Soil Discharging Mechanism Utilizing Water Jetting to Improve Excavation Depth for Seabed Drilling Explorer

Isaka, Keita; Tsumura, Kazuki; Watanabe, Tomoki; Toyama, Wataru; Okui, Manabu; Yoshida, Hiroshi; Nakamura, Taro

doi:10.1109/access.2020.2972572

Cited by 12 publications

(4 citation statements)

References 28 publications

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“…The purpose of vibration is to introduce additional forces into the system which counteracts the shear strength of the bulk material [16]. Adaption by a deformable structure includes structures that can be controlled to perform certain movements or deformations in one or more degrees of freedom of which the technology is described in [20][21][22][23]. Adaption based on control system includes sensors and actuators that can provide the necessary actions to take on the mechanism or system caused by the operational conditions of which the technology is described in [24][25][26][27].…”

Section: Categorization Of Adaptabilitymentioning

confidence: 99%

Introducing adaptive mechatronic designs in bulk handling industry

Kol

Jovanova

Mohajeri

et al. 2021

2021 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM)

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The advances of mechatronic system design and system integration have shown improvements in functionality, performance and energy efficiency in many applications across industries, from autonomous ground vehicles and drones to conveyor belts. This trend has been adopted in some industries more than others. The design of equipment to handle granular or bulk material is commonly based on traditional approaches. Therefore, introducing mechatronic concepts in the design procedure can enable new possibilities, such as sensor integration and data analyses, adaptability and control. The efficiency of bulk material handling equipment in ports, agriculture and food processing is heavily influenced by the operational conditions. Typically, a piece of equipment is designed for defined operational conditions when the maximum performance can be achieved. In this work the concept of adaptability to varying operational conditions is explored by understanding the technologies implemented in other industries and the feasibility to be implemented in the bulk handling equipment design. Sensing technology, actuation and adaptability are systematically presented in this work to support the design process of the next generation of bulk handling equipment. This will pave the way for incorporating the technological trends in the design, such as: sustainability, "smartness", Internet of Things, Industry 4.0, digital twin and machine learning. Adaptive mechatronic solutions will play a crucial role in generating and implementing innovative sustainable solutions for bulk handling equipment.

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Section: Categorization Of Adaptabilitymentioning

confidence: 99%

Introducing adaptive mechatronic designs in bulk handling industry

Kol

Jovanova

Mohajeri

et al. 2021

2021 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM)

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“…Burrowing and steering were explored using a robot 29 , 30 with motor-controlled flexible units. Then, its peristaltic wave generation capability was combined with the material removal function of an auger drill further to develop it into an earthworm-inspired robot 21 – 24 for planetary excavation. A robot that fabricates its own body using additive manufacturing, to move in a granular medium was developed using plant roots as a model 25 .…”

Section: Introductionmentioning

confidence: 99%

An earthworm-like modular soft robot for locomotion in multi-terrain environments

Das

Babu

Visentin

et al. 2023

Sci Rep

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Robotic locomotion in subterranean environments is still unsolved, and it requires innovative designs and strategies to overcome the challenges of burrowing and moving in unstructured conditions with high pressure and friction at depths of a few centimeters. Inspired by antagonistic muscle contractions and constant volume coelomic chambers observed in earthworms, we designed and developed a modular soft robot based on a peristaltic soft actuator (PSA). The PSA demonstrates two active configurations from a neutral state by switching the input source between positive and negative pressure. PSA generates a longitudinal force for axial penetration and a radial force for anchorage, through bidirectional deformation of the central bellows-like structure, which demonstrates its versatility and ease of control. The performance of PSA depends on the amount and type of fluid confined in an elastomer chamber, generating different forces and displacements. The assembled robot with five PSA modules enabled to perform peristaltic locomotion in different media. The role of friction was also investigated during experimental locomotion tests by attaching passive scales like earthworm setae to the ventral side of the robot. This study proposes a new method for developing a peristaltic earthworm-like soft robot and provides a better understanding of locomotion in different environments.

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“…They conducted laboratory experiments to demonstrate the excavation performance of the robot in a water tank filled with sample soil and clay. Furthermore, they derived a mathematical model based on a skin friction (Isaka et al, 2020a) and the prototype robot achieved noticeable penetration depth of 0.65 m in a water tank (Isaka et al, 2020b). An underwater sediment‐sampling robot that has a syringe with helical screw blades to penetrate sediments was developed by Bae et al (2016).…”

Section: Introductionmentioning

confidence: 99%

“…Several researchers have designed and developed portable sampling and digging devices for deeper sediment sampling or digging deeper sediments. Although unintended for sediment sampling, an earthworm-like drilling robot with a soil discharging mechanism using water jetting was developed by Isaka et al (2020aIsaka et al ( , 2020b. They conducted laboratory experiments to demonstrate the excavation performance of the robot in a water tank filled with sample soil and clay.…”

Section: Introductionmentioning

confidence: 99%

Sediment penetration performance of a portable underwater robot for core sampling

Sakagami

Kawabata

Yokoi

et al. 2023

Journal of Field Robotics

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As described in this paper, we investigate the sediment penetration performance of a portable underwater robot with a helical screw pipe using marine thrusters with limited force. First, we derive a mathematical model based on an empirical and simple method using the undrained shear strength of cohesive soil to provide a rough estimate of maximum penetration depths. Then, we perform numerical analysis for estimating the maximum depth of sediment penetration and for designing a sampling pipe. Additionally, we use experimentation to investigate the relation between the penetration depth of the helical screw pipe and the force of marine thrusters mounted on the portable underwater robot. After testing the penetration performance in a water tank, we conduct a field experiment at Lake Biwa and obtain results of the penetration depths. The maximum penetration into the lake sediment is at least 0.30 m. The results demonstrated the possibility of using the derived mathematical model to make a rough estimation of the maximum penetration depth for clay sediments. Additionally, we can use non‐powerful thrusters equipped with small autonomous underwater vehicles (AUVs) and remotely operated vehicles (ROVs) for sediment sampling. The proposed method is also applicable for the installation of underwater sensors using small AUVs and ROVs.

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Soil Discharging Mechanism Utilizing Water Jetting to Improve Excavation Depth for Seabed Drilling Explorer

Cited by 12 publications

References 28 publications

Introducing adaptive mechatronic designs in bulk handling industry

Introducing adaptive mechatronic designs in bulk handling industry

An earthworm-like modular soft robot for locomotion in multi-terrain environments

Sediment penetration performance of a portable underwater robot for core sampling

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