Report on Current Developments in Submersible Microrobotics
General Direction of the Field
The field of submersible microrobotics is witnessing significant advancements, particularly in the development of low-power actuators, bioinspired propulsion mechanisms, and adaptive control systems. Researchers are focusing on creating autonomous and controllable microswimmers that can operate efficiently in complex aquatic environments. The integration of novel actuation technologies, such as shape-memory alloy (SMA) based systems, is enabling the design of smaller, lighter, and more energy-efficient microrobots. Additionally, there is a growing emphasis on bioinspired designs that mimic the locomotion of aquatic organisms, enhancing the robots' maneuverability and efficiency in underwater settings.
Advancements in control systems are also playing a crucial role, with reinforcement learning and neural network-based approaches being explored to enable adaptive and robust control of autonomous underwater vehicles (AUVs). These techniques are addressing the challenges posed by complex hydrodynamic forces and varying environmental conditions, allowing for more agile and versatile microrobotic systems.
Noteworthy Innovations
Low-Power SMA-Based Actuators: The development of a 13-mg SMA-based actuator that operates efficiently in both air and water is a significant breakthrough, potentially enabling fully autonomous submersible microswimmers.
Bioinspired Underwater Propulsion: The FRISSHBot, inspired by carangiformes, represents a novel approach to underwater propulsion, leveraging fluid-structure interaction to achieve high speeds in a lightweight design.
Adaptive Control Systems: The use of reinforcement learning for 6-DOF control of AUVs demonstrates a promising approach to handling the complexities of underwater dynamics, offering robust control without the need for frequent re-tuning.
Neural ODEs for Hydrodynamic Modeling: The application of Neural ODEs to model and adapt to complex hydrodynamic conditions is a notable innovation, enhancing the adaptive capabilities of amphibious quadruped robots in dynamic underwater environments.
These advancements collectively push the boundaries of what is possible in submersible microrobotics, paving the way for more autonomous, efficient, and versatile underwater systems.
