Subsystem Overview
The Jellybot is composed of four main subsystems that work together harmoniously to achieve efficient, biomimetic underwater motion and data collection. Each subsystem focuses on a critical aspect of design and performance — from structure and propulsion to control and electronics.
Background
Importance of coral reefs: Coral reefs are the most species-rich ecosystems in the ocean. Although they occur across more than one hundred countries and occupy well under 1% of the seafloor, their intricate, three-dimensional frameworks provide habitat, nursery grounds, and feeding areas for roughly a quarter of described marine species. This biological richness translates into substantial human benefits: reef fisheries and tourism support livelihoods, reef crests dissipate wave energy and reduce flooding, and bioprospecting has yielded medically relevant compounds as seen in Figure 1. Recent global assessments estimate the combined value of these services at around US$2.7 trillion per year (Souters et.al, 2021).
Figure 1 : Impacts of various changes in the ocean (GCRMN, 2020)
Status and pressures: Reefs are also among the ecosystems most exposed to human pressures. The IPCC (2019) identifies coral reefs as the marine system at highest risk from climate change—particularly marine heatwaves and stronger storms—compounded by ocean acidification. As seen in Figure 2, local stressors exacerbate these impacts: nutrient and sediment runoff, marine pollution, and overfishing (including destructive methods) all erode reef condition and resilience.
Figure 2 : Graph showing steady decrease of hard coral observation (GCRMN, 2020)
As coral cover drops and structural complexity flattens, competitive balance shifts toward fleshy algae, especially where herbivory is depleted or water quality is poor; global datasets show algal cover increasing over the same period as seen in Figure 3.
Figure 3 : Graph showing the increase of algae coverage on reefs (GCRMN, 2020)
Why this matters: Coral reefs lie at the intersection of today’s three interconnected environmental crises: biodiversity loss, climate change, and pollution. Even if global warming is limited to 1.5 °C, prolonged heat stress is projected to put the vast majority of reefs at risk by mid-century. The consequences extend beyond species loss: hundreds of millions of people—especially in least-developed countries, economies in transition, and small island developing states—depend on reefs for food security, income, cultural identity, and coastal safety. Safeguarding live coral cover and preserving the structural complexity of reefs is therefore both an ecological and a human development priority.
Literature Review
Defining a value proposition is an essential step in clarifying why a product is relevant, how it stands out from existing alternatives, and why key stakeholders should adopt it. Unlike technical specifications, the value proposition highlights both tangible and intangible benefits, making it compelling for end users.
2.1 Introduction
Underwater soft robotics, particularly remotely operated vehicles (ROVs) equipped with soft grippers like flap clamps for silicone tentacles, represents a growing field in marine ecosystem research and conservation. This literature review examines existing products and innovations in ROVs and autonomous underwater vehicles (AUVs) focused on coral reef monitoring, biofouling inspection, and restoration efforts. Drawing from Singapore-specific advancements, the review highlights how these technologies address challenges such as murky waters, sedimentation, and climate-induced stressors on reefs. Key sources include recent publications on Singapore's coral research evolution (Tan, 2023) and AI-powered ROV deployments (National Robotics Programme [NRP], 2024; Meghjani, 2024). Additionally, established commercial ROVs are surveyed to contextualize local innovations within global standards.
2.2 Evolution of Coral Reef Research and Robotics in Singapore
Singapore's reefs, reduced by >60% from reclamation, shifted from 1980s mapping (e.g., Prof. Chou's NUS lab with artificial reefs) to 1990s translocations (10% survival) and 2000s "gardening" nurseries (up to 80% survival by 2013). NParks' 2021 Marine Climate Change Science Programme emphasizes resilience, including microbiome studies for heat stress (Huang, as cited in Tan, 2023). Robotics addresses diving risks and turbid waters (<5m depth), with NRP funding AI integrations for sustainability (NRP, 2024).
