Monopiles are the dominant foundation type for offshore wind turbines, accounting for approximately 80% of the installed capacity. Installing offshore monopile foundations on seabeds susceptible to scour erosion requires monopiles to penetrate several pre-installed scour protection rock layers before securing them into the seabed. The accurate prediction of the pile penetration resistance is crucial to ensure successful monopile installations. To complement, and potentially reduce the dependence on the costly and labour-intensive experimental small-scale penetration tests, a numerical model has been developed using the Discrete Element Method (DEM) that captures the discrete nature of interactions between rocks and piles and predicts the resistance during the penetration process. The developed DEM model includes armour and filter rocks represented by multispheres and sand particles represented by spheres. A multistage calibration, verification and validation DEM modelling framework is proposed and examined with small-scale penetration tests conducted using plates and piles in a double-layer scour protection configuration. The sand material model is calibrated and verified using penetrometer tests and the rock material models are calibrated and verified using a plate penetration test. The DEM model with three verified materials predicts the penetration resistance well in small-scale pile penetration tests and proves the validity of the proposed framework. The DEM model presented in this paper facilitates the modelling in areas where traditional continuum-based numerical methods give less accurate predictions and provide insights that are difficult or nearly impossible to obtain through experimental methods.

The challenge of designing real-world robots continues due to the complexities of navigating inaccessible terrains and encountering unexpected conditions. Introducing smart materials like shape memory alloys (SMAs) in the robot body can be beneficial due to their shape memory effect for actuation; however, there is no systematic way to introduce SMAs in a robot design. This research aims to address these challenges by proposing a design framework for SMA-actuated smart structures in robotic applications. Drawing inspiration from nature, the initial step in this framework involves conceptualizing a multifunctional grasper. This grasper utilizes SMA springs actuated by electric current, enabling various movements such as crawling, grasping, and folding. Analytical modeling is employed to determine the necessary characteristics of the SMA springs for one segment of the grasper. A multi-body modeling approach is utilized for more comprehensive understanding of the robot performance. This approach verifies the results of the analytical modeling and allows for performance optimization. Grasper’s dynamics is enhanced by fine-tuning actuation input signals, resulting in a more precise, sustainable, and energy-efficient grasper that is capable of traveling 400% longer distance than the initial concept design. The conducted experiments confirm that the proposed design framework for mechanically intelligent grasper has the potential to streamline the SMA-actuated structure design process by reducing development time, minimizing the trial-and-error iterations, and yielding cost savings in both development and prototyping phases.

Engineers frequently aim to streamline environmental factors to facilitate the effective operation of robots. However, in nature, environmental considerations play a crucial role in shaping the embodiment of organisms. To comply robots with the complexity of real-world environments, embedding similar intelligence is key. In the field of soft robotics, various approaches offer insight into how intelligence can be integrated into artificial agents. A discussed topic is the intricate relationship between the brain and the body at the core of intelligence in robots. The goal of this article is, therefore, to unravel the strategies to implement different types of intelligence currently adopted in soft robots. A classification is made by making a distinction between agents that adapt to their environment by 1) their adaptive shape, 2) their adaptive functionality, and 3) their adaptive mechanics. Additionally, the perspectives on intelligence based on their computational approach are distinguished: centralized computation, decentralized computation, or embedded computation. It is concluded that a tailored robotic design approach attuned to specific environmental demands is needed. To unlock the full potential of soft robots, a fresh perspective on embodied intelligence is described, so-called mechanical intelligence, emphasizing the robot's responsiveness to changing external conditions of a real-world environment.

