and righting behaviors of a horseshoe crab, the robot is designed for traversal and righting on granular terrain, open water, and turbulent surf zones. We present the details of the crab’s morphology that informed the design of our robot. Next, we present the mechanical design, material selection, and manufacturing of the various parts of the robot. We report the results from the computational fluid dynamics simulations used to characterize the robot shell performance. Finally, we present demonstrations of the physical robot walking and righting in a granular environment.

scholarly journals Design, Simulation, Fabrication and Testing of a Bio-Inspired Amphibious Robot with Multiple Modes of Mobility

2012 ◽  
Vol 24 (4) ◽  
pp. 629-641 ◽  
Author(s):  
Alexander S. Boxerbaum ◽  
◽  
Matthew A. Klein ◽  
Jeffery E. Kline ◽  
Stuart C. Burgess ◽  
...  
Keyword(s):  
Surf Zone ◽  
Sandy Beaches ◽  
Proof Of Concept ◽  
Biologically Inspired ◽  
Animal Locomotion ◽  
Design And Optimization ◽  
Moist Sand ◽  
Aquatic Locomotion ◽  
Versus Range ◽  
Amphibious Robot

Surf-zone environments represent an extreme challenges to robot operation. A robot that autonomously navigates rocky terrain, constantly changing underwater currents, hard-packed moist sand and loose dry sand characterizing this environment, would have significant utility in a range of defence and civilian missions. The study of animal locomotion mechanisms can elucidate specific movement principles that can be applied to address these demands. In this work, we report on the design and optimization of a biologically inspired amphibious robot for deployment and operation in an ocean beach environment. We specifically report a new design fusing a range of insectinspired passive mechanisms with active autonomous control architectures to seamlessly adapt to and traverse a range of challenging substrates both in and out of the water, and the design and construction of SeaDog, a proof-of-concept amphibious robot built for navigating rocky or sandy beaches and turbulent surf zones. The robot incorporates a layered hull and chassis design that is integrated into a waterproof Explorer Case in order to provide a large, protected payload in an easy-to-carry package. It employs a rugged drivetrain with four wheel-legs and a unique tail design and actuation strategy to aid in climbing, swimming and stabilization. Several modes of terrestrial and aquatic locomotion are suggested and tested versus range of mobility metrics, including data obtained in simulation and hardware testing. A waterproofing strategy is also tested and discussed, providing a foundation for future generations of amphibious mobile robots.

A Quasi-3D Surf Zone Model

1995 ◽  
Author(s):  
Jung Lyul Lee ◽  
Hsiang Wang
Keyword(s):  
Surf Zone ◽  
Zone Model

Nonlinear Wave Dynamics in the Surf Zone

1997 ◽  
Author(s):  
O. R. Sørensen ◽  
P. A. Madsen ◽  
H. A. Schäffer
Keyword(s):  
Nonlinear Wave ◽  
Surf Zone ◽  
Wave Dynamics

Mixing of Heated Water Discharged in the Surf Zone

1978 ◽  
Author(s):  
Kiyoshi Horikawa ◽  
Ming-Chung Lin ◽  
Tamio O. Sasaki
Keyword(s):  
Surf Zone ◽  
Heated Water

Economic models of Environment monitoring under imperfect information and high Costs

2014 ◽  
pp. 99-122
Author(s):  
M. Levin ◽  
K. Matrosova
Keyword(s):  
Environmental Monitoring ◽  
Environmental Regulation ◽  
Environmental Economics ◽  
Imperfect Information ◽  
Central Element ◽  
Economic Models ◽  
Environment Monitoring ◽  
Nature Protection ◽  
Protection Measures ◽  
Effective System

The paper considers monitoring of environmental change as the central element of environmental regulation. Monitoring, as each kind of principalagent relations, easily gives rise to corruptive behavior. In the paper we analyze economic models of environmental monitoring with high costs, incomplete information and corruption. These models should be the elements of environmental economics and are needed to create an effective system of nature protection measures.

Energy Management in Sensor Networks for Environmental Monitoring.

2008 ◽  
Vol 1 (1) ◽  
pp. 20-41
Author(s):  
G. ANASTASI ◽  
M. CONTI ◽  
M. DI FRANCESCO ◽  
E. GREGORI ◽  
A. PASSARELLA
Keyword(s):  
Sensor Networks ◽  
Environmental Monitoring ◽  
Energy Management

The coastal refraction-diffraction wave propagation model

1995 ◽  
Vol 17 (4) ◽  
pp. 6-12
Author(s):  
Nguyen Tien Dat ◽  
Dinh Van Manh ◽  
Nguyen Minh Son
Keyword(s):  
Wave Propagation ◽  
Field Data ◽  
Surf Zone ◽  
Propagation Model ◽  
Wave Transformation ◽  
Diffraction Effect ◽  
Linear Wave ◽  
Diffraction Wave ◽  
Linear Wave Propagation ◽  
Wave Propagation Model

A mathematical model on linear wave propagation toward shore is chosen and corresponding software is built. The wave transformation outside and inside the surf zone is considered including the diffraction effect. The model is tested by laboratory and field data and gave reasonables results.

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