Smooth, spheroidal, appendage free underwater robot capable of 5 dof motions

Abstract

An underwater robot includes a body including a first end, and a second end, opposite the first end, and first and second actuation units positioned inside the body. Each actuation unit includes a pump and two valves connected to the pump. The first and second actuation units generate jets of fluid that are discharged through the first and second ends to propel the underwater robot, and the first and second ends are smooth.

What is claimed is: 
     
         1 . An underwater robot comprising:
 a body comprising a first end, and a second end, opposite the first end; and   first and second actuation units positioned inside the body, each actuation unit comprising a pump and two valves coupled to the pump,   wherein the first and second actuation units generate jets of fluid that are discharged through the first and second ends to propel the underwater robot, and   wherein the first and second ends are smooth.   
     
     
         2 . The underwater robot of  claim 1  wherein each pump of the first and second actuation units comprises:
 a first exit port; and 
 a second exit port, wherein an angle between the first and second exit ports is 90 degrees. 
 
     
     
         3 . The underwater robot of  claim 1  wherein each pump of the first and second actuation units comprises a centrifugal pump. 
     
     
         4 . The underwater robot of  claim 1  wherein each of the two valves coupled to each pump of the first and second actuation units comprises a Coanda effect valve. 
     
     
         5 . The underwater robot of  claim 1  wherein the first and second ends do not include an appendage. 
     
     
         6 . The underwater robot of  claim 1  wherein the first and second ends do not include a fin. 
     
     
         7 . The underwater robot of  claim 1  wherein a shape of the first end is the same as a shape of the second end. 
     
     
         8 . The underwater robot of  claim 1  wherein a shape of the body comprises a spheroid. 
     
     
         9 . The underwater robot of  claim 1  comprising:
 a camera positioned inside the body. 
 
     
     
         10 . A underwater robot comprising:
 a body having a shape of a spheroid and comprising a first end, and a second end, opposite the first end;   a first actuation unit to propel the underwater robot, the first actuation unit being positioned inside the body and including:
 a first pump having a first outlet, and a second outlet; 
 a first valve coupled to the first outlet of the first pump; and 
 a second valve coupled to the second outlet of the first pump; and, 
   a second actuation unit to propel the underwater robot, the second actuation unit being positioned inside the body and including:
 a second pump having a third outlet, and a fourth outlet; 
 a third valve coupled to the third outlet of the second pump; and 
 a fourth valve coupled to the fourth outlet of the second pump, wherein an angle between the first and second outlets of the first pump is 90 degrees, and an angle between the third and fourth outlets of the second pump is 90 degrees. 
   
     
     
         11 . The underwater robot of  claim 10  wherein the first and second ends do not include a fin. 
     
     
         12 . The underwater robot of  claim 10  wherein the first and second ends are smooth surfaces. 
     
     
         13 . The underwater robot of  claim 10  wherein a length of the body is about 146 millimeters and a width of the body is about 108 millimeters. 
     
     
         14 . The underwater robot of  claim 10  wherein the first and second ends are symmetrical. 
     
     
         15 . A method comprising:
 placing a robot in water, wherein the robot comprises first and second actuation units to propel the robot through the water, each actuation unit including a pump having two outlets 90 degrees apart, and a valve coupled to each of the two outlets of the pump;   maneuvering the robot via at least one of the first or second actuation units in a surge motion;   maneuvering the robot via at least one of the first or second actuation units in a sway motion;   maneuvering the robot via at least one of the first or second actuation units in a heave motion;   maneuvering the robot via at least one of the first or second actuation units in a pitch motion; and   maneuvering the robot via at least one of the first or second actuation units in a yaw motion.   
     
     
         16 . The method of  claim 15  wherein the surge motion is unaccompanied by the sway, heave, pitch, and yaw motions. 
     
     
         17 . The method of  claim 15  wherein the sway motion is unaccompanied by the surge, heave, pitch, and yaw motions. 
     
     
         18 . The method of  claim 15  wherein the heave motion is unaccompanied by the surge, sway, pitch, and yaw motions. 
     
     
         19 . The method of  claim 15  wherein the pitch motion is unaccompanied by the surge, sway, heave, and yaw motions. 
     
     
         20 . The method of  claim 15  wherein the yaw motion is unaccompanied by the surge, sway, heave, and pitch motions. 
     
     
         21 . The method of  claim 15  wherein a shape of the robot comprises a spheroid. 
     
     
         22 . The method of  claim 15  wherein the robot does not include external propellers.