2.3 Existing ROV/AUV Products
To contextualize the development of the Jellybot, it is essential to evaluate the current landscape of underwater robotics used in marine research. Commercial Remotely Operated Vehicles (ROVs) and Autonomous Underwater Vehicles (AUVs) have established high benchmarks for depth and data precision, yet they often present trade-offs between cost-efficiency and ecological non-invasiveness. The following Table 1 examines established platforms—ranging from modular consumer-grade ROVs to high-end industrial AUVs—to identify the technical standards and operational gaps within the industry.
| Product | Developer | Key Features | Relevance to Coral Reefs | Limitations |
|---|---|---|---|---|
| BlueROV2 | Blue Robotics (USA) | Modular; 100–300 m depth; HD camera, manipulators; ~USD 3,000. Soft grippers add-on. | 3D reef surveys; tentacle extensions for sampling. | Tether limits range in currents. |
| REMUS 600 | Hydroid (USA) | AUV; 600 m depth; sonar; ~USD 1M. | Autonomous bleaching detection. | High cost; rigid for soft interactions. |
| VideoRay Pro 5 | VideoRay (USA) | Compact; 305 m depth; 4K camera; ~USD 10,000. | Biofouling/reef scans. | Short tether in sedimentation. |
| Saab Seaeye Falcon | Saab (Sweden) | Work-class; 300 m depth; manipulators; ~USD 200,000. | Precision nubbin sampling. | Expensive for shallow reefs. |
| Boxfish Luna | Boxfish (NZ) | Hybrid; 300 m depth; 8K camera; ~USD 50,000. | High-res 3D modeling. | Limited battery for long surveys. |
Table 1 : Comparison of existing ROV/AUV products
2.4 Singapore-Specific Innovations
Artificial Intelligence Ship-Hull ROV (Meghjani/SUTD & Yuan/A*STAR): Detects biofouling, validates cleaning, predicts fuel efficiency, and maps 3D reefs in minutes (National Robotics Programme, 2024; Meghjani, 2024). Collaborates with St. John's Island National Marine Laboratory (SJINML); user portal for health assessments. Dual-use for biosecurity/monitoring; soft tentacles for non-destructive tasks.
MARVL Team Systems (SUTD): Hybrid ROV/AUVs with AI for coral health, blooms, spills; 3D mapping in turbid waters (Meghjani, 2024). Aligns with NParks' 100,000-coral planting plan.
2.5 Gaps and Opportunities for Soft Robotics
While commercial ROVs excel in modularity, Singapore's efforts reveal gaps in soft, adaptive interfaces for delicate reef interactions—e.g., full cap closure in clamps to prevent fragment loss in currents (paralleling the 1990s translocation failures). Existing systems like BlueROV2 support custom soft grippers, but lack integrated microbiome sampling for resilience studies (Huang, as cited in Tan, 2023). Opportunities include hybrid tentacle-ROVs for "gardening" in deeper, light-limited waters, funded via NRP's sustainability focus.
Problem Clarification
Problem Clarification: Underwater ecosystems such as coral reefs are highly fragile and easily disturbed by conventional exploration methods. Traditional approaches involving divers or remotely operated vehicles (ROVs) face several limitations that compromise both cost-efficiency and ecological safety. Bulky ROVs struggle with maneuverability in narrow reef passages and shallow coastal zones, while propeller-driven systems generate noise and turbulence that can damage delicate coral structures. Diver-based surveys, on the other hand, demand extensive logistical support—trained personnel, safety teams, oxygen supplies, and large research vessels—resulting in high operational costs and time constraints, often amounting to hundreds to thousands of dollars per mission. Moreover, diver interactions pose direct risks to coral health; studies have shown that 94% of divers make contact with reef substrates, averaging 16 contacts every 10 minutes, with 66% causing visible coral damage (Worachananant et al., 2008). These findings highlight the need for an alternative exploration method that is compact, quiet, energy-efficient, and minimally invasive. Inspired by the gentle propulsion of jellyfish, biomimetic robots like JellyBot offer a promising solution—utilizing soft, pulsatile locomotion that mimics natural movement to enable low-energy, silent, and ecologically responsible underwater exploration without disrupting fragile marine ecosystems.
Problem Statement: Traditional underwater exploration methods—such as human divers or remotely operated vehicles (ROVs)—often disturb delicate marine ecosystems and are constrained by size, noise, and maneuverability limitations. Divers and ROVs can unintentionally damage fragile coral structures through turbulence or direct contact, while diver-based surveys remain costly, manpower-intensive, and limited by dive duration and safety constraints. These challenges highlight the need for a compact, silent, and biomimetic underwater robot capable of navigating complex reef structures and shallow coastal environments to capture ecological data without disrupting marine life. The JellyBot aims to address this issue by mimicking the gentle, pulsatile propulsion of jellyfish, enabling precise, energy-efficient, and unobtrusive exploration that supports ecological research and long-term conservation efforts in a sustainable and responsible manner.
How Might We Statement: How might we design a cost-efficient, biomimetic underwater robot that moves quietly and naturally to collect high-quality ecological data while navigating shallow and complex reef environments without disturbing marine life?
