Robotically Augmented Jellyfish for Deep-Ocean Sensing

Robotically controlled jellyfish, or biohybrid jellyfish, present a promising supplement to traditional ocean sensing methods that takes advantage of the natural energetic efficiency of jellyfish swimming without sacrificing the controllability of robotic platforms. Previous work has used these biohybrid jellyfish to carry out vertical profiles both in the lab and in near coastal demonstrations, but have been limited to unidirectional swimming and depths of less than 20m. Here we developed a deep-sea version of the biohybrid device rated to a full ocean depth of 10,000m. We expanded robotic augmentation to achieve four degrees of freedom and integrated a strain gauge depth sensing system that does not require hull penetration. We evaluate the performance of this device with respect to three criteria. First, the directional control of the combined jellyfish with a shallow water prototype via trajectory tracking in a 4.8 by 1.8 by 1.8 meter tank. Second, we confirm the depth measurements in both a pressure chamber and in field testing to 1700m. Finally, through shallow water field testing of vertical profiles with a combined jellyfish and full depth rated attachment. These combined capabilities demonstrate the viability of this biological-robotic system in a deep-ocean environment.