This book reports on the state of the art in the field of aerial-aquatic locomotion, focusing on the main challenges concerning the translation of this important ability from nature to synthetic systems, and describing innovative engineering solutions that have been applied in practice by the authors at the Aerial Robotics Lab of Imperial College London. After a general introduction to aerial-aquatic locomotion in nature, and a summary of the most important engineering achievements, the book introduces readers to important physical and mathematical aspects of the multimodal locomotion problem. Besides the basic physics involved in aerial-aquatic locomotion, the role of different phenomena happening in fluids, or those due to structural mechanics effects or to power provision, are presented in depth, across a large dimension range, from millimeters to hundreds of meters. In turn, a practice-oriented discussion on the obstacles and opportunities of miniaturization, for both robots and animals is carried out. This is followed by applied engineering considerations, which describe relevant hardware considerations involved in propulsion, control, communication and fabrication. Different case studies are analyzed in detail, reporting on the latest research carried out by the authors, and covering topics such as propulsive aquatic escape, the challenging mechanics of water impact, and a hybrid sailing and flying aircraft. Offering extensive and timely information on the design, construction and operation of small-scale robots, and on multimodal locomotion, this book provides researchers, students and professionals with a comprehensive and timely reference guide to the topic of aerial-aquatic locomotion, and the relevant bioinspired approaches. It is also expected to inspire future research and foster a stronger multidisciplinary discussion in the field.
Author(s): Raphael Zufferey, Robert Siddall, Sophie F. Armanini, Mirko Kovac
Series: Biosystems & Biorobotics, 29
Publisher: Springer
Year: 2022
Language: English
Pages: 267
City: Cham
Preface
Acknowledgements
Contents
Acronyms
List of Tables
Part I Breaking the Surface
1 Breaking the Surface
1.1 Challenges
1.1.1 Dry Flight
1.1.2 Water Entry and Landing
1.1.3 Submerged Movement
1.1.4 Surface Movement
1.1.5 Water Exit
1.1.6 Wet Flight
1.2 Multimodal Mobility and the Outdoor Environment
1.3 Aerial-Aquatic Robots Presented in This Book
2 Why Swim and Fly?
2.1 Motivation and Objectives
2.2 Applications and Opportunities
2.2.1 Remote Sensing
2.2.2 Marine Conservation
2.2.3 Micro-biology and Micro-plastic Analysis
2.2.4 Pollution Monitoring
2.2.5 Arctic Research
2.2.6 Marine Wildlife
2.2.7 Offshore Platform Maintenance
2.2.8 Search and Rescue
2.2.9 Extension of Operation Envelope of Cruises
2.2.10 Bathymetric Mapping
2.3 Aerial-Aquatic Robots as a Solution
3 Aerial-Aquatic Locomotion in Nature
3.1 The Pelagic, Pleustonic and Littoral Environments
3.2 Swimming in Aerial Animals
3.2.1 Plunge Diving
3.2.2 Pursuit Diving
3.2.3 Diving Insects
3.3 Flight in Aquatic Animals
3.3.1 Flying Fish
3.3.2 Flying Squid
3.3.3 Sizing and Energetics
3.4 Design Insights from Nature
3.4.1 Wing Folding
3.4.2 Plunge Diving
3.5 Conclusion
4 Synthetic Aerial Aquatic Locomotion
4.1 Multimodal Robots
4.2 Aerial Water Sampling
4.3 Seaplanes
4.4 Rotary-Wing Vehicles
4.5 Fixed-Wing
4.6 Tilting Propeller configurations
4.7 Flapping Wing Vehicles
4.8 Possible Transition Methods Between Water and Air
5 The Physics of Aerial Aquatic Locomotion
5.1 Resolving Contradictory Design Pressures
5.2 Aerodynamics
5.3 The Propulsion Problem
5.4 Surface Hydrodynamics
5.5 Water Jet Propulsion
5.6 Plunge Diving
5.6.1 Water Impact
Part II Practical Aerial Aquatic Locomotion
6 Aquatic Escape: Fast Escape with a Jet Thruster
6.1 Compressed Gas Water Jet Thruster
6.2 Water Jet Propulsion Theory
