MEDUSA: A Multi-Environment Dual-Robot for Underwater Sample Acquisition
MEDUSA: A Multi-Environment Dual-Robot for Underwater Sample Acquisition
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DOI：
10.1109/lra.2020.3001534
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发表时间：
2020-06
影响因子：
5.2
通讯作者：
Diego Debruyn;R. Zufferey;S. Armanini;Crystal Winston;A. Farinha;Yufei Jin;M. Kovač
中科院分区：
文献类型：
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作者：
Diego Debruyn;R. Zufferey;S. Armanini;Crystal Winston;A. Farinha;Yufei Jin;M. Kovač
空-水机器人具有在空气和水中作业的独特能力。然而，这种能力带来了巨大的挑战，例如通信不兼容性，增加的空中质量，在每个环境中的潜在低效操作和制造困难。因此，这种机器人通常具有小的有效载荷和有限的操作范围，通常使其现场使用不切实际。我们提出了一种新的机器人水采样方法，它结合了多旋翼和水下微型飞行器的强大技术，成为一个单一的集成工具，可用于现场操作。所提出的解决方案包括一个能够在水面上着陆和漂浮的多旋翼，以及一个可以部署到几米深的系留移动的水下吊舱。吊舱在三维空间中进行远程控制，并通过浮动的多旋翼将视频和传感器数据传输回用户。“双机器人”方法大大简化了机器人水下监测，同时还利用了多旋翼可以长距离飞行、飞越障碍物、携带有效载荷和在困难地形中操纵的事实，而潜水机器人则是水下采样或操纵的理想选择。所提出的系统可以执行具有挑战性的任务，否则需要船只或潜艇。收集水生图像，样本和指标的能力对于生态学和水生研究将是非常宝贵的，支持我们在难以进入的环境中了解当地气候[视频附件：https：//youtu.be/v4xWmEHUSM4]。
Aerial-aquatic robots possess the unique ability of operating in both air and water. However, this capability comes with tremendous challenges, such as communication incompatibility, increased airborne mass, potentially inefficient operation in each of the environments and manufacturing difficulties. Such robots, therefore, typically have small payloads and a limited operational envelope, often making their field usage impractical. We propose a novel robotic water sampling approach that combines the robust technologies of multirotors and underwater micro-vehicles into a single integrated tool usable for field operations. The proposed solution encompasses a multirotor capable of landing and floating on the water, and a tethered mobile underwater pod that can be deployed to depths of several meters. The pod is controlled remotely in three dimensions and transmits video feed and sensor data via the floating multirotor back to the user. The ‘dual-robot’ approach considerably simplifies robotic underwater monitoring, while also taking advantage of the fact that multirotors can travel long distances, fly over obstacles, carry payloads and manoeuvre through difficult terrain, while submersible robots are ideal for underwater sampling or manipulation. The presented system can perform challenging tasks which would otherwise require boats or submarines. The ability to collect aquatic images, samples and metrics will be invaluable for ecology and aquatic research, supporting our understanding of local climate in difficult-to-access environments [Video attachment: https://youtu.be/v4xWmEHUSM4].