2026-09-19T22:52:58Zhttps://dspace.mit.edu/server/oai/requestoai:dspace.mit.edu:1721.1/404512022-01-13T07:54:36Zcom_1721.1_7582com_1721.1_7581col_1721.1_131024
Kamal Youcef-Toumi.
Mazumdar, Anirban
Massachusetts Institute of Technology. Dept. of Mechanical Engineering.
Massachusetts Institute of Technology. Department of Mechanical Engineering
2008-02-27T22:27:15Z
2008-02-27T22:27:15Z
2007
2007
http://hdl.handle.net/1721.1/40451
191731218
Thesis (S.B.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 2007.
Includes bibliographical references (leaves 63-64).
Biomimetic swimming devices that employ compliant mechanisms have shown promise as an alternative to current biomimetic design approaches that involve the use of complex mechanisms. The additional stealth, ruggedness, and efficiency of this approach means that such devices could perform important tasks such as reconnaissance and underwater mapping. Many of these applications also require high levels of maneuverability and closed-loop control. However, maneuverability and heading control are two areas that are relatively unexplored with regard to such devices. Therefore, in order to study maneuverability and control, this thesis outlines a simple dynamic model to predict the maneuvering behavior of compliant biomimetic swimming devices. A comparison of the model predictions with experimental data is also presented. Lastly, the dynamic model is used to successfully design, simulate and implement a compass-based heading control system.
by Anirban Mazumdar.
S.B.
93 leaves
eng
Massachusetts Institute of Technology
M.I.T. theses are protected by copyright. They may be viewed from this source for any purpose, but reproduction or distribution in any format is prohibited without written permission. See provided URL for inquiries about permission.
http://dspace.mit.edu/handle/1721.1/7582
Mechanical Engineering.
Maneuverability and heading control of compliant biomimetic swimming devices
Thesis
application/pdf
Publication
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