Close-up of a tree trunk with a small, orange and black drone resting on it, two white bags labeled 'Net Wt. 20 lbs,' and a chain on the right. Blurred green trees in the background.

Background:

One of the best tools we have to document and analyze a whale’s virology, hormones, and DNA is through biopsies. Currently, biopsies are collected using 150-175 lb crossbows that are armed with bolts (arrows) that have specialized tips and unique syntactic foam collars. This system has been around for over 30 years and is industry standard. The benefits of using a crossbow are clear, as it provides a consistent explosive force and is designed to be compact, reliable, and relatively simple to use. these qualities are required of any tool deployed during field work on the water. The crossbow, although reliable, is still one of the most invasive procedures carried out by whale researchers. To get a viable crossbow biopsy, the approach boat must position itself to be around 1-2 whale lengths away from the target. This has been shown to negatively affect whale behavior. The process also presents a clear danger to the whale researchers directly handling the tool, as well as all team members on board the boat. A tangential issue with using the crossbow method to biopsy whales is the effect it has on public perception. Specifically, the corrosive effect this invasive technique has on public trust between NOAA personnel and the public, due to the fact that the biopsy technique runs counter to almost all other NOAA instructions on how to safely interact with marine life.

Objective:

Create a modular low cost drone DEPLOYED biopsy deVICe.

PARAMETERS:

  • Meet payload restrictions of the DJI Matrice 210 V2 (under 1.45 kg)

  • Reliably puncture and dislodge from whale blubber

  • Float and not crush at deep sea depths

  • Be almost entirely 3D-Printed and if necessary use readily available components

  • Seamlessly integrate with all other Ocean Alliance systems

Iterations

V1

Cross-sectional illustration of a mechanical device, showing internal components including a pink threaded screw, a black outer casing, and colored sections in green, yellow, black, and pink.

  • Outer shell was printed in TPU

  • Upon impact, the Spring pushed the biopsy tip off this ledge and into the whale

V2

Cross-sectional 3D rendering of a mechanical device with various chambers and components, including blue, beige, and gray parts.

  • Everything printed in PLA

  • Features AN internal modular weight system

  • The biopsy tip would impact well but would not dislodge reLIABLY

V4

A detailed cross-sectional diagram of a mechanical assembly or engine component showcasing various internal parts, including bolts, threaded sections, and different colored sections representing different materials.

  • OUTER SHELL printed in PETG

  • Modular weight holder is PLA

  • The bolt holder and gYRo attachment are PETG

  • Features a ring that holds bright floats

  • Spring at the bottom forces the device out of the whale fOllowing impact

  • The spring cap is restrAIned in place by a security ring

  • The gyro attachment is secured by bolts that thread into a nut that is TOLERANCE-fit into the inner chamber of the device

SPring CAp Iteration

V3

Cross-sectional diagram of a mechanical or plumbing component showing detailed internal parts and materials, including seals, fasteners, and structural elements.

  • WOrked RELIABLY

DUE TO V3’S RELIABILITY, I was able to add a stiffEr spring, Further preventing the biopsy device from BECOMING lodged in a whale.

After testing there were noticeable problems with the component that secures the spring to the larger biopsy system, referred to as the spring cap in documentation. The spring cap would dislodge after impact. when the compressed spring WOULD PUSH the rest of the system out of the simulated ‘whale’, it would also push the cap out of its tolerance fit. Two other cap designs were tested to try and solve this problem while also maintaining the same design profile and tolerance fit.

SPRING CAP (SECTION ANALYSIS) →

V1

Close-up of a mechanical component showing a cross-sectional view of a piston and cylinder with blue and black parts, including green and brown structural elements.

V2

  • failed on every trail

3D model of a mechanical bearing with inner and outer rings and rolling elements.

SPRING CAP →

A top-down view of a green and beige airplane on a gray tarmac with surrounding beige sections.

  • WOrked far better thAn v1 but was not RELIABLE

  • the depth between the flanges WAS tested AND ADJUSTED multiple times. the TOLERANCE fit WAS UNABLE TO SECURE THE SPRING CAP

A detailed technical cross-sectional drawing of a mechanical component showing various metal parts, bolts, screws, and internal chambers, with different colors indicating different materials or sections.

SPRING CAP (INTEGRATED)

Cross-sectional diagram of a metal container with two separate compartments, each with a vertical partition and a rounded bottom, showing the interior layout.

Testing

People sitting outside a brick building with the word 'CORNER' partially visible, engaged in photography and videography, with a sign reading 'VIDEO SURVEILLANCE' on the ground.
A clear plastic container with small, irregularly shaped, light-colored objects, possibly shells or stones, placed on a gray surface.

To simulate real world deployment, the system was tested using a vertical drop test from AN approximate 14 feet. A string suspended vertically was used as a visual aid to accurately guide the biopsy device to the target. Before DROPPING, the device was secured in a hand-held replica of the OCEAN ALLIANCE gyro release system (which I desIGned, coded, and printed). the flywheel was spun up for a period of 5-10 seconds, THEN RELEASED FROM REST ONTO A WHALE SURROGATE.

Close-up of a hand adjusting a dial on a red, black, and yellow device, possibly a speaker or timer, inside a room with posters on the wall in the background.

Tests were SUCCESSFUL →

Top-down view of a person wearing black gloves and black shoes, holding a black device with a red portion, over a wooden surface with metal screws and a measurement ruler.