Formation Learning Control of Multiple Autonomous Underwater Vehicles With Heterogeneous Nonlinear Uncertain Dynamics.

In this paper, a new concept of formation learning control is introduced to the field of formation control of multiple autonomous underwater vehicles (AUVs), which specifies a joint objective of distributed formation tracking control and learning/identification of nonlinear uncertain AUV dynamics. A novel two-layer distributed formation learning control scheme is proposed, which consists of an upper-layer distributed adaptive observer and a lower-layer decentralized deterministic learning controller. This new formation learning control scheme advances existing techniques in three important ways: 1) the multi-AUV system under consideration has heterogeneous nonlinear uncertain dynamics; 2) the formation learning control protocol can be designed and implemented by each local AUV agent in a fully distributed fashion without using any global information; and 3) in addition to the formation control performance, the distributed control protocol is also capable of accurately identifying the AUVs' heterogeneous nonlinear uncertain dynamics and utilizing experiences to improve formation control performance. Extensive simulations have been conducted to demonstrate the effectiveness of the proposed results.

Stronger at Depth: Jamming Grippers as Deep Sea Sampling Tools.

In this work we experimentally demonstrate (a) that the holding strength of universal jamming grippers increases as a function of the jamming pressure to greater than three atmospheres, and (b) that jamming grippers can be operated in the deep sea in ambient pressures exceeding one hundred atmospheres, where such high jamming pressures can be readily achieved. Laboratory experiments in a pressurized, water-filled test cell are used to measure the holding force of a "universal" style jamming gripper as a function of the pressure difference between internal membrane pressure and ambient pressure. Experiments at sea are used to demonstrate that jamming grippers can be installed on, and operated from, remotely operated vehicles at depths in excess of 1200 m. In both experiments, the jamming gripper consists of a latex balloon filled with a mixture of fresh water and ∼200 µm glass beads, which are cheaply available in large quantities as sand blasting media. The use of a liquid, rather than a gas, as the fluid media allows operation of the gripper with a closed-loop fluid system; jamming pressure is controlled with an electrically driven water hydraulic cylinder in the laboratory and with an oil hydraulic-driven large-bore water hydraulic cylinder at sea.

Rolling and pitching oscillating foil propulsion in ground effect.

In this paper, we investigate the effect of operating near a solid boundary on the forces produced by harmonically oscillating thrust-generating foils. A rolling and pitching foil was towed in a freshwater tank in a series of experiments with varying kinematics. Hydrodynamic forces and torques were measured in the freestream and at varying distances from a solid boundary, and changes in mean lift and thrust were found when the foil approached the boundary. The magnitude of this ground effect exhibited a strong nonlinear dependence on the distance between the foil and the boundary. Significant effects were found within three chord lengths of the boundary, and ground effect can be induced at greater distances from the boundary by biasing the tip of the foil toward the boundary. Lift coefficients changed by as much as [Formula: see text] at the closest approach to the ground, with changes [Formula: see text] [Formula: see text] for all cases across Strouhal numbers ranging from [Formula: see text] to [Formula: see text], and nominal maximum angle of attack ranging from [Formula: see text] to [Formula: see text]. The ubiquity of the ground effect in high thrust kinematics suggests that the ground effect can provide a passive obstacle avoidance capability for foil propelled vehicles. By comparison with previous experimental work, we find that the ground effect experienced by a high-aspect ratio rolling and pitching foil is a fully three-dimensional phenomenon, as it is not accurately predicted when two-dimensional flow and/or two-dimensional kinematics are enforced. While two-dimensional foil kinematics are more easily modeled for numerical studies, three-dimensional foil kinematics may be more practical for real world implementation in underwater vehicles.

Soft Robotic Grippers for Biological Sampling on Deep Reefs.

This article presents the development of an underwater gripper that utilizes soft robotics technology to delicately manipulate and sample fragile species on the deep reef. Existing solutions for deep sea robotic manipulation have historically been driven by the oil industry, resulting in destructive interactions with undersea life. Soft material robotics relies on compliant materials that are inherently impedance matched to natural environments and to soft or fragile organisms. We demonstrate design principles for soft robot end effectors, bench-top characterization of their grasping performance, and conclude by describing in situ testing at mesophotic depths. The result is the first use of soft robotics in the deep sea for the nondestructive sampling of benthic fauna.