Accession Number:

ADA495429

Title:

Biomimetic Oscillating Foil Propulsion to Enhance Underwater Vehicle Agility and Maneuverability

Descriptive Note:

Doctoral thesis

Corporate Author:

WOODS HOLE OCEANOGRAPHIC INSTITUTION MA

Personal Author(s):

Report Date:

2008-06-01

Pagination or Media Count:

215.0

Abstract:

Inspired by the swimming abilities of marine animals, this theses presents Finnegan the RoboTurtle, an autonomous underwater vehicle AUV powered entirely by four flapping foils. Biomimetic actuation is shown to produce dramatic improvements in AUV maneuvering at cruising speeds, while simultaneously allowing for agility at low speeds. Using control algorithms linear in the modified Rodrigues parameters to support large angle maneuvers, the vehicle is successfully controlled in banded and twisting turns, exceeding the best reported AUV turning performance by more than a factor of two. Observations of Myrtle, a 250kg Green sea turtle Chelonia Mydas at the New England Aquarium, are detailed along with steady swimming, Myrtle is observed performing level turns and rapidly actuating pitch to control depth and speed. Limb kinematics for the level turning maneuver are replicated by Finnegan, and turning rates comparable to those of the turtle are achieved.

Subject Categories:

  • Underwater and Marine Navigation and Guidance
  • Bionics

Distribution Statement:

APPROVED FOR PUBLIC RELEASE