Design and demonstration of a seabird-inspired fixed-wing hybrid UAV-UUV system

Abstract

This paper looks to the natural world for solutions to many of the challenges associated with the design of fixed-wing cross-domain vehicles. One example is the common murre, a seabird that flies from nesting locations to feeding areas, dives underwater to catch prey and returns. This hunting expedition provides an outline of a possible mission for a cross-domain vehicle. While the challenges of cross-domain vehicles are many, the focus of this paper was on buoyancy management and propulsion. Potential solutions to each challenge, inspired by multiple animals that cross between aerial and underwater domains, are investigated. From these solutions, three design concepts are considered, a quadrotor/fixed-wing hybrid, a vertical takeoff and landing (VTOL) tailsitter aircraft, and a waterjet-assisted takeoff vehicle. A comparison was made between the capability of each concept to complete two missions based on the common murres' hunting expedition. As a result of this comparison, the VTOL tailsitter design was selected for further study. In-depth design was conducted and a prototype vehicle was built. The completed vehicle prototype successfully conducted submerged operation as well as four air flights. Flights consisted of egress from water, flight in air, ingress into water in each flight, and water locomotion. A total of 11 min, 23 s of flight time was recorded as well as underwater swims down to 12 ft (3.7 m) below the surface.

Modelling and simulation of a bioinspired aquatic micro aerial vehicle

“…Several prototypes of such hybrid vehicles have been developed 5, 10-17 -many of these demonstrate single design concepts or partial aerial-aquatic capabilities , with only some demonstrating the full mission spectrum on a prototype. [14][15][16] Nonetheless, even the latter do not yet demonstrate a fully functional, controlled and automated vehicle capable of efficiently performing full missions. Building on the considerable design research available, the next step towards the complete realisation of such vehicles is to improve the control and navigation aspect, allowing for automated, safe and eventually autonomous operation.…”

Towards Fully Autonomous UAVs: A Survey

“…This type is still under development due to its complex dynamics and anticipated power problems [ 32 ]. Recently, new bio-inspired hybrid unmanned vehicles have also been proposed to handle navigation in different domains such as underwater-aerial vehicles [ 41 , 42 , 43 ] and aerial-ground vehicles [ 44 , 45 , 46 , 47 , 48 ].…”

Dipper: A Dynamically Transitioning Aerial-Aquatic Unmanned Vehicle

“…Hollow wings that drain during climbout provide near-neutral buoyancy underwater. A prior version of the EagleRay platform contains an independent propulsion system for water and air operation [12]. The system includes two motors, each with a separate electronic speed controller (ESC), which propel an underwater screw in the back and an aerial propeller in the front.…”