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An octopus (: octopuses or octopodes) is a soft-bodied, eight-limbed mollusc of the order Octopoda (ɒkˈtɒpədə, ). The order consists of some 300 species and is grouped within the class Cephalopoda with squids, cuttlefish, and nautiloids. Like other cephalopods, an octopus is bilaterally symmetric with two eyes and a beaked mouth at the center point of the eight limbs. The soft body can radically alter its shape, enabling octopuses to squeeze through small gaps. They trail their eight appendages behind them as they swim. The siphon is used both for respiration and for locomotion, by expelling a jet of water. Octopuses have a complex nervous system and excellent sight, and are among the most intelligent and behaviourally diverse of all invertebrates. Octopuses inhabit various regions of the ocean, including coral reefs, pelagic waters, and the seabed; some live in the intertidal zone and others at abyssal depths. Most species grow quickly, mature early, and are short-lived. In most s

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Development of Bio-inspired Underwater Robot with Adaptive Morphology Capable of Multiple Swimming Modes

Dario Floreano, Stefano Mintchev, Thibaut André Pierre Paschal, Jun Shintake

Bio-inspired underwater robots have several benefits compared to traditional underwater vehicles such as agility, efficiency, and an environmentally friendly body. However, the bio-inspired underwater robots developed so far have a single swimming mode, which may limit their capability to perform different tasks. This paper presents a re-configurable bio-inspired underwater robot that changes morphology to enable multiple swimming modes: octopus-mode and fish-mode. The robot is 60 cm long and 50 cm wide, weighing 2.1 kg, and consists of a re-configurable body and 8 compliant arms that are actuated independently by waterproof servomotors. In the robot, the octopus-mode is expected to perform unique tasks such as object manipulation and ground locomotion as demonstrated in literature, while the fish-mode is promising to swim faster and efficiently to travel long distance. With this platform, we investigate effectiveness of adaptive morphology in bio-inspired underwater robots. For this purpose, we evaluate the robot in terms of the cost of transport and the swimming efficiency of both the morphologies. The fish-mode exhibited a lower cost of transport of 2.2 and higher efficiency of 1.2 % compared to the octopus-mode, illustrating the effect of the multiple swimming modes by adaptive morphology.

2017

Octopus - An Autonomous Wheeled Climbing Robot

Michel Lauria, Yves Henri Philippe Piguet, Roland Siegwart

This paper presents an innovative off-road wheeled mobile robot, named Octopus, able to deal autonomously with obstacles in rough terrain without getting stuck. To achieve such a performance, the robot is equipped with tilt sensors and tactile wheels. The sophisticated locomotion mechanism of Octopus has 8 motorized wheels and a total of 15 degrees of freedom (14 of them are motorized). A two-dimensional static model and a controller are proposed. The inputs of the controller are the contact points with ground, the geometric angles of the articulations, and the direction of the gravity field. The outputs of the controller are the torques for the wheels, the torques for the forearms, and the position set point for the body.

2002

OCTOPUS: Efficient Query Execution on Dynamic Mesh Datasets

Anastasia Ailamaki, Thomas Heinis, Henry Markram, Felix Schürmann, Farhan Tauheed

Scientists in many disciplines use spatial mesh models to study physical phenomena. Simulating natural phenomena by changing meshes over time helps to understand and predict future behavior of the phenomena. The higher the precision of the mesh models, the more insight do the scientists gain and they thus continuously increase the detail of the meshes and build them as detailed as their instruments and the simulation hardware allow. In the process, the data volume also increases, slowing down the execution of spatial range queries needed to monitor the simulation considerably. Indexing speeds up range query execution, but the overhead to maintain the indexes is considerable because almost the entire mesh changes unpredictably at every simulation step. Using a simple linear scan, on the other hand, requires accessing the entire mesh and the performance deteriorates as the size of the dataset grows. In this paper we propose OCTOPUS, a strategy for executing range queries on mesh datasets that change unpredictably during simulations. In OCTOPUS we use the key insight that the mesh surface along with the mesh connectivity is sufficient to retrieve accurate query results efficiently. With this novel query execution strategy, OCTOPUS minimizes index maintenance cost and reduces query execution time considerably. Our experiments show that OCTOPUS achieves a speedup between 7.2x and 9.2x compared to the state of the art and that it scales better with increasing mesh dataset size and detail.

2014

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