Reconfigurable Underwater Robot (RUR): robot architecture and propulsion technology for maneuverability and water tightness - Journées Drones et Cap' 2023

Advancements in autonomous underwater vehicle (AUV) technology have led to rapid progress in their capabilities. However, despite significant improvements in autonomy, AUVs still face limitations in maneuverability. Enhancing AUV agility—both in terms of maneuverability and speed—would result in greater operational autonomy. The combination of modern computing power and advanced sensor technologies enables sophisticated and precise control based on dynamic models. These developments, when effectively integrated with propulsion and control systems, have the potential to significantly improve AUV agility.

Among recent innovations in propulsion systems, reconfigurable vectorial propulsion stands out as a competitive alternative to biomimetic and bio-inspired approaches, mainly due to its reduced complexity and fewer degrees of freedom to manage. In this system, thrust vectors can be redirected, providing an integrated solution for both propulsion and guidance. This approach has the potential to significantly reduce the total number of thrusters required, as it allows adjustments not only to the intensity of the thrust but also to its direction. Moreover, vector reorientation through mechanisms such as servo motors is typically faster than adjusting propeller speed.

Recent research indicates that watertight, contactless transmission systems using synchronous magnetic couplings offer a reliable solution for building reconfigurable vectorial thrusters, particularly for deep-sea exploration. Robots equipped with such propulsion systems—such as our RUR—will benefit from enhanced autonomous mobility, enabling access to complex missions that are currently performed by human divers or remotely operated vehicles (ROVs).

This project lies at the intersection of service robotics and environmental robotics. Specifically, the RUR will be designed to carry out inspection and maintenance tasks for energy marine renewable (EMR) systems, with a primary focus on offshore wind turbines. The economic viability of offshore wind energy depends heavily on cost-effective maintenance solutions, which remain prohibitively expensive with current methods.