Conventional scour protection installation around monopiles for offshore wind farms involves placement of smaller filter layer rocks and larger armor layer rocks in two separate operations, requiring multiple visits of the rock dumping vessel to the site which increases costs, time spent offshore by the vessels, and consequently carbon emissions. The joint industry project Optimizing Pile Installation through Scour Protection (OPIS), established in 2023, helps reaching the target of energy transmission by streamlining the pile and scour protection installations, reducing costs and carbon emissions associated with offshore wind developments. The project investigates the technical feasibility of pile installation through coarse rock to enhance the feasibility of the operation. A series of small and medium scale laboratory experiments has been conducted, considering different scour protection designs such as single- and double-layer systems, and different rock densities (high and normal density rocks). This paper delves into the physical modelling aspects of the OPIS research project. Furthermore, this contribution elaborates on the design and intricacies of the scaled laboratory tests, providing in-depth insights into the design and implementation of laboratory setups, along with a detailed account of experimental procedures. Moreover, preliminary results and challenges encountered during the experiments are discussed, and innovative solutions devised to overcome specific challenges are highlighted.

In recent years, significant advancements have been made in robotics, especially with the introduction of continuum and hyper-redundant robots. These robots can be highly flexible and manoeuvrable, which makes them suitable for intricate underwater maintenance, exploration, and inspection tasks. Inspired by the motions of aquatic life, underwater snake-like robots offer a good way to accomplish subsea maintenance, exploration, and inspection activities. While many studies have been conducted on hyper-redundant, snake-like robotic arms for maintenance and inspection in land-based applications, not as much about robotics intended for marine or underwater applications has been studied. This review critically examines recent advancements in the design, actuation, and modelling of these robotic systems, categorising them into two primary families: untethered mobile robots and tethered robotic manipulators. Key insights include the identification of strengths and limitations associated with various designs and actuation strategies, such as the high manoeuvrability but limited speed of bioinspired swimming robots compared to thruster-driven designs, and the complexity versus precision trade-offs inherent in tendon-driven manipulator arms. Furthermore, the modelling techniques employed across categories are systematically analysed, as well as challenges such as the modelling of fluid–structure interactions and the need for improved real-time models for compliant and soft robots.

The use of optimization procedures for designing acoustic/elastic metamaterials (A/E MMs) has gained significant interest since they enable the efficient attainment of unique functionalities often contradicting. When it comes to vibration attenuation caused by mechanical stress waves, such as impact loads, the dynamic properties of A/E MMs are optimized so that their wave-control ability is maximized. However, the mechanical performance of A/E MMs during the propagation of such waves is normally not evaluated into the design optimization stages. This may compromise not only the load-bearing capacity of MMs, but also their ability in attenuating vibrations. To prevent such effects, we propose a design strategy that incorporates the stress analysis in the early design phase of A/E MMs subjected to an impact load. The effective mass density approach is applied, from which the vibration attenuation is identified at frequency ranges where the resonator moves out-of-phase in relation to the applied excitation. Regarding to the A/E MM mechanical behavior, maximum von Mises stress is calculated through the transient analysis of a unit cell array subjected to a dynamic load. A Pareto front shows a trade-off behavior between the A/E MM functionalities. With that, we emphasize the importance of incorporating the mechanical performance into the design stage of A/E MMs for vibration attenuation of structures undergoing high impact loads, such as installation of foundations by impact hammering. This brings A/E MMs closer to real applications involving energy filtering at specific frequencies from transient loads, designed in an optimized and efficient way.

In nature, organisms such as the octopus exhibit remarkable adaptability by reconfiguring their bodies into contracting and extending segments. Translating this modularity into robotics, origami-inspired designs have proven effective in creating adaptable building blocks for modular robotic arms. The Kresling cylinder, a bistable cylindrical origami structure, exemplifies this approach by functioning as both a contracting and extending actuator. However, current actuation strategies in origami-inspired structures—such as pneumatic, mechanical, or stimuli-responsive methods—suffer from bulky actuators, slow speed, or inability to provide local actuation. Magnetically-actuated Kresling cylinders offer promising solutions for rapid and localized actuation. However, they typically rely on large external coils, limiting their use in restricted environments. To overcome this limitation, we have embedded coils directly into a modular Kresling cylinder, creating a standalone electromagnetically-actuated system. The finite element analysis was employed to understand the effect of the electromagnets' dimensions on effective contraction and extension, resulting in a weight-efficient actuator. Trends were uncovered for the design of flat, effective electromagnets for embedded electromagnetic actuation. Following these design trends, a prototype was successfully manufactured, demonstrating rapid contraction and extension in both horizontal and vertical orientation. The standalone Kresling actuator is particularly well-suited for use in dynamic, remote or restricted environments. The simple design of the manufactured prototype illustrates the potential for incorporating embodied actuation into functional soft robotic designs.

