Corrigendum to “Design and development of modular magnetic bio inspired autonomous underwater robot – MMBAUV” [Ocean Eng. 273 (2023) 113968]

Marvin Wright, Qing Xiao*, Saishuai Dai, Mark Post, Hong Yue, Bodhi Sarkar

*Corresponding author for this work

Research output: Contribution to journalCorrectionpeer-review


The authors regret the made errors in the description of the calculation of the magnetic coupling force equations and now made corrections, which do not have a significant impact on the overall results and conclusions of the paper. We want to assure readers that the revision does not change the interpretation or validity of the research. The revised Fig. 4 is as follows[Formula presented] The revised section in paragraph 2.2 Magnetic joint is as follows To support the design process an approximation model is used that is sufficiently accurate and fast to support an iterative design process. The maximum transferable torque [Formula presented] is approximated by a function of the number of magnet couples [Formula presented], the maximum sheer force [Formula presented], the radius [Formula presented] between the two magnets [Formula presented] The magnetic forces [Formula presented] are calculated using equations published by Schomburg et al. (2020). Accordingly, [Formula presented] is the force [Formula presented] at magnet distance zero ([Formula presented] = 0), and the variable [Formula presented] is the distance between magnets at which the normal force [Formula presented] is one quarter of the normal force at zero magnet distance, hence, [Formula presented]. To identify [Formula presented] and [Formula presented] are computed by means of a magnetostatic FEM simulation using EMS (EMSworks, 2022) for Autodesk Inventor (Munford and Normand, 2016). The maximum shear force in the X–Y plane is approximated by [Formula presented]Here, [Formula presented] is the length ratio between magnet couples and remains equal to 1. As shown in Equations (2) and (3), the coupling strength is directly related to the magnet strength, magnet dimension, and the normal distance between magnet couples.

Original languageEnglish
Article number117753
JournalOcean Engineering
Early online date23 Apr 2024
Publication statusPublished - 1 Jul 2024


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