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dc.contributor.authorDorsch, Daniel S.
dc.contributor.authorWinter, Amos
dc.date.accessioned2015-08-26T16:47:37Z
dc.date.available2015-08-26T16:47:37Z
dc.date.issued2014-08
dc.identifier.isbn978-0-7918-4636-0
dc.identifier.urihttp://hdl.handle.net/1721.1/98251
dc.description.abstractThe Atlantic razor clam (Ensis directus) burrows by contracting its valves, fluidizing the surrounding soil and reducing burrowing drag. Moving through a fluidized, rather than static, soil requires energy that scales linearly with depth, rather than depth squared. In addition to providing an advantage for the animal, localized fluidization may provide significant value to engineering applications such as vehicle anchoring and underwater pipe installation. This paper presents the design of a self-actuated, radially expanding burrowing mechanism that utilizes E. directus’ burrowing methods. The device is sized to be a platform for an anchoring system for autonomous underwater vehicles. Scaling relationships presented allow for design of burrowing systems of different sizes for a variety of applications. The minimum contraction time for a given device size governs how quickly the device must move. Contraction displacement necessary to achieve fluidization is presented. The maximum force for a given size mechanism is also calculated, and allows for sizing actuators for different systems. This paper presents the design of a system that will allow testing of these parameters in a laboratory setting. These relationships provide the optimal sizing and power needs for various size subsea borrowing systems.en_US
dc.description.sponsorshipNational Science Foundation (U.S.). Graduate Research Fellowship (Grant 1122374)en_US
dc.description.sponsorshipBluefin Roboticsen_US
dc.language.isoen_US
dc.publisherASME Internationalen_US
dc.relation.isversionofhttp://dx.doi.org/10.1115/DETC2014-34953en_US
dc.rightsCreative Commons Attribution-Noncommercial-Share Alikeen_US
dc.rights.urihttp://creativecommons.org/licenses/by-nc-sa/4.0/en_US
dc.sourceProf. Winter via Angie Locknaren_US
dc.titleDesign of a Low Energy, Self Contained Subsea Burrowing Robot Based on Localized Fluidization Exhibited by Atlantic Razor Clamsen_US
dc.typeArticleen_US
dc.identifier.citationDorsch, Daniel S., and Amos G. Winter. “Design of a Low Energy, Self Contained Subsea Burrowing Robot Based on Localized Fluidization Exhibited by Atlantic Razor Clams.” Volume 5A: 38th Mechanisms and Robotics Conference (August 17, 2014).en_US
dc.contributor.departmentMassachusetts Institute of Technology. Department of Mechanical Engineeringen_US
dc.contributor.mitauthorDorsch, Daniel S.en_US
dc.contributor.mitauthorWinter, Amosen_US
dc.relation.journalVolume 5A: 38th Mechanisms and Robotics Conferenceen_US
dc.eprint.versionAuthor's final manuscripten_US
dc.type.urihttp://purl.org/eprint/type/ConferencePaperen_US
eprint.statushttp://purl.org/eprint/status/NonPeerRevieweden_US
dspace.orderedauthorsDorsch, Daniel S.; Winter, Amos G.en_US
dc.identifier.orcidhttps://orcid.org/0000-0002-4151-0889
dc.identifier.orcidhttps://orcid.org/0000-0001-9233-2245
mit.licenseOPEN_ACCESS_POLICYen_US


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