The offshore wind industry has grown significantly over the past decade with the increasing demand for clean energy, and over 80% of offshore wind turbines have monopile foundations. The installation of these foundations requires monopiles to penetrate several pre-installed scour protection rock layers before reaching the required penetration depth. With the increasing sizes of both monopiles and the extent of scour protection layers, various challenges arise during the monopile’s driving and self-weight penetration process, such as misalignment and early pile refusal. Lab scale testing and empirical modelling are time-consuming and normally not general enough to be applied to different scenarios. Within the Optimising Pile Installation through Scour Protection (OPIS) project, the high fidelity discrete element method (DEM) has been deployed to consider both the discrete nature and shapes of the scour protection rocks. A double-layer (armour & filter) scour protection with a sand layer underneath was simulated using the DEM. Detailed rock dynamics and the armour rocks dragging down during penetration are revealed and particle-geometry rolling friction is identified as the dominant parameter. The effects of the sand layer thickness and pile wall thickness on penetration resistance are also addressed.

Mechanical metamaterials are architected structures with unique functionalities, such as negative Poisson's ratio and negative stiffness, which are widely employed for absorbing energy of quasi-static and impact loads, giving improved mechanical response. Acoustic/elastic metamaterials, their dynamic counterparts, rely on frequency-dependent properties of their microstructure elements, including mass density and bulk modulus, to control the propagation of waves. Although such metamaterials introduced significant contribution for solving independently static and dynamic problems, they were facing certain resistance to their use in real-world engineering problems, mainly because of a lack of integrated systems possessing both mechanical and vibration attenuation performance. Advances in manufacturing processes and material and computational science now enable the creation of hybrid mechanical metamaterials, offering multifunctionality in terms of simultaneous static and dynamic properties, giving them the ability of controlling waves while withstanding the applied loading conditions. Exploring towards this direction, this review paper introduces the hybrid mechanical metamaterials in terms of their design process and multifunctional properties. We emphasize the still remaining challenges and how they can be potentially implemented as engineering solutions.

The growth of offshore wind farms is accelerating to meet the renewable energy target by 2030, driving the development of larger offshore wind turbines (OWTs) to boost energy capacity. To support these OWTs, large monopiles are being installed by using impact hammers, which in turn emit low-frequency underwater noise, posing challenges for traditional noise mitigation systems and increasing risks to marine life. To address this, a metamaterial-based cushion (meta-cushion) was proposed, embedding resonators to filter longitudinal waves associated with high underwater noise levels. While prior work has demonstrated the meta-cushion's noise attenuation potential, design guidelines are required for adaptation to various monopile installations. This paper introduces, for the first time, a design methodology for the meta-cushion, which based on the input parameters of the monopile system, it details the procedure for selecting the resonant elements contributing to the attenuation performance and their spatial arrangement on the cushion for enhancing mechanical performance. Such performance indicators are evaluated via finite element simulations and experimental modal analyses. The methodology concludes with a nondimensional study of the spiral resonator, which showed the best attenuation response in experiments, exploring its behavior under varying material and geometric parameters. This methodology enables the development of meta-cushions adaptable to monopile installations under any environmental conditions.

Superelastic metamaterials have attracted significant attention recently, but achieving such functionality remains challenging due to partial superelasticity and premature fracture in additively manufactured components. To address these issues, this study investigates the premature fracture in Ni-rich NiTi metamaterials fabricated by laser powder bed fusion. A comparative analysis of two structures (Gyroid network and Diamond shell) reveals that the structural stability of bending- and stretching-dominated structures is reversed compared to typical elastic-plastic response, due to the tension-compression asymmetry of base NiTi. The premature fracture and partial superelasticity of these as-fabricated samples are attributed to low deformation ability for accommodating tensile stress. Based on these findings, a heat treatment introducing Ni₄Ti₃ precipitates was employed, successfully achieving macroscopic superelasticity in the NiTi metamaterials, with consistency between model prediction and experiments.

