@inproceedings{adc6a1a44f25412d821d2cb5e747201d,
title = "Multi-actuated AUV Body for Windfarm Inspection: Lessons from the Bio-inspired RoboFish Field Trials",
abstract = "An innovative magnetic joint design has been developed as part of the construction of a bio-inspired Autonomous Underwater Vehicle (AUV) for wind farm inspection. This paper presents our design solutions for a jointed watertight AUV body made using current 3D printing techniques to achieves watertightness and resilient composite metal-polymer bonding. The design avoids dynamic interfaces and the need for rotary seals yet achieves robustness and strength. Test results prove a successful implementation of the magnetic connection between a freely rotating inner shaft and a driven outer shaft in a fish-like jointed AUV body. ",
keywords = "3D Printing, AUV, Magnetic Joint, Robotic-Fish",
author = "Marvin Wright and Wael Gorma and Yang Luo and Mark Post and Qing Xiao and Andrew Durrant",
note = "Funding Information: This work is supported by the UK Engineering and Physical Sciences Research Council (EPSRC) Supergen ORE Hub Flexible Fund Programme Funding Information: ACKNOWLEDGMENTS This research was made possible by an EPSRC Super-gen ORE Hub Flexible Fund Program Grant ”Autonomous Biomimetic Robot-fish for Offshore Wind Farm Inspection” EPSRC grant number EP/S000747/1. The Authors acknowledge the additional generous support provided by PicSea Ltd, East Coast Oil and Gas Engineering Ltd, and the UK Offshore Renewable Energy Catapult. The support of the White Rose Collaboration Fund is also acknowledged for bringing together expertise from the Universities of Leeds, Sheffield, and York that directly benefits this project and future AUVs. Publisher Copyright: {\textcopyright} 2020 IEEE.; 2020 IEEE/OES Autonomous Underwater Vehicles Symposium, AUV 2020 ; Conference date: 30-09-2020 Through 02-10-2020",
year = "2020",
month = sep,
day = "30",
doi = "10.1109/AUV50043.2020.9267931",
language = "English",
series = "2020 IEEE/OES Autonomous Underwater Vehicles Symposium, AUV 2020",
publisher = "Institute of Electrical and Electronics Engineers (IEEE)",
booktitle = "2020 IEEE/OES Autonomous Underwater Vehicles Symposium, AUV 2020",
address = "United States",
}