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Developing And Testing An Anguilliform Robot Swimming With Theoretically High Hydrodynamic Efficiency, John B. Potts Iii
University of New Orleans Theses and Dissertations
An anguilliform swimming robot replicating an idealized motion is a complex marine vehicle necessitating both a theoretical and experimental analysis to completely understand its propulsion characteristics. The ideal anguilliform motion within is theorized to produce ``wakeless'' swimming (Vorus, 2011), a reactive swimming technique that produces thrust by accelerations of the added mass in the vicinity of the body. The net circulation for the unsteady motion is theorized to be eliminated.
The robot was designed to replicate the desired, theoretical motion by applying control theory methods. Independent joint control was used due to hardware limitations. The fluid velocity vectors in the ...