The importance of natural environments with rugged deformable terrain from biodiversity, carbon capture, and coastal protection to economic livelihood is significant. However, the current systems available for robots to explore those ecosystems are either large, expensive and intrusive, not application focused or consist of many mechanical parts prone to failure. This study proposes a soft adaptable wheel designed and verified using a novel modelling-based approach suited for such ecosystems. The novel modelling techniques used a 3 part iterative design framework including a kinematic analysis using multi-body dynamics, structural feasibility tests using the finite element method and deformable terrain testing using the discrete element method. The final design operates as a soft fluidic actuator constructed with silicone, able to change its form depending on the task at hand. The proposed model is intended to be a more application-driven design (for rugged deformable terrain), that can more easily be integrated into robotic systems using off-the-shelf components. The simplicity and symmetry of the model can be easily scaled according to the terrain type, load requirements or application of the robotic system, ultimately reducing the time required to be used in environmental applications.

Robotics is entering our daily lives. The discipline is increasingly crucial in fields such as agriculture, medicine, and rescue operations, impacting our food, health, and planet. At the same time, it is becoming evident that robotic research must embrace and reflect the diversity of human society to address these broad challenges effectively. In recent years, gender inclusivity has received increasing attention, but it still remains a distant goal. In addition, awareness is rising around other dimensions of diversity, including nationality, religion, and politics. Unfortunately, despite the efforts, empirical evidence shows that the field has still a long way to go before achieving a sufficient level of equality, diversity, and inclusion across these spectra. This study focuses on the soft robotics community?a growing and relatively recent subfield?and it outlines the present state of equality and diversity panorama in this discipline. The article argues that its high interdisciplinary and accessibility make it a particularly welcoming branch of robotics. We discuss the elements that make this subdiscipline an example for the broader robotic field. At the same time, we recognize that the field should still improve in several ways and become more inclusive and diverse. We propose concrete actions that we believe will contribute to achieving this goal, and provide metrics to monitor its evolution.

The growth of maritime shipping is leading to the creation of larger vessels. However, this expansion in size brings with it several challenges, including the development of maritime infrastructure, the potential for growth in third-world countries, and the emission of greenhouse gases. In response to these challenges, this research explores the feasibility of designing an autonomous ship capable of transporting a single standardized 40 ft. container overseas using mainly passive propulsion methods. Using advanced design tools, including CAD software and CFD simulations, as well as conducting a comprehensive analysis of relevant literature, the designs for a hull and sails were developed, and an overview of the potential active control systems required for autonomous operation was provided. The study also performed an initial analysis of strength, stability, and velocity to validate the design choices. The ship proves to adhere to the basic strength and stability requirements while reaching its maximum hull velocity at certain wind speeds. The results of the study indicate that it is possible to design and manufacture a mainly passively propelled ship capable of transporting a 40 ft. standardized container overseas and rethink the logistics at scale.

Grippers are widely used in many industrial applications, but are limited due to their rigid constructions and no adaptability to varying stiffness. The solution for this would be the use of soft grippers. One way to design soft grippers is to use smart materials, such as hydrogels. Hydrogel soft grippers, unlike their rigid counterparts, take advantage of smart materials' inherent responsiveness and adaptability, removing the need for external power components. To explore the possibilities of using smart hydrogel as the actuator in the soft gripper, we proposed a bilayer structure including temperature sensitive hydrogel and silicone. In order to get insight into the design of these configurations for a gripper, a model consisting of hydrogel was proposed to execute simulations using Finite Element Method (FEM) in Abaqus. The results show, that by modelling different configurations with temperature as input, information can be obtained about mechanical properties such as expansion and bending. Moreover, various forms of deformation can be attained through the utilization of programmable configurations. These configurations can be tailored to achieve deformations in diverse scenarios, including bulk material conveying or underwater applications.

