Multi-actuated AUV body for windfarm inspection : lessons from the bio-inspired RoboFish field trials

Wright, Marvin and Gorma, Weal and Luo, Yang and Post, Mark and Xiao, Qing and Durrant, Andrew; (2020) Multi-actuated AUV body for windfarm inspection : lessons from the bio-inspired RoboFish field trials. In: 2020 IEEE/OES Autonomous Underwater Vehicles Symposium (AUV). IEEE, CAN. ISBN 9781728187587

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    Abstract

    An innovative magnetic joint design has been developed as part of the construction of a bio-inspired Autonomous Underwater Vehicle (AUV) for wind farm inspection. This paper presents our design solutions for a jointed watertight AUV body made using current 3D printing techniques to achieves water tightness and resilient composite metal-polymer bonding.The design avoids dynamic interfaces and the need for rotary seals yet achieves robustness and strength. Test results prove a successful implementation of the magnetic connection between a freely rotating inner shaft and a driven outer shaft in a fish-like jointed AUV body.

    ORCID iDs

    Wright, Marvin, Gorma, Weal, Luo, Yang ORCID logoORCID: https://orcid.org/0000-0001-7875-6842, Post, Mark, Xiao, Qing ORCID logoORCID: https://orcid.org/0000-0001-8512-5299 and Durrant, Andrew;