A Robot that Swims Through Granular Materials

可以在颗粒材料中游动的机器人

• 批准号: 2780268
• 金额: --
• 依托单位: University of Edinburgh
• 依托单位国家: 英国
• 项目类别: Studentship
• 财政年份: 2027
• 资助国家: 英国
• 起止时间: 2027 至 无数据
• 项目状态: 未结题
• 来源: https://gtr.ukri.org/projects?ref=studentship-2780268
• 关键词: Robot; Swims; Through; Granular; Materials

The Crover is the first small robotic device able to move within bulk grains. It is intended to use on-board sensors to scan cereal grains stored in silos and build a full map of conditions for early detection of infestations leading to grain spoilage. The robot (UK Patent No.2567898) works by using rotating parts to generate flow of the surrounding layer of granular particles that, unlike what would happen in non-granular systems, results in 'lift' forces that propel it through the 'fluidised' layer of granular medium (see video - https://vimeo.com/crover). The behaviour of the Crover strongly depends on local pressure and granular particle properties, so that efficient motion at depth and in different granular media types remains a challenge. Looking further ahead, the company wants to enable the robot to navigate different granular environments, such as sandy seabeds. Crover have therefore teamed up with John Royer and Aidan Brown at Edinburgh University to fully understand the fundamental physics of the Crover's interaction with the granular medium, and to take advantage of this to design the next generation of robots.In this project you will focus on answering the question: What is the fundamental physics underlying the interaction of the Crover (or more generic propulsion mechanisms) with granular materials; how does this vary based on properties such as grain size or shape, the presence of moisture or of an interstitial fluid, e.g. in mud? This will involve systematically investigating the motion of the Crover or other test systems through small-scale lab 'silos' (a grain box in an environmentally controlled chamber), and gaining greater understanding through computer simulation and/or mathematical modelling. The project will involve an industrial placement at Crover Ltd. for 3-6 months, during which you will become fully immersed in the company. Through this project you will develop expertise in granular rheology and associated techniques, and will become part of the very active and multi-disciplinary Soft Matter and Biophysics research institute in Edinburgh Physics.

Crover 是第一个能够在散装谷物中移动的小型机器人设备。它的目的是使用机载传感器扫描储存在筒仓中的谷物，并构建完整的状况图，以便及早发现导致谷物腐败的虫害。该机器人（英国专利号 2567898）的工作原理是使用旋转部件产生周围颗粒层的流动，与非颗粒系统中发生的情况不同，它会产生“升力”，推动其通过“流态化”。颗粒介质层（参见视频 - https://vimeo.com/crover）。 Crover 的行为很大程度上取决于局部压力和颗粒特性，因此在深度和不同颗粒介质类型中的有效运动仍然是一个挑战。展望未来，该公司希望使机器人能够在不同的颗粒环境中导航，例如沙质海底。因此，Crover 与爱丁堡大学的 John Royer 和 Aidan Brown 合作，充分了解 Crover 与颗粒介质相互作用的基本物理原理，并利用这一点来设计下一代机器人。在这个项目中，您将重点关注回答问题：Crover（或更通用的推进机制）与颗粒材料相互作用的基本物理原理是什么？它如何根据颗粒大小或形状、水分或间质液（例如，组织液）的存在等特性而变化。在泥里？这将涉及通过小型实验室“筒仓”（环境控制室中的粮箱）系统地研究 Crover 或其他测试系统的运动，并通过计算机模拟和/或数学建模获得更深入的了解。该项目将涉及在 Crover Ltd. 进行为期 3-6 个月的工业实习，在此期间您将完全融入公司。通过这个项目，您将发展颗粒流变学和相关技术方面的专业知识，并将成为爱丁堡物理学院非常活跃的多学科软物质和生物物理学研究所的一部分。