Biomimetic Oscillating Foil Propulsion to Enhance Underwater Vehicle Agility and Maneuverability

Abstract

Inspired by the swimming abilities of marine animals, this theses presents "Finnegan the RoboTurtle," an autonomous underwater vehicle (AUV) powered entirely by four flapping foils. Biomimetic actuation is shown to produce dramatic improvements in AUV maneuvering at cruising speeds, while simultaneously allowing for agility at low speeds. Using control algorithms linear in the modified Rodrigues parameters to support large angle maneuvers, the vehicle is successfully controlled in banded and twisting turns, exceeding the best reported AUV turning performance by more than a factor of two. Observations of "Myrtle," a 250kg Green sea turtle (Chelonia Mydas) at the New England Aquarium, are detailed: along with steady swimming, Myrtle is observed performing level turns and rapidly actuating pitch to control depth and speed. Limb kinematics for the level turning maneuver are replicated by Finnegan, and turning rates comparable to those of the turtle are achieved.

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Document Details

Document Type
Technical Report
Publication Date
Jun 01, 2008
Accession Number
ADA495429

Entities

People

  • Stephen C. Licht

Organizations

  • Woods Hole Oceanographic Institution

Tags

Communities of Interest

  • Advanced Electronics
  • Energy and Power Technologies
  • Ground and Sea Platforms
  • Weapons Technologies

DTIC Thesaurus Topics

  • Animal Structures
  • Autonomous Underwater Vehicles
  • Buoyancy
  • Collision Avoidance
  • Control Surfaces
  • Control Systems
  • Dead Reckoning
  • Fish
  • Fluid Dynamics
  • Fluid Flow
  • Geometry
  • Local Area Networks
  • Measurement
  • Three Dimensional
  • Two Dimensional
  • Unmanned Underwater Vehicles
  • Vehicle Design

Readers

  • Aerodynamics.
  • Aquatic Ecology
  • Aviation Science / Aeronautics.

Technology Areas

  • Biotechnology