Unmanned Underwater Vehicle Inspired by Multiple Aquatic Species
Abstract
In this proposed research, an energy-efficient Unmanned Underwater Vehicle (UUV) inspired by unique features of multiple aquatic species, including a diving beetle, batoidea fish, boxfish and alligator, will be designed, constructed and tested. A hydrodynamics model will be established to study locomotion of the bio-inspired UUV. Body, propeller dynamics and morphology of the propulsion systems inspired from theaquatic species will be optimized using the dynamics model with the objective to minimize energy cost and improve maneuverability. A control algorithm inspired by the cognition formulation mechanism and central pattern generator of human beings~ decision-making systems will be proposed and implemented to enhance autonomy of the UUV. Functional model based modular design method will be employed to improve changeability of the UUV components, and reduce cost for implementation as well as maