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The deep ocean and its underlying sediments represent vast, largely unexplored microbial habitats that extend far beyond the sunlit photic zone. The photic (euphotic) zone typically spans the upper ~100–200 meters of pelagic waters in the open ocean, but its depth varies geographically and seasonally, where sufficient light supports photosynthetic life. Below this lies the deep sea, spanning roughly 1000–6000 meters (bathypelagic to abyssal zones), with deeper hadal trenches...
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Deep-Sea Biomimetic Manta Ray Robots: A Comprehensive Review Based on Operational Depth Spectrum, Structures, Energy

Lugang Ye1, Hongyuan Liu1, Qiulin Ding1

  • 1Department of Electronic and Information Engineering, School of Engineering, Westlake University, Hangzhou 310030, China.

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Summary
This summary is machine-generated.

Biomimetic manta ray submersibles offer superior low-speed maneuverability and stealth for deep-sea exploration. This review details their design evolution, from shallow-water replication to full-ocean depth adaptation, focusing on structural, energy, and control systems.

Keywords:
bio-inspired submersiblebiomimetic propulsionfull-ocean-depthmanta ray

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Area of Science:

  • Robotics and Autonomous Systems
  • Marine Engineering
  • Biomimetics

Background:

  • Traditional deep-sea vehicles face limitations in maneuverability, stealth, and environmental impact.
  • The manta ray's natural gliding-flapping locomotion provides a blueprint for advanced underwater robotics.
  • Transitioning deep-sea exploration requires novel submersible designs beyond conventional propeller-driven systems.

Purpose of the Study:

  • To provide a comprehensive systems engineering review of biomimetic manta ray submersible research and development.
  • To analyze the technical evolution of these submersibles concerning operational depth and design paradigms.
  • To explore advancements in structural design, energy systems, and motion control for enhanced deep-sea operations.

Main Methods:

  • Technical pedigree analysis based on "operational depth" requirements.
  • Exploration of mechanical challenges in "rigid-flexible" structural design for pressure adaptation.
  • Analysis of hybrid gliding-flapping propulsion and integrated structural batteries for endurance and efficiency.
  • Review of motion control architectures, from Central Pattern Generators (CPG) to Deep Reinforcement Learning (DRL).

Main Results:

  • Design paradigms shift from "mechanism replication" to "pressure adaptation" for full-ocean depth capabilities.
  • A "rigid-flexible" gradient strategy is crucial for balancing pressure resistance and propulsive compliance.
  • Hybrid drives and structural batteries significantly enhance endurance and energy efficiency.
  • Motion control evolves towards embodied intelligence with Deep Reinforcement Learning (DRL).

Conclusions:

  • Biomimetic manta ray submersibles represent a significant advancement for precision deep-sea operations.
  • The reviewed design strategies address key challenges in deep-sea exploration, including maneuverability and stealth.
  • Future developments will likely focus on further integrating intelligence and energy efficiency for autonomous deep-sea missions.