The patent badge is an abbreviated version of the USPTO patent document. The patent badge does contain a link to the full patent document.
The patent badge is an abbreviated version of the USPTO patent document. The patent badge covers the following: Patent number, Date patent was issued, Date patent was filed, Title of the patent, Applicant, Inventor, Assignee, Attorney firm, Primary examiner, Assistant examiner, CPCs, and Abstract. The patent badge does contain a link to the full patent document (in Adobe Acrobat format, aka pdf). To download or print any patent click here.
Patent No.:
Date of Patent:
Aug. 05, 2025
Filed:
Jun. 16, 2021
Florida Atlantic University Board of Trustees, Boca Raton, FL (US);
Erik Engeberg, Boca Raton, FL (US);
FLORIDA ATLANTIC UNIVERSITY BOARD OF TRUSTEES, Boca Raton, FL (US);
Abstract
An underwater robot apparatus that is capable of omnidirectional lateral movement using Bluetooth, depth, temperature, and light sensors for monitoring the marine environment. The apparatus is an adaptive, three-axis control soft robotic apparatus embedded with sensors and can swim in three dimensions to record aquatic life. An adaptive controller within the soft robotic apparatus produces positive upward motion despite its negative buoyancy and additional pressure vessel mass. A submersible impellor pump is connected to each actuator grouping wherein propulsion is created by filling and emptying of nine tentacles with surrounding ambient water. The apparatus produces maximum thrust using a full stroke actuation scheme at a frequency of 0.3 Hz. In addition to upward motion, the apparatus effects lateral motion utilizing two of three sets of actuator groups for more complex travel. An onboard pressure sensor coupled with the adaptive controller, allows the apparatus to autonomously hold to a predetermined depth.