A Study of Seismic Robot Actuation Using COMSOL Multiphysics

reportActive / Technical Report | Accession Number: ADA577032 | Open PDF

Abstract:

This project explores seismic actuation using a global vibration field as a means to communicate with and power mesoscale crawling robots. Structures within the robots cause them to respond to particular frequencies with different motion modalities. The robots are steered by controlling the frequencies present in the vibration field. COMSOL Multiphysics was used to investigate the dynamics of motion of the robots. Good matching was observed between experiment and the model when the boundary conditions were set to allow for rocking.

Author(s):
Firebaugh, Samara L. ; Leckie, Elizabeth A. ; Piepmeier, Jenelle A. ; Burkhardt, John A.
Author Organization(s):
NAVAL ACADEMY ANNAPOLIS MD
Descriptive Note:
Conference paper
Supplementary Note:
Presented at the 2010 COMSOL Conference, 7-9 Oct, Boston, MA.
Pagination:
0019

Security Markings

DOCUMENT & CONTEXTUAL SUMMARY

Distribution:
Approved For Public Release
Distribution Statement:
Approved For Public Release; Distribution Is Unlimited.

RECORD

Collection: TR
Identifying Numbers
Monitor Series:
USNA
 Subject Terms
Joint Capability Areas:
JCA_5_Command and Control; JCA_5.3_Planning; JCA_8_Building Partnerships; JCA_6_Net Centric; JCA_8.2_Shape; JCA_1.2.7_Experimentation; JCA_6.1.2_Wireless Transmission
Modernization Areas:
AI and Machine Learning
Communities of Interest:
Autonomy
Descriptor(s):
*COMPUTER PROGRAMMING, *ROBOTS, COMMUNICATION AND RADIO SYSTEMS, SEISMOLOGY, VIBRATION
Field(s)/Group(s):
Computer Programming and Software
Report Date:
2010 Oct 01
Creation Date:
2013 Jun 10