SurfAAV: Design and Implementation of a Novel Multimodal Surfing Aquatic-Aerial Vehicle (2506.15450v1)

Abstract: Despite significant advancements in the research of aquatic-aerial robots, existing configurations struggle to efficiently perform underwater, surface, and aerial movement simultaneously. In this paper, we propose a novel multimodal surfing aquatic-aerial vehicle, SurfAAV, which efficiently integrates underwater navigation, surface gliding, and aerial flying capabilities. Thanks to the design of the novel differential thrust vectoring hydrofoil, SurfAAV can achieve efficient surface gliding and underwater navigation without the need for a buoyancy adjustment system. This design provides flexible operational capabilities for both surface and underwater tasks, enabling the robot to quickly carry out underwater monitoring activities. Additionally, when it is necessary to reach another water body, SurfAAV can switch to aerial mode through a gliding takeoff, flying to the target water area to perform corresponding tasks. The main contribution of this letter lies in proposing a new solution for underwater, surface, and aerial movement, designing a novel hybrid prototype concept, developing the required control laws, and validating the robot's ability to successfully perform surface gliding and gliding takeoff. SurfAAV achieves a maximum surface gliding speed of 7.96 m/s and a maximum underwater speed of 3.1 m/s. The prototype's surface gliding maneuverability and underwater cruising maneuverability both exceed those of existing aquatic-aerial vehicles.

Overview of "SurfAAV: Design and Implementation of a Novel Multimodal Surfing Aquatic-Aerial Vehicle"

The paper "SurfAAV: Design and Implementation of a Novel Multimodal Surfing Aquatic-Aerial Vehicle" introduces SurfAAV, a unique multimodal vehicle engineered to navigate aquatic and aerial environments efficiently. Unlike traditional aquatic-aerial configurations, SurfAAV combines underwater cruising, surface gliding, and aerial flight, thus offering enhanced maneuverability and flexibility. This paper explores the design specifics, control mechanisms, and experimental validations that underline SurfAAV's capabilities.

Key Design Contributions

SurfAAV's standout feature is its differential thrust vectoring hydrofoil, which distinguishes it from existing unmanned aquatic-aerial vehicles (UAAVs). This device omits the need for a buoyancy adjustment system, simplifying the design while enhancing operational functionality across different mediums. The hybrid design integrates functionalities akin to hydrofoil boats, unmanned underwater vehicles (UUVs), and fixed-wing aircraft, enabling SurfAAV to transition seamlessly between underwater, surface, and aerial operations.

Performance Metrics

The vehicle achieves notable performance metrics, boasting a maximum surface gliding speed of 7.96 m/s and reaching up to 3.1 m/s underwater. These velocities surpass many existing prototypes on record, including those documented in the referenced comparative performance tables within the paper. Moreover, the vehicle's stability in flight mode is supported by computational fluid dynamics (CFD) simulations, which confirm optimal aerodynamic efficiency at a lift-to-drag ratio of 7.02.

Novel Control Methodologies

The paper describes a multifaceted control system that facilitates mode transitions—specifically, switching between gliding and flight. Control strategies in SurfAAV are divided across various operational stages, employing different algorithms such as depth control during underwater navigation. Algorithms achieve depth maintenance and maneuverability by adjusting thrust vectoring and taking advantage of hydrofoil dynamics. Such precise control over altitude and positional stability is instrumental for robust multi-domain operations.

Experimental Validation

Experimental validation further corroborates the theoretical framework. Trials conducted demonstrate successful transitions from air to water and vice versa, emphasizing the SurfAAV's practical applications in diverse environments. Observations during these trials highlight the vehicle’s stability and maneuverability across different operating phases, maintaining pre-set navigational depths effectively through the integrated control systems.

Implications and Future Work

The practical implications of SurfAAV are manifold, primarily augmenting capabilities in areas such as environmental monitoring and search-and-rescue missions by enabling real-time, comprehensive 3D monitoring of aquatic environments. Additionally, SurfAAV addresses limitations inherent in multi-robot solutions, presenting an integrated platform that optimizes deployment speed and mission efficiency.

The paper outlines potential areas for future research, focusing on the development of a hybrid control framework for improved autonomy of control systems and exploration of solutions for glide landings to minimize entry-impact and equipment wear. Additionally, there is an active interest in sensor technology optimization, specifically tailored for underwater velocity estimation, to enhance the vehicle's operational precision.

In closing, the study presents a sophisticated amalgamation of design innovation and control logic, contributing substantially to the field of aquatic-aerial robotics. SurfAAV not only broadens applications in the robotic domain but also sets a precedent for future developments in the synthesis of multi-modal vehicle capabilities.