Open loop performance of a biomimetic flapping foil autonomous underwater vehicle
Name
76761570-MIT.pdf
Description
Full printable version
Size
5.27 MB
Format
Adobe PDF
Checksum (MD5)
191c60b242cdc85be9723bb2c01a9b28
Author(s)
Wolf, Malima Isabelle, 1981-
Advisor(s)
Michael S. Triantafyllou and Franz S. Hover.
Date Issued
2006
Publisher
Massachusetts Institute of Technology
Abstract
Flapping foil propulsion is emerging as an alternative to conventional propulsion for underwater vehicles. MIT's Biomimetic Flapping Foil Autonomous Underwater Vehicle is a prototype vehicle that uses four three-dimensional flapping foil actuators as its means of propulsion. The vehicle providing an opportunity for investigating the efficiency and maneuverability capabilities of a flapping foil system. This thesis presents and analyzes open-loop performance test data for the Biomimetic Flapping Foil Autonomous Underwater Vehicle. The vehicle is capable of actuating in four different modes of motion, surge, heave, sway, and yaw. These four modes are explored through a range of flapping parameters. For each mode, the parameters were varied to obtain an approximate maximum velocity for the vehicle. Maximum velocity in surge was measured as 1.3827 mis, in sway as 0.4810 m/s, and in heave as 0.3831 m/s. In yaw, the maximum angular velocity was measured as 80.2 degrees per second.
(cont.) The performance of the vehicle as reported in this thesis compare well to the previously recorded performance measurements and to theoretical estimates based on the capabilities of the actuators. However, measurements of performance would benefit greatly from better control during testing and from a larger testing space. Developing a more effective means of sway actuation would also benefit the vehicle's performance.
Description
Thesis (S.M.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 2006.
Includes bibliographical references (p. 63-65).
Subjects
Mechanical Engineering.
MIT Department
Massachusetts Institute of Technology. Department of Mechanical Engineering
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