Mechanical Engineering Commons^™

Physics-Based Machine Learning Methods For Control And Sensing In Fish-Like Robots, Colin Rodwell

All Dissertations

Underwater robots are important for the construction and maintenance of underwater infrastructure, underwater resource extraction, and defense. However, they currently fall far behind biological swimmers such as fish in agility, efficiency, and sensing capabilities. As a result, mimicking the capabilities of biological swimmers has become an area of significant research interest. In this work, we focus specifically on improving the control and sensing capabilities of fish-like robots.

Our control work focuses on using the Chaplygin sleigh, a two-dimensional nonholonomic system which has been used to model fish-like swimming, as part of a curriculum to train a reinforcement learning agent to …

Laboratory Generation And Physics Of Propagation Of Solitary Waves And Water Surface Depressions, Siamak Malek Mohammadi

All Dissertations

Solitary waves and water surface depressions are generated using a piston-type wavemaker. Different aspects of their propagation including profile evolution, establishment rate, stability, and celerity are examined experimentally.
Traditionally, solitary waves are generated in laboratory set-ups using a methodology developed by Goring (1979) that considers a wave of permanent form during the generation process. A New methodology for generation of solitary waves using piston-type wavemakers is proposed by considering the evolving nature of the wave during generation phase. The capability of the New methodology in generation of solitary waves is assessed by conducting a series of laboratory experiments in water …