Aerial-aquatic robots: adaptive & multi-part designs (II) - 9 Flashcards
Explain the basic concept of using a dual-speed gearbox to improve the trade-off between aerial and
aquatic performance
The basic concept of using a dual-speed gearbox to improve the trade-off between aerial and aquatic performance is to use two different gear ratios for aerial and aquatic operations. This allows for optimization of propeller speed in both environments, leading to improved efficiency and performance.
Explain the basic concept of using a dual-speed gearbox to improve the trade-off between aerial and aquatic performance
The basic concept of using a dual-speed gearbox to improve the trade-off between aerial and aquatic performance is to use two different gear ratios for aerial and aquatic operations. This allows for optimization of propeller speed in both environments, leading to improved efficiency and performance.
What trade-offs are involved in designing UAAVs that fly and move on the water surface?
The trade-offs involved in designing UAAVs that fly and move on the water surface include the need to balance the requirements for efficient flight and water surface locomotion. This involves considerations such as hull design for water resistance and take-off, wing design for flight efficiency and sailing, and the challenges are small scale, no keel, rigid, cambered sails, and large roll moments in flight.
What forces act during water surface locomotion?
The forces acting during water surface locomotion include weight and buoyancy (hydrostatics), gravity, lift, drag, force from the rudder and hull, sails, and propeller thrust.
What is hydroplaning and why is it helpful for UAAVs?
Hydroplaning is a phenomenon where a UAAV skims over the water surface without sinking the robot speeds up, generating a wave. When the wave length is»_space;> body length, hydroplaning is achieved. It is helpful for UAAVs as it reduces drag and allows for efficient movement on the water surface, facilitating take-off.
Give two examples of how wing folding can be used to facilitate aerial-aquatic mobility.
Two examples of how wing folding can be used to facilitate aerial-aquatic mobility include: (i) Wing folding can be used to initiate a passive dive by reducing the air resistance and allowing the UAAV to sink into the water. (ii) Wing folding can also be used for in-flight pitch control, helping to stabilize the UAAV during flight.
What are some of the advantages and drawbacks of morphology adaptation as a UAAV design
strategy?
The advantages of morphology adaptation as a UAAV design strategy include improved efficiency through adaptive morphology for diving and sailing, and the use of multifunctional components that reduce added weight. However, the drawbacks include higher mass, higher complexity, and a trade-off in performance.
Explain the concept of symbiotic dual robots. How can this concept be exploited for UAAV design?
The concept of symbiotic dual robots involves a mutually beneficial interaction between two different robots, similar to symbiosis in nature. This concept can be exploited for UAAV design by having one robot perform one function (e.g., flying) while the other performs a different function (e.g., underwater operations). This allows each robot to specialize in its function, improving overall performance.
How does buoyancy control via a soft bladder work?
Buoyancy control via a soft bladder works by adjusting the volume of the bladder, similar to a fish’s swim bladder. The bladder can contract and expand depending on the surrounding pressure, allowing the UAAV to adjust its buoyancy. The buoyancy control system uses two pressure sensors and a pump to adjust the pressure inside the bladder, thereby controlling the depth of the UAAV.
What are the benefits of aerial-aquatic operation via a tethered pod?
The benefits of aerial-aquatic operation via a tethered pod include long-endurance missions, accurate and nimble underwater maneuvering, and the ability to retrieve the pod if it fails. However, the range is limited by the tether length, and a long tether may tangle or break. Large waves can also be problematic.
