Multi-actuated AUV body for windfarm inspection: lessons from the bio-inspired RoboFish field trials

Marvin Wright; Weal Gorma; Yang Luo; Mark Post; Qing Xiao; Andrew Durrant

doi:10.1109/AUV50043.2020.9267931

Multi-actuated AUV body for windfarm inspection: lessons from the bio-inspired RoboFish field trials

Marvin Wright, Weal Gorma, Yang Luo, Mark Post, Qing Xiao, Andrew Durrant

Naval Architecture, Ocean And Marine Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution book

3 Citations (Scopus)

29 Downloads (Pure)

Abstract

An innovative magnetic joint design has been developed as part of the construction of a bio-inspired Autonomous Underwater Vehicle (AUV) for wind farm inspection. This paper presents our design solutions for a jointed watertight AUV body made using current 3D printing techniques to achieves water tightness and resilient composite metal-polymer bonding.The design avoids dynamic interfaces and the need for rotary seals yet achieves robustness and strength. Test results prove a successful implementation of the magnetic connection between a freely rotating inner shaft and a driven outer shaft in a fish-like jointed AUV body.

Original language	English
Title of host publication	2020 IEEE/OES Autonomous Underwater Vehicles Symposium (AUV)
Place of Publication	Piscataway, NJ.
Publisher	IEEE
Number of pages	6
ISBN (Print)	9781728187587
DOIs	https://doi.org/10.1109/AUV50043.2020.9267931
Publication status	Published - 30 Nov 2020
Event	2020 IEEE OES Autonomous Underwater Vehicle Symposium - St. John's, Canada Duration: 30 Sept 2020 → 2 Oct 2020 http://auv2020.org/

Conference

Conference	2020 IEEE OES Autonomous Underwater Vehicle Symposium
Country/Territory	Canada
City	St. John's
Period	30/09/20 → 2/10/20
Internet address	http://auv2020.org/

Keywords

robotic fish
autonomous underwater vehicle (AUV)
3d printing

Access to Document

10.1109/AUV50043.2020.9267931

Wright-etal-IEE-AUV-2020-Multi-actuated-AUV-body-for-windfarm-inspection-lessonsAccepted author manuscript, 430 KB

Autonomous Biomimetic Robot-fish for Offshore Wind Farm Inspection
Xiao, Q. (Principal Investigator)
EPSRC (Engineering and Physical Sciences Research Council)
1/10/19 → 1/12/20
Project: Research

Cite this

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title = "Multi-actuated AUV body for windfarm inspection: lessons from the bio-inspired RoboFish field trials",

abstract = "An innovative magnetic joint design has been developed as part of the construction of a bio-inspired Autonomous Underwater Vehicle (AUV) for wind farm inspection. This paper presents our design solutions for a jointed watertight AUV body made using current 3D printing techniques to achieves water tightness and resilient composite metal-polymer bonding.The design avoids dynamic interfaces and the need for rotary seals yet achieves robustness and strength. Test results prove a successful implementation of the magnetic connection between a freely rotating inner shaft and a driven outer shaft in a fish-like jointed AUV body. ",

keywords = "robotic fish, autonomous underwater vehicle (AUV), 3d printing",

author = "Marvin Wright and Weal Gorma and Yang Luo and Mark Post and Qing Xiao and Andrew Durrant",

note = "{\textcopyright} 2020 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting /republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.; 2020 IEEE OES Autonomous Underwater Vehicle Symposium ; Conference date: 30-09-2020 Through 02-10-2020",

year = "2020",

month = nov,

day = "30",

doi = "10.1109/AUV50043.2020.9267931",

language = "English",

isbn = "9781728187587",

booktitle = "2020 IEEE/OES Autonomous Underwater Vehicles Symposium (AUV)",

publisher = "IEEE",

url = "http://auv2020.org/",

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Wright, M, Gorma, W, Luo, Y, Post, M, Xiao, Q & Durrant, A 2020, Multi-actuated AUV body for windfarm inspection: lessons from the bio-inspired RoboFish field trials. in 2020 IEEE/OES Autonomous Underwater Vehicles Symposium (AUV)., 9267931, IEEE, Piscataway, NJ., 2020 IEEE OES Autonomous Underwater Vehicle Symposium, St. John's, Canada, 30/09/20. https://doi.org/10.1109/AUV50043.2020.9267931

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AU - Luo, Yang

AU - Post, Mark

AU - Xiao, Qing

AU - Durrant, Andrew

N1 - © 2020 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting /republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.

PY - 2020/11/30

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AB - An innovative magnetic joint design has been developed as part of the construction of a bio-inspired Autonomous Underwater Vehicle (AUV) for wind farm inspection. This paper presents our design solutions for a jointed watertight AUV body made using current 3D printing techniques to achieves water tightness and resilient composite metal-polymer bonding.The design avoids dynamic interfaces and the need for rotary seals yet achieves robustness and strength. Test results prove a successful implementation of the magnetic connection between a freely rotating inner shaft and a driven outer shaft in a fish-like jointed AUV body.

KW - robotic fish

KW - autonomous underwater vehicle (AUV)

KW - 3d printing

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DO - 10.1109/AUV50043.2020.9267931

M3 - Conference contribution book

SN - 9781728187587

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PB - IEEE

CY - Piscataway, NJ.

Y2 - 30 September 2020 through 2 October 2020

ER -

Multi-actuated AUV body for windfarm inspection: lessons from the bio-inspired RoboFish field trials

Abstract

Conference

Keywords

Access to Document

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Projects

Autonomous Biomimetic Robot-fish for Offshore Wind Farm Inspection

Cite this