Design of a bimodal self-burying robot
Subterranean exploration so far has primarily been performed with the assistance and involvement of human beings. As more ground is broken and more layers are explored, the need for a robotic solution to make digging both easier and safer becomes greater. The applications of a self-burying robot extend from mining and military applications to humanitarian applications. This paper elucidates design principles that form the foundation for self burying robots. In this paper, a bimodal robot is described which is capable of travelling above-ground in one mode and capable of burying itself in the other mode. The variables that affect digging are examined, as well as the design decisions made in order to optimize the resources available to the robot. Finally, future work in the area of self-burying robots is discussed.
An Aerial-Ground Robotic Team for Systematic Soil and Biota Sampling in Estuarine Mudflats
This paper presents an aerial-ground field robotic team, designed to collect and transport soil and biota samples in estuarine mudflats. The robotic system has been devised so that its sampling and storage capabilities are suited for radionuclides and heavy metals environmental monitoring. Automating these time-consuming and physically demanding tasks is expected to positively impact both their scope and frequency. The success of an environmental monitoring study heavily depends on the statistical significance and accuracy of the sampling procedures, which most often require frequent human intervention. The bird’s-eye view provided by the aerial vehicle aims at supporting remote mission specification and execution monitoring. This paper also proposes a preliminary experimental protocol tailored to exploit the capabilities offered by the robotic system. Preliminary field trials in real estuarine mudflats show the ability of the robotic system to successfully extract and transport soil samples for offline analysis.
The dynamics of burrowing in Ensis (Bivalvia)
The digging activity of Ensis arcuatus shows six stages, together termed the 'digging cycle' which are repeated cyclically and are similar to those of other burrowing bivalves. A digging cycle involves the integration of pedal protraction and retraction with the opening and closing of the valves, much of the musculature of the body playing a part in each cycle. Extension and probing of the foot involves only the intrinsic pedal musculature which generates low pressures (10 cm) in the pedal haemocoele. The hinged shell acts as the basis of a fluid/muscle system which allows the strength of adduction to be used in digging and consists of two separate fluid filled chambers, the haemocoele and the mantle cavity. Adduction of the valves generates high pressures (100 cm) in each equally and simultaneously. In the haemocoele this pressure gives rise to the characteristic bulbous form of the foot which ensures a secure anchorage so that at pedal retraction the shell is drawn down. In the mantle cavity the pressure produces powerful jets of water which assist movement of the shell by loosening the adjacent sand. Estimates of the muscle tensions indicate that the pressures recorded may be obtained at tensions of not more than 2 Kg/cm2.