Bio-inspired Active Wireless Underground Sensor Networks Enabled by Self-burrowing Robots

Some subterranean animals, such as mole-rats, can burrow underground, sense the environment around them, and communicate with each other. Inspired by the mole-rats, this dissertation is dedicated to developing an active wireless underground sensor network (WUSN) for active underground exploration. Special attention is paid to two key functions: wireless underground data transmission, and underground self-burrowing. In this study, a wireless underground communication system based on seismic waves was developed. The system includes a bio-inspired vibrational source, an accelerometer as the receiver, and a set of algorithms for encoding and decoding information. With the current design, a maximum transmission bit rate of 16–17 bits per second and a transmission distance of 80 cm is achieved. The transmission range is limited by the size of container used in the laboratory experiments. The bit error ratio is as low as 0.1%, demonstrating the robustness of the algorithms. The performance of the developed system shows that seismic waves produced by vibration can be used as an information carrier and can potentially be implemented in the active WUSNs. A minimalistic horizontal self-burrowing robot was designed. The robot mainly consists of a tip (flat, cone, or auger), and a pair of cylindrical parts. The robot can achieve extension-contraction with the utilization of a linear actuator and have options for tip rotation with an embedded gear motor. Using a combined numerical simulation and laboratory testing approach, symmetry-breaking is validated to be the key to underground burrowing. The resistance-displacement curves during the extension-contraction cycles of the robot can be used to quantify the overall effect of asymmetries and estimate the burrowing behavior of the robots. Findings from this research shed light on the future development of self-burrowing robots and active WUSNs.