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 Behavioral Sciences Psychology |
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Biomimetic Oscillating Foil Propulsion to Enhance Underwater Vehicle Agility and Maneuverability
Authors: Stephen C Licht; WOODS HOLE OCEANOGRAPHIC INSTITUTION MA |
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Abstract: Inspired by the swimming abilities of marine animals, this theses presents Finnegan the RoboTurtle, an autonomous underwater vehicle (AUV) powered entirely by four flapping foils. Biomimetic actuation is shown to produce dramatic improvements in AUV maneuvering at cruising speeds, while simultaneously allowing for agility at low speeds. Using control algorithms linear in the modified Rodrigues parameters to support large angle maneuvers, the vehicle is successfully controlled in banded and twisting turns, exceeding the best reported AUV turning performance by more than a factor of two. Observations of Myrtle, a 250kg Green sea turtle (Chelonia Mydas) at the New England Aquarium, are detailed: along with steady swimming, Myrtle is observed performing level turns and rapidly actuating pitch to control depth and speed. Limb kinematics for the level turning maneuver are replicated by Finnegan, and turning rates comparable to those of the turtle are achieved.
| Description: |
Doctoral thesis |
| Pages: |
215 |
| Report Date: |
Jun-2008 |
| Report Number: |
A924594 |
Report Unavailable |
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