Sensing sediment properties with soft robotic worms
Abstract
Approved for Public ReleaseSensing sediment properties with soft robotic wormsProject AbstractThe aim of the proposed work is to help design relevant sensing for robotic worms to assess the geotechnical and geochemical properties of sediments that are relevant for Naval interests. Specifically, the proposed work will help define how motions, appendages, or on-board sensors could be best utilizedfor geotechnical property measurements. To help assess the costs and benefits of miniaturizing these robots, measurements of geotechnical properties of sediments will be used to calculate the work required for burrowers of different sizes to reach depths in sediments. Experiments on the relationship betweenorganic matter and geotechnical properties will allow for inferences about organic matter in sediments from data collected by simple mechanical actions and pressure or force sensors in robots. Since robots that operate hydraulically are a promising strategy of burrowing, we will explore the possibilities formeasuring geotechnical and geochemical properties through hydraulic injection of air or water from the robot. This work will be done in collaboration with roboticists and will be evaluated and modified as needed to achieve the overarching goal of using soft robots to sense sediment properties that are relevant to Naval interests.
Document Details
- Document Type
- DoD Grant Award
- Publication Date
- May 08, 2020
- Source ID
- N000142012377
Entities
People
- Kelly M. Dorgan
Organizations
- Office of Naval Research
- United States Navy