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Alia Gilbert

Hometown: Tucson, Arizona | Graduation Date: Spring 2020
Engineering (Robotics)

Vertical Control for Underwater Robotics

Mentor: Daniel Aukes
FURI: Spring 2019

Underwater lateral robotic manipulation is used for multidimensional maneuverability for underwater vehicles. Bio-inspired mechanisms were built and tested for buoyancy and lateral position control for an underwater robot. To create a natural buoyancy within the robot, we built fish-like bladders, using air pockets to lower the density. Ballasts displace water between the surrounding water and a containment chamber inside the robot to allowing lateral maneuverability. The ballast is controlled using a PID control meant to control the buoyancy relative to the depth of the water and the center of mass.

Other Projects

Lateral Control of Underwater Robot

Mentor: Daniel Aukes
FURI: Fall 2018

Underwater lateral robotic manipulation is used for multidimensional maneuverability for underwater vehicles. Bio-inspired mechanisms were built and tested for buoyancy and lateral position control for an underwater robot. To create a natural buoyancy within the robot, the researchers built fish-like bladders, using air pockets to lower the density. Ballasts displace water between the surrounding water and a containment chamber inside the robot to allow lateral maneuverability. Using the combination of bladders and ballast, the researchers can refine and manage lateral control for underwater robots, allowing for cheaper and more manageable designs.