Abstract
This paper describes the design, construction, and testing of a biomimetic pectoral (side) fin with actively controlled curvature for UUV propulsion. It also describes the development of a test UUV and the design of a fin control system for vertical plane motion. A 3D unsteady computational fluid dynamics (CFD) analysis has been carried out to computationally optimize the fin design including a full study of the primary design parameters. The fin has been constructed and it can reproduce any specified deformation time-history. The full dynamics of the proposed vehicle have been modeled and the forces produced by the flapping fins computed. Finally, the stability of motion in the vertical plane has been analyzed and a control system has been designed.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
References
Alin N, Fureby C, Svennberg SU, Sandberg WC, Ramamurti R, Bensow RE (2007) Large Eddy Simulation of the Transient Flow Around A Submarine During A Maneuver. 45th AIAA Aerospace Sciences Meeting and Exhibit, AIAA-2007-1454, Reno, NV
Ando Y, Kato N, Suzuki H, Ariyoshi T, Suzumori K, Kanda T, Endo S (2006) Elastic Pectoral Fin Actuators for Biomimetic Underwater Vehicles. Proc of the 16th International Offshore and Polar Engineering Conference, pp 260–267
Blake RW (1979) The mechanics of labriform motion I. Labriform locomotion in the angelfish (pterophyllum eimekei): An analysis of the power stroke. J Exp Biol 82:255–271
Geder J, Sandberg WC (2007) Multi-Camera, High-Speed Imaging System for Flapping Fin Kinematics Measurement. Naval Research Laboratory Memorandum Report NRL/MR 6401-07. Submitted for publication January 2007
Jakuba M (2003) Modeling and Control of an Autonomous Underwater Vehicle with Combined Foil/Thruster Actuators. SM Thesis, WHOI-MIT Joint Program in Oceanographic Engineering
Kato N (2000) Control performance in horizontal plane of fish robot with mechanical pectoral fins. IEEE J Ocean Eng 25:121–129
Kato N, Liu H, Morikawa H (2002) Biology-Inspired Precision Maneuvering of Underwater Vehicles. Proc of the 12th International Offshore and Polar Engineering Conference, vol 2, pp 269–276
Licht S, Polidoro V, Flores M, Hover FS, Triantafyllou MS (2004) Design and Projected Performance of a Flapping Foil AUV. IEEE J Ocean Eng 29:786–794
Löhner R (1988) An adaptive finite element solver for transient problems with moving bodies. Computers & Structures 30:303–317
Palmisano J, Ramamurti R, Lu K, Cohen J, Sandberg W, Ratna B (2007) Design of a Biomimetic Controlled-Curvature Robotic Pectoral Fin. IEEE International Conference on Robotics and Automation, Rome, IT
Ramamurti R, Sandberg WC (2001) Simulation of Flow About Flapping Airfoils Using A Finite Element Incompressible Flow Solver, AIAA J., 39(2):253–260
Ramamurti R, Sandberg WC (2002) Fluid dynamics of flapping aquatic flight in the bird wrasse: three-dimensional unsteady computations with fin deformation. J Exp Biol 205:2997–3008
Ramamurti R, Sandberg WC (2004) The influence of fin rigidity and gusts on force production in fishes and insects: a computational study, 42nd AIAA Aerospace Sciences Meeting, AIAA 2004-404, Reno, NV
Ramamurti R, Sandberg WC (2006) Computational Fluid Dynamics Study for Optimization of a Fin Design. 24th AIAA Applied Aerodynamics Conference, AIAA-2006–-3658, San Francisco, CA
Ramamurti R, Löhner R, Sandberg WC (1996) Computation of unsteady flow past a tuna with caudal fin oscillation. In: Rahman M, Brebbia CA (Eds) Advances in Fluid Mechanics Vol. 9. Computational Mechanics Publications, Southampton, UK, pp 169–178
Trease BP, Lu KJ, Kota S (2003) Biomimetic Compliant System for Smart Actuator-Driven Aquatic Propulsion: Preliminary Results. ASME Int. Mechanical Eng. Congress & Exposition, IMECE2003-41446
Wainwright P, Bellwood D, Westneat M (2002) Ecomorphology of Locomotion in Labrid Fishes. Environmental Biology of Fishes 65:47–62
Walker JA, Westneat MW (1997) Labriform Propulsion in Fishes: Kinematics of Flapping Aquatic Flight in the Bird Wrasse, Gomphosus Varius (Labridae). J Exp Biol 200:1549–1569
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2008 Springer
About this paper
Cite this paper
Palmisano, J. et al. (2008). Design, Development, and Testing of Flapping Fins with Actively Controlled Curvature for an Unmanned Underwater Vehicle. In: Kato, N., Kamimura, S. (eds) Bio-mechanisms of Swimming and Flying. Springer, Tokyo. https://doi.org/10.1007/978-4-431-73380-5_23
Download citation
DOI: https://doi.org/10.1007/978-4-431-73380-5_23
Publisher Name: Springer, Tokyo
Print ISBN: 978-4-431-73379-9
Online ISBN: 978-4-431-73380-5
eBook Packages: Biomedical and Life SciencesBiomedical and Life Sciences (R0)