6.2.1 Design Domain
6.3 Prototype
6.3.1 Valve Actuation
6.3.2 Static Performance
6.4 Underwater Takeoff Using a Jet Thruster
6.5 Planar Trajectory Model
6.5.1 Aerodynamics
6.5.2 Longitudinal Stability
6.5.3 Water Resistance
6.5.4 Equations of Motion
6.6 Take-Off Robustness
6.7 Flight Components
6.8 Aquatic Takeoff Performance
6.8.1 Conclusion
7 Airframe Design for Plunge Diving
7.1 Introduction
7.2 The AquaMAV Airframe
7.2.1 Control
7.2.2 Propulsion
7.3 Wind and Water Tunnel Measurements
7.3.1 Water Tunnel Setup
7.3.2 Results
7.4 Performance Assessment
7.4.1 Aerial Locomotion
7.4.2 Aquatic Locomotion
7.4.3 Summary of Performance
7.5 Flight Test
8 Diving from Flight
8.1 Planar Aerodynamics
8.1.1 Underwater Motion
8.1.2 Dive Trajectories - Aerial Phase
8.1.3 Dive Trajectories - Aquatic Phase
8.1.4 Model Assumptions
8.1.5 Robot Performance
8.2 System Dynamics Modelling and Simulation
8.2.1 Simulated Vehicle Properties and Preliminary Considerations
8.3 Modelling
8.3.1 Aerodynamic Forces and Flight Phase
8.3.2 Underwater Phase
8.3.3 Air-Water Transitions
8.4 Simulation Results and System Analysis
8.4.1 Simulation of Different Phases
8.4.2 System Dynamics: Aerial and Aquatic Operation
8.4.3 Outlook: Analysis of Transition Phases
8.5 Concluding Remarks on Simulation
9 Aquatic Escape: Repeatable Escape with Combustion
9.1 Water Reactive Chemistry
9.1.1 Combustion
9.1.2 Solid Reactants as a Combustion Gas Source
9.2 Simulation and Validation with Fixed Experiment
9.2.1 Physics of Jet-Gliding
9.2.2 Model-Based Design
9.2.3 Static Modelling
9.3 Design of an Aquatic Jump-Glider
9.3.1 Robot Design
9.3.2 Principle of Operation
9.3.3 Systems
9.3.4 Wing Design and Stability
9.4 Cyclic Aquatic Escape with Jet Propulsion
9.4.1 Controlled Conditions
9.4.2 Outdoor Conditions
9.4.3 Wave Tolerance
10 Efficient Water-Air Propulsion with a Single Propeller
10.1 Introduction
10.2 Computational Investigations
10.3 Experimental Verification
10.3.1 Results and Analysis
10.4 Aerial-Aquatic Locomotion
10.4.1 Gearbox Mechanism
10.4.2 Prototype
11 Sailing and Flying with a Multimodal Robot
11.1 The Challenges of Surface Locomotion
11.1.1 Cycle
11.1.2 Hybrid Sizing
11.1.3 Propeller-Powered Takeoff
11.2 Harnessing the Wind
11.3 Design
11.3.1 Morphology Change Actuation
11.4 Avionics
11.4.1 Wind Sensing
11.5 Aerodynamics Surfaces
11.5.1 Wings
11.5.2 Sails
11.5.3 Tail
11.5.4 Numerical Simulation Results
11.6 Hydrodynamics
11.6.1 Hydrodynamics Validation
11.7 Onboard Control and Autonomy
11.7.1 PX4
11.7.2 Dual-Mode Configuration
11.7.3 Flying
11.7.4 Sailing
11.8 Operation of a Sailing-Flying Robot
11.8.1 Transition from Water to Flight
11.8.2 Sailing
11.9 Characterisation
11.9.1 Comparison with the AquaMAV: Wing Morphing
12 Multirotor Aircraft and the Aquatic Environment
12.1 Introduction to MEDUSA
12.2 Design
12.2.1 Operation Principle and Envelope
12.2.2 Deployment Flying Vehicle
12.3 Sensing and Control
12.3.1 Horizontal Actuation and Buoyancy Control
12.3.2 Sensor Payload
12.3.3 Electronics, Communication and Inter-System Tether
12.4 Results and Discussion
12.4.1 Membrane-Based Actuation
12.4.2 Vertical Locomotion and Control
12.4.3 Horizontal Locomotion
12.4.4 Outdoor Testing
12.5 Conclusions
13 Practical Tips for Building Aerial-Aquatic Robots
13.1 High-Speed Actuation
13.2 High-Torque Actuation
13.2.1 The Morphing Case
13.3 Battery
13.4 Ignition
13.5 Waterproof Openings
13.6 Composite Construction for Aerial-Aquatic Robots
13.6.1 Prepreg
13.6.2 Woven Wet Lay-Up for Wings
13.7 Launcher Testing Apparatus
13.8 Sensing Options for MAVs
14 Conclusion
14.1 Summary
14.2 Lessons Learned
14.3 How Far Have We Come?
14.4 Impact of Aerial-Aquatic Robotics in the World
14.4.1 Environmental Science
14.4.2 Emergency Response
14.5 Technological Trends and Future Work
14.6 Concluding Remarks
Appendix References
