GECCO: Gecko-gripper for EOD with Cavitation Cleaning Operation

The objective of the Phase I proposal is to investigate the application of controlled cavitation cleaning technology in conjunction with gecko-inspired mechanical adhesion and soft elastomeric applicators for use in non-intrusive EOD operations. This investigation requires the proof-of-concept testing and validation of a controlled cavitation cleaning mechanism, and a soft robotic gecko-inspired mechanical adhesion system. While under development this system will also be packaged such that it can be integrated into existing systems such as the Teledyne SeaBotix vLBV300, or the Next Generation EOD underwater response vehicle. The controlled cavitation cleaning technology employs a solid state piezo-electric system to remove biofouling through collapsing of cavitation bubbles on the surface being cleaned. This mechanically simple system has proven effective in the removal of biofouling without impinging on or damaging the surface being cleaned. To further decrease the time spent in proximity to any underwater threat object a soft robotic gecko-inspired mechanical adhesion system is being investigated. Elastomeric based grippers have proven useful as end effectors and interfaces. Their compliance allows them to passively conform to the shape of numerous target surfaces without advanced sensing or control. This method of allows for adhesion on numerous underwater substrates ranging from smooth to coarse.