Minor: Energy Studies
Faculty Advisor: Margaret Coad, Department of Aerospace and Mechanical Engineering
Research Area: Energy Conversion and Efficiency

Hydrostatic Pressure-Powered Underwater Soft Growing Robot with Steering and Buoyancy Control Mechanism (Spring 2024)

Coral reefs and mangroves, integral components of coastal and shallow-water marine ecosystems, play significant roles that extend beyond their ecological significance. Coral reefs are formed by the collective growth of coral polyps held together by calcium carbonate while mangroves are a group of tropical trees and shrubs in coastal intertidal zones; these collectively support approximately 25 percent of all marine life at some point in their life cycle. Their importance lies not only in biodiversity but also in their functions as natural barriers that dissipate wave energy, mitigate coastal erosion, and act as buffers against storm surges. These ecosystems provide critical habitats and sustenance for various marine species, making them essential for the overall health of the planet and the well-being of coastal environments.

However, the existence of coral reefs and mangroves is under severe threat due to rising ocean temperatures, climate change, coastal development, and pollution. These circumstances lead to coral bleaching and the imperilment of mangrove habitats. To address these challenges, it is important to conduct detailed surveys and investigations into the conditions of these species. Limited human access in these environments necessitates a robotic approach to reduce the burden on scientists and field researchers. Unfortunately, existing underwater robots are unsuitable for this task due to the geometric complexity as well as fragility of coral reefs and mangroves. Moreover, most of these robots are designed for deeper ocean exploration. Therefore, our research plan focuses on the development of a soft growing robot, also known as Vine Robot, tailored to the closer/inner examinations of coral reefs and mangroves, using the characteristics of vine robots that are soft and do not require friction of surrounding to grow. In this project, the entire robotic operation will be manually performed without any electronic components. The proposed design features a soft robot that everts and steers solely through hydrostatic pressure that is provided with manual addition of water in the base tank of the robot. In addition, its buoyancy control mechanism, operated through a connected airline and buoyancy tube, will allow inflation and deflation using a manual syringe.

As the principal investigator of the project, I will oversee and participate in all aspects pertaining to the development of the underwater soft growing robot. Initially, I will design the robot's structure, including its base and body components. Following the successful development and feasibility testing of these elements, I will continue to work on designing and fabricating the steering mechanism using Serial Pouch Motor (SPM) and the buoyancy control mechanism; ensuring the manual operation of the robot and emphasizing energy efficiency will be a priority. Then, I will conduct underwater experiments to collect data on the robot's various functions and analyze the results for meaningful figures to be included in a paper intended for submission to Robotics and Automation Letters (RA-L). Additionally, I will manage the composition of the paper and manage the submission and revision process.

Final Report