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URL;TYPE=URI:https://www.wpi.edu/news/calendar/events/robotics-engineering-
 masters-thesis-presentation-brighton-lee
SUMMARY:Robotics Engineering Master\'s Thesis Presentation: Brighton Lee
DESCRIPTION:Agile Underwater Robotics\n\n\n\n      \n      \n\n\n\nAbstract
 : Exploring confined spaces underwater is an open engineering challenge in
  robotics. These spaces, such as shipwrecks, reefs, caves, and underwater 
 infrastructure, can be dangerous to human divers. Existing underwater robo
 ts come in a variety of shapes and sizes, either being too large or rigid 
 to fit through small gaps and maze-like passages, being too disruptive to 
 their surroundings to send into fragile ecosystems and structures, or lack
 ing the propulsion strength and agility to navigate complex environments a
 nd fight currents. We have developed a solution to this challenge in the D
 RAGON robot over several iterations, each more refined and effective than 
 the last. DRAGON consists of a single rigid thruster at the front, a water
 proof electronics housing at the back, and a Yoshimura origami spine capab
 le of actuated bending between them, allowing for agile underwater motion 
 with the efficiency of a single thruster and streamlined shape, and minima
 l impact on its surroundings during operation.\nAdvisor: Professor Cagdas 
 OnalCommittee: Professor Connor McCann, Professor Carlo Pinciroli\n
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