While nonlinear-elastic materials demonstrate potential in enhancing the performance of compliant mechanisms, their behavior still needs to be captured in a generalized mechanical model. To inform new designs and functionality of compliant mechanisms, a better understanding of nonlinear-elastic materials is necessary and, in particular, their mechanical properties that often differ in tension and compression. In the current work, a beam-based analytical model incorporating nonlinear-elastic material behavior is defined for a folding compliant mechanism geometry. Exact equations are derived capturing the nonlinear curvature profile and shift in the neutral axis due to the material asymmetry. The deflection and curvature profile are compared with finite element analysis along with stress distribution across the beam thickness. The analytical model is shown to be a good approximation of the behavior of nonlinear-elastic materials with tension–compression asymmetry under the assumptions of the von Kármán strain theory. Through a segmentation approach, the geometries of a semicircular arc and folding compliant mechanism design are defined. The deflection of the folding compliant mechanism due to an applied tip load is then evaluated against finite element analysis and experimental results. The generalized methods presented highlight the utility of the model for designing and predicting the behavior of other compliant mechanism geometries and different nonlinear-elastic materials.

Suction grippers offer a distinct advantage in their ability to handle a wide range of items. However, attaching these grippers to irregular and rough surfaces presents an ongoing challenge. To address this obstacle, this study explores the integration of magnetic intelligence into a soft suction gripper design, enabling fast external magnetic actuation of the attachment process. Additionally, miniaturization options are enhanced by implementing a compliant deploying mechanism. The resulting design is the first-of-its-kind magnetically-actuated deployable suction gripper featuring a thin magnetic membrane (Ø 50 mm) composed of carbonyl iron particles embedded in a silicone matrix. This membrane is supported by a frame made of superelastic nitinol wires that facilitate deployment. During experiments, the proof-of-principle prototype demonstrates successful attachment on a diverse range of curved surfaces in both dry and wet environments. The gripper achieves attachment on curved surfaces with radii of 50-75 mm, exerting a maximum attachment force of 2.89 ± 0.54 N. The current gripper design achieves a folding percentage of 75%, enabling it to fit into a Ø 12.5 mm tube and access hard-to-reach areas while maintaining sufficient surface area for attachment forces. The proposed prototype serves as a foundational steppingstone for further research in the development of reliable and effective magnetically-actuated suction grippers across various configurations. By addressing the limitations of attachment to irregular surfaces and exploring possibilities for miniaturization and precise control, this study opens new avenues for the practical application of suction grippers in diverse industries and scenarios.

The design freedom of the additive manufacturing (AM) process has created new avenues for compliant mechanisms to have more complex geometries, functionality, and mechanical behavior than conventional manufacturing methods offer. However, the challenge in the assumption of 'free complexity' in AM is the trial-and-error often involved in creating a design that behaves as intended. To address this problem, a synthesis method incorporating nonlinear-elastic materials and large deformations as geometric nonlinearity is proposed, using an assembly of building blocks to construct a compliant mechanism. Designs generated by the model illustrate the optimization of the building block selection, size, shape, and topology to achieve different deflected states. The combination of the superelastic behavior of shape memory alloys such as Nitinol, and the exploration of different building block geometries, has been shown to enhance the flexibility of the optimized mechanism to reach such target shapes.

Transshipment is a key component of modern-day shipping logistics. Container supply chains rely on tran-shipment hubs to access remote locations. With globalisation driving growth in container trade, maritime congestion is rising at container terminals in ports worldwide. This is expected to worsen as demand con-tinues to grow. This research explores novel maritime equipment designs that can contribute to solving problems in the trans-shipment chain. One such idea is that of the Amphibious Automated Guided Vehicle, an innovative concept that travels on both land and sea. Envisioned as a tool to minimise the rehandling of containers, the Amphibious AGV forms the heart of the new changes that this research proposes for the fu-ture of trans-shipment. Complementing swifter trans-shipment, the research also proposes complementary design concepts such as floating terminals to add more flexibility for container ships and Amphibious AGVs applied to exchange containers offshore. To validate these ideas, an agent-based modelling methodology was used and replicated in the environment of the Hong Kong- Pearl River Delta. This work, therefore, opens up an intriguing future scope for maritime transshipment that is both sustainable and adaptable while also discussing limitations and concerns that need to be carefully considered.