Ocean Engineering Commons^™

Modeling And Control Of A Flexible Ionic Polymer Metal Composite(Ipmc) Actuator For Underwater Propulsion, Shivakanth Gutta

UNLV Theses, Dissertations, Professional Papers, and Capstones

The goal of this research is to model and control the underwater vehicle propelled by IPMC actuator. IPMC consists of an ionic membrane sandwiched between two metallic electrodes. When an external voltage is applied, IPMC undergoes large deformation due to transport of ions. Due to its ability to work in aqueous environments, it can be used for developing small scale underwater vehicles.

First, Finite element approach is used to describe the dynamics of the both single and segmented IPMC actuator. In the approach presented, each element is attached with a local coordinate system that undergoes rigid body motion along with …

Biology-Inspired Adaptive And Nonlinear Robust Control Of Bauv Using Pectoral-Like Fins, Subramanian Ramasamy

UNLV Theses, Dissertations, Professional Papers, and Capstones

Aquatic animals have splendid ability to move smoothly through water using variety of oscillating fins. Presently researchers are involved in developing biorobotic autonomous underwater vehicles (BAUVs) which have the ability to swim like marine animals. Multiple oscillating fins (dorsal, caudal, pectoral, pelvic, etc.) can be mounted on BAUVs to generate control forces for propulsion and maneuvering. In this research work, control of the BAUVs using pectoral fins alone is considered. The oscillating pectoral fins produce unsteady periodic forces. The control of motion of an BAUV in yaw and dive planes are considered.