2026-09-20T12:27:24Zhttps://dspace.mit.edu/server/oai/requestoai:dspace.mit.edu:1721.1/914452026-06-06T00:55:38Zcom_1721.1_7582com_1721.1_7581col_1721.1_131023
David L. Trumper.
Church, Joseph Christopher
Massachusetts Institute of Technology. Department of Electrical Engineering and Computer Science.
Massachusetts Institute of Technology. Department of Electrical Engineering and Computer Science
2014-11-04T21:37:16Z
2014-11-04T21:37:16Z
2014
2014
http://hdl.handle.net/1721.1/91445
893679539
Thesis: M. Eng., Massachusetts Institute of Technology, Department of Electrical Engineering and Computer Science, 2014.
6
Cataloged from PDF version of thesis.
Includes bibliographical references (page 63).
In this thesis, we developed a highly scalable design for modular Lorentz force actuators for use in segmented flexible-hull undersea vehicles such as the RoboTuna being developed at Franklin W, Olin College of Engineering. The actuators were designed to directly drive tail foil sections, or vertebrae, in an oscillatory motion to provide thrust. The design process was automated to facilitate implementation in different sized vertebrae. A set of prototype actuators was manufactured and tested to evaluate the feasibility of the design. A test stand was constructed to evaluate both the static and dynamic performance of the actuators. The prototype actuators achieved the required motion and demonstrated modest performance at a variety of load levels.
by Joseph Christopher Church.
M.Eng.
63 pages
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
Electrical Engineering and Computer Science.
Modular Lorentz force actuators for efficient biomimetic propulsion of Autonomous Underwater Vehicles
Thesis
application/pdf
Publication
unknown
unknown
<Publication xmlns="https://www.openaire.eu/cerif-profile/1.1/" id="bc1f68ab-1857-4628-8d67-ca0ace872c82">
<Type xmlns="https://www.openaire.eu/cerif-profile/vocab/COAR_Publication_Types">http://purl.org/coar/resource_type/c_1843</Type>
<Language>eng</Language>
<Title>Modular Lorentz force actuators for efficient biomimetic propulsion of Autonomous Underwater Vehicles</Title>
<PublishedIn>
<Publication>
</Publication>
</PublishedIn>
<PublicationDate>2014</PublicationDate>
<Authors>
<Author>
<DisplayName>Church, Joseph Christopher</DisplayName>
<Affiliation>
<OrgUnit>
</OrgUnit>
</Affiliation>
</Author>
</Authors>
<Editors>
</Editors>
<Publishers>
<Publisher>
<DisplayName>Massachusetts Institute of Technology</DisplayName>
<OrgUnit />
</Publisher>
</Publishers>
<License>http://dspace.mit.edu/handle/1721.1/7582</License>
<Keyword>Electrical Engineering and Computer Science.</Keyword>
<Abstract>In this thesis, we developed a highly scalable design for modular Lorentz force actuators for use in segmented flexible-hull undersea vehicles such as the RoboTuna being developed at Franklin W, Olin College of Engineering. The actuators were designed to directly drive tail foil sections, or vertebrae, in an oscillatory motion to provide thrust. The design process was automated to facilitate implementation in different sized vertebrae. A set of prototype actuators was manufactured and tested to evaluate the feasibility of the design. A test stand was constructed to evaluate both the static and dynamic performance of the actuators. The prototype actuators achieved the required motion and demonstrated modest performance at a variety of load levels.</Abstract>
<Access xmlns="http://purl.org/coar/access_right"
>
</Access>
</Publication>