Modifiable stability and maneuverability of high speed unmanned underwater vehicles (UUVs) through bioinspired control fins
Name
1227044510-MIT.pdf
Size
8.31 MB
Format
Adobe PDF
Checksum (MD5)
63a2ff733885c627498c2585dab8a6ff
Author(s)
Winey, Nastasia Elizabeth.
Advisor(s)
Michael Triantafyllou and Dana Yoerger.
Date Issued
2020
Publisher
Massachusetts Institute of Technology
Abstract
Underwater Vehicles generally have control fins located only near their aft end, for making controllable changes in directions. This design allows for stability of control; however, the turns are typically large in comparison to the vehicle body length. Some bony fish, such as tuna, on the other hand, have deployable ventral and dorsal fins located towards the front of their body, in addition to their other fins. Their deployable fins allow them to modulate their hydrodynamic behavior in response to their environment. Tunas keep these fins retracted during steady cruising, and then deploy them during rapid maneuvers. However, the details of these hydrodynamic effects are not well understood. To investigate this phenomena, using a REMUS 100 as a model, a pair of vertical fins was added at different hull positions, to investigate the effects of fin location on the horizontal plane hydrodynamics, through: stability parameters, nonlinear simulation, and towing tank experiments. Depending on the added fin location, the stability of the vehicle changed, thereby affecting the maneuverability. As fins were placed further forward on the vehicle, maneuverability increased, with effects tapering off at 0.2 BL ahead of the vehicle's center of buoyancy. This investigation explored how rigid underwater vehicles could benefit from added fins, without drastically changing the design of current vehicles.
Description
Thesis: S.M., Joint Program in Oceanography/Applied Ocean Science and Engineering (Massachusetts Institute of Technology, Department of Mechanical Engineering; and the Woods Hole Oceanographic Institution), September, 2020
Cataloged from student-submitted PDF version of thesis.
Includes bibliographical references (pages 73-74).
Subjects
Joint Program in Oceanography/Applied Ocean Science and Engineering.
Mechanical Engineering.
Woods Hole Oceanographic Institution.
MIT Department
Joint Program in Oceanography/Applied Ocean Science and Engineering
Massachusetts Institute of Technology. Department of Mechanical Engineering
Woods Hole Oceanographic Institution
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