Value Proposition
Defining a value proposition is an essential step in clarifying why a product is relevant, how it stands out from existing alternatives, and why key stakeholders should adopt it.
4.1 Value Proposition Table
The success of a bio-inspired solution depends on its ability to solve real-world operational challenges more effectively than existing methods. This section utilizes a Value Proposition Canvas to map the specific requirements of marine researchers and ecologists against the technical offerings of the JellyBot. By identifying the functional "jobs" of the end-user and the inherent "pains" of current methodologies, we can clearly define how JellyBot’s unique features act as direct gain creators and pain relievers.
| Customer (Marine Researchers and Ecologists) | JellyBot |
|---|---|
| Jobs: Collect ecological data and footage in fragile reef environments without causing disruption; Reduce cost, manpower and risk involved in traditional diver-based surveys; Enable more frequent and sustainable long-term reef monitoring. | Features: Soft pulsatile propulsion mimicking jellyfish movement; Silent low energy locomotion for minimal disturbance; Compact, manoeuverable design. |
| Gains: Ability to capture ecological and environmental data unobtrusively and frequently; Promote sustainable, innovative and responsible marine research; Silent unobtrusive operation that does not disturb organisms. | Pain Relievers: Minimizes disturbance and bias to marine life; Replace costly diver surveys; Reduces human risk and labor costs by enabling remote operation. |
| Pains: Divers and ROVs disturb marine life and bias behavioral observations; Traditional diver surveys are costly and limited by safety; Commercial ROVs require high upfront costs; Bulky vehicles cannot navigate narrow reef passages. | Gain Creators: Novel method of ecological monitoring without altering behaviour; Supports Singapore’s marine conservation goals through responsible innovation. |
4.2 Comparison of Data Collection Methods
Evaluating the efficacy of the JellyBot requires a side-by-side performance analysis against traditional and contemporary marine survey methodologies. While professional diving teams and commercial-grade Remotely Operated Vehicles (ROVs) remain the industry standards, they possess inherent logistical and economic bottlenecks. This section compares the operational footprint, cost-efficiency, and environmental sustainability of these three methods to highlight the unique niche occupied by bio-inspired solutions.
| Category | Traditional Diver Survey | Commercial ROVs | Bio-Inspired Solution |
|---|---|---|---|
| Personnel Required | 2–3 trained divers, 1 boat operator | 1–2 ROV operators, 1 boat operator | 1 operator (shore or boat-based) |
| Initial Equipment Cost | Diving equipment ≈ $5,000 | ROV unit $20,000–$60,000 | Bio-Inspired Solution ($800–$1,200) |
| Operation Depth | More than 30 m | Up to 100 m | 0–20 m (reef zone) |
| Survey Duration | 45–50 min | 3–6 h continuous | 3–4 h continuous |
| Environmental Impact | Moderate (diver movement) | Moderate (propeller turbulence) | Minimal (soft-body propulsion) |
| Data Frequency | Monthly or quarterly | Weekly | Continuous or autonomous |
4.3 Cost Breakdown (Singapore Context)
| Component | Total (SGD) | Yearly Total (SGD) | References |
|---|---|---|---|
| Traditional Diver | |||
| Charter & Manpower | $28,800/year | $34,920 | SJINML Pricing |
| Commercial ROV | |||
| ROV Unit & Charter | $23,300 (Initial) | $23,300 | Blue Robotics / SJINML |
| Bio-Inspired Solution (JellyBot) | |||
| Unit & Charter | $19,000 (Initial) | $19,000 | SJINML Pricing |
Interpretation: Bio-Inspired Solution is a far more affordable and sustainable solution for coral reef monitoring in Singapore compared to traditional diver surveys and commercial ROVs. Diver-based methods cost around SGD 35,000 annually due to frequent boat rentals, manpower, and equipment, while ROVs require a high initial investment of SGD 20,000–60,000. In contrast, JellyBot offers a low-cost alternative at about SGD 1,000, operating autonomously in shallow reefs with minimal environmental impact.
User Journey
The Jellybot user journey is structured based on the key principles from Nielsen Norman Group’s Journey Mapping 101, which focuses on understanding the user’s actions, thoughts, and emotions throughout an experience.
Figure 4 : User Journey : Researcher Richard
Features and Specifications
| Category | Feature | Target Description | Purpose / Rationale |
|---|---|---|---|
| Operating Parameters | Working Depth | 2 m – 5 m | Targets shallow reef zones where visibility is optimal (~2 m). |
| Buoyancy | Slightly Negative | To sink to desired depths. After which, active depth control will be deployed for consistent coral observation. | |
| Actuation | Tentacles Pressure | 167.576 kPa | Calculated maximum pressure required to overcome hydrostatic resistance at 5 m depth. |
| Velocity | ~ 2.5 cm/s | Maintains steady progression for survey accuracy and video stability. | |
| Directional control | Up / Down / Left / Right | For system correction control and extended survey capabilities. | |
| Power & Control | Power System | 12V / 20Ah (240Wh) | High-capacity battery target to support 1-hour mission endurance for both Jellybot and On-board station. |
| Surface Control | Pelican Case Hub | Centralized control unit featuring integrated monitor, joystick, and data logging capabilities. | |
| Communication Protocol | 2 - 5m communication established | Ensuring stable communication is established between surface control and Jellybot for visual feed. | |
| Sensing Suite | IMU (6 DOF) | Pitch and Yaw to stay within ±5° | Provides orientation heading data such as row/pitch/yaw for tentacle segments and stabilization. |
| Camera | Live video feed | Provide live video feed of coral reef during Jellybot operation. |
Critical Functions & Validation
The successful operation of JellyBot relies on several key functions: Waterproofing, Buoyancy, Movement of Tentacles, Propulsion, Vision, and Navigation (Heading). These functions serve as the foundation of JellyBot’s overall performance, as failure in any one aspect would compromise its ability to be deployed underwater.
| Critical Function | Target Objective | Status |
|---|---|---|
| Waterproof Integrity | 2 m – 5 m Operating Depth | Achieved |
| Buoyancy Control | Slightly Negative at 2 m – 5 m | Achieved |
| Pneumatic Actuation | 206 kPa Peak Pressure | Achieved |
| Propulsion & Velocity | Above Target (3.05cm/s) | Achieved |
| Battery Operating Time | 3.1 hrs (Jellybot) 4 hrs (GCS) | Achieved |
| Visual Surveillance | Underwater Camera Imaging | Achieved |
| Navigation & Stability | Pitch and Yaw to stay within ±5° | Achieved |
Through rigorous testing of the sensing suite, power systems, and actuation parameters, the JellyBot has successfully met all established technical objectives. The system is now fully validated for stable, precise, and eco-friendly underwater exploration.
Bibliography
• Bindoff, N.L., W.W.L. Cheung, J.G. Kairo, J. Arístegui, V.A. Guinder, R. Hallberg, N. Hilmi, N. Jiao, M.S. Karim, L. Levin, S. O’Donoghue, S.R. Purca Cuicapusa, B. Rinkevich, T. Suga, A. Tagliabue, and P. Williamson, 2019: Changing Ocean, Marine Ecosystems, and Dependent Communities. In: IPCC Special Report on the Ocean and Cryosphere in a Changing Climate [H.-O. Pörtner, D.C. Roberts, V. Masson-Delmotte, P. Zhai, M. Tignor, E. Poloczanska, K. Mintenbeck, A. Alegría, M. Nicolai, A. Okem, J. Petzold, B. Rama, N.M. Weyer (eds.)]. Cambridge University Press, Cambridge, UK and New York, NY, USA, pp. 447–587. https://doi.org/10.1017/9781009157964.007.
• National Robotics Programme. (2024). Post on AI-Powered Ship Inspection ROV. Retrieved from https://www.linkedin.com/posts/nrpsingapore_robotics-ai-rov2auv-activity-7379004841550872576-EXVw
• Meghjani, M. (2024). LinkedIn Post on Marine Ecosystem Monitoring. Retrieved from https://www.linkedin.com/posts/nrpsingapore_robotics-ai-rov2auv-activity-7379004841550872576-EXVw
• Souter, D., Planes, S., Wicquart, J., Logan, M., Obura, D., & Staub, F. (Eds.). (2021). Status of coral reefs of the world: 2020: Summary for policymakers. Global Coral Reef Monitoring Network & International Coral Reef Initiative https://gcrmn.net/wp-content/uploads/2022/05/Status-of-Coral-Reefs-of-the-World-2020-Summary-for-Policymakers.pdf
• Tan, A. (2023). Science Journals: Waves of change for Singapore’s coral reef research. The Straits Times. Retrieved from https://www.straitstimes.com/singapore/environment/science-journals-waves-of-change-for-singapore-s-coral-reef-research
• Worachananant et al. (2008). Impact of Scuba Divers on Coral Reefs.
• Additional sources: Blue Robotics (2024); Hydroid (2024); VideoRay (2024); Saab (2024); Boxfish Research (2024). Product specifications from manufacturer websites.