PRE2019 3 Group9

Group members

Name	Study	Student Number
Nick Reniers	Technische Wiskunde	1258362
Jankatiri Boon	Werktuigbouwkunde	1003254
Milan Hutten	Software Science	0997241
Mendel van der Vleuten	Technische Wiskunde
Ferenc	Werktuigbouwkunde

Problem statement

Animal researchers are unable to effectively gather data of subterranean species without destroying their burrows or tunnel systems.

Users

Researchers of subterranean animals or underground tunnel systems

Requirements

The robot should be able to:

• Safely and autonomously navigate the specified underground systems
• Map these systems adequately
• Be able to return to the user after completing its tasks

Approach

We approach the problem in a very practical manner, we opt to create a robot that autonomously investigates underground tunnels and maps them. We first make a selection of subterranean animals for which we can map their corresponding burrows, and then research details of these animals and underground systems as to prepare a robot that can safely navigate them

Objectives and milestones

• Make a selection of animals for which it is feasible to construct a robot that navigates their burrows
• Research the animals specified in the first milestone and their corresponding underground systems
• Make a construction plan for a robot that could navigate said tunnels adequately
• Prepare software for path finding in burrowss
• Prepare software for mapping the underground systems
• Construct the robot
• Validate the workings of the robot and summarize our findings

State-of-the-art

A robotics-oriented taxonomy of how ethologists characterize the traversability of animal environments surveys 21 studies of how ethologists characterize the environments through which animals traverse and groups the found characteristics into three broad catergories: local navigational constraints, surface properties, and global layout properties. From these the article makes four recommendations to aid roboticists in selecting a suitable robot for particular environments, building testbeds for the testing and comparing of robots and the collection of data about an environment.

Burrowing rescue robot referring to a mole's shoveling motion proposes an novel inspecting robot designed to inspect survivors at landslide disaster sites. Its proposed propulsion method is inspired by the shoveling motion of a mole.

Deformable Octahedron Burrowing Robot explores the use of a deformable octahedron robot for the autonomous exploration of complex confined spaces. Unlike most other robots, it is able to adapt its shape to better traverse intricate sections of cavities.

Soft Robotic Burrowing Device with Tip-Extension and Granular Fluidization proposes a soft robotic device that burrows through dry sand, leveraging the principles of both tip-extension and granular fluidization.

A Remote Operated Multi-Tracked Vehicle for Subterranean Exploration of Gopher Tortoise Burrows discusses a topic closely related to the one discussed on this page. This article describes a remotely operated vehicle designed to survey and investigate gopher turtoise burrows for the estimation of populations.

CRABOT: A Biomimetic Burrowing Robot Designed for Underground Chemical Source Location describes a prototype burrowing robot called CRABOT developed to help find leaks in undergroud piplines transporting chemicals.

Cockroaches traverse crevices, crawl rapidly in confined spaces, and inspire a soft, legged robot explains how cockroaches way of traversing small crevices support a model of a new unexplored mode of locomotion "body-friction legged crawling" which could be applied in robotics.

Towards a Mobile Mapping Robot for Underground Mines describes a robot platform which can help construct 3D environment underground mappings.

Development of Search-and-rescue Robots for Underground Coal Mine Applications describes the design and development of a coal mine rescue robot which can be used as a reference.

Autonomous Robotic Monitoring of Underground Cable Systems investigates the possibility of autonomous robotic mobile platforms for monitoring infrastructures

PATH FINDING - Dijkstra’s and A* Algorithm’s summarizes and elaborates on famous path finding algorithms

A shortest-path algorithm for solving the fleet management problem in underground mines uses a shortest path algorithm to manage and schedule underground infrastructure

A Robotic System for Underground Coal Mining "describes a system that automates a continuous miner, enabling it to maneuver in highly constrained environments..."

An underground explorer robot based on peristaltic crawling of earthworms takes inspiration from the earthworm to develop a robot that uses peristaltic crawling which is useful for underground exploration

Effort Table

Name	Total	Break-down
Nick Reniers	7	Introduction lecture (2h), Meeting discussing subject (2h), Studying papers and editing wiki(3h)
Jankatiri Boon
Milan Hutten	7.5	Introduction lecture (2h), Meeting discussing subject (2h), Studied papers (3.5h)
Mendel van der Vleuten
Ferenc