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Articles 1 - 2 of 2
Full-Text Articles in Ocean Engineering
Developing And Testing An Anguilliform Robot Swimming With Theoretically High Hydrodynamic Efficiency, John B. Potts Iii
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 …
Modeling And Control Of A Flexible Ionic Polymer Metal Composite(Ipmc) Actuator For Underwater Propulsion, Shivakanth Gutta
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 …