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Design and Projected Performance of a Flapping Foil AUV

Research and Teaching Output of the MIT Community

Show simple item record Licht, Stephen Polidoro, Victor Flores, Melissa Hover, Franz S. Triantafyllou, Michael S. 2005-08-23T05:16:53Z 2005-08-23T05:16:53Z 2004-07
dc.description.abstract The design and construction of a biomimetic flapping foil autonomous underwater vehicle is detailed. The vehicle was designed as a proof of concept for the use of oscillating foils as the sole source of motive power for a cruising and hovering underwater vehicle. Primary vehicle design requirements included scalability and flexibility in terms of the number and placement of foils, so as to maximize experimental functionality. This goal was met by designing an independent self-contained module to house each foil, requiring only direct current power and a connection to the vehicle’s Ethernet local area network for operation. The results of tests on the foil modules in the Massachusetts Institute of Technology (MIT) Marine Hydrodynamics Water Tunnel and the MIT Ship Model Testing Tank are both used to demonstrate fundamental properties of flapping foils and to predict the performance of the specific vehicle design based on the limits of the actuators. The maximum speed of the vehicle is estimated based on the limitations of the specific actuator and is shown to be a strong function of the vehicle drag coefficient. When using four foils, the maximum speed increases from 1 m/s with a vehicle Cd of 1.4 to 2 m/s when Cd = 0.1, where Cd is based on vehicle frontal area. Finally, issues of vehicle control are considered, including the decoupling of speed and pitch control using pitch-biased maneuvering and the tradeoff between actuator bandwidth and authority during both the cruising and hovering operation. en
dc.format.extent 950603 bytes
dc.format.mimetype application/pdf
dc.language.iso en_US en
dc.publisher Institute of Electrical and Electronic Engineers en
dc.rights Copyright: Institute of Electrical and Electronic Engineers (IEEE) This material is presented to ensure timely dissemination of scholarly and technical work. Copyright and all rights therein are retained by authors or by other copyright holders. All persons copying this information are expected to adhere to the terms and constraints invoked by each author's copyright. In most cases, these works may not be reposted without the explicit permission of the copyright holder.
dc.subject Biomimetic propulsion en
dc.subject flapping foils en
dc.subject underwater propulsion en
dc.title Design and Projected Performance of a Flapping Foil AUV en
dc.type Article en
dc.identifier.citation IEEE Journal of Oceanic Engineering, 29 (3), p.786-794 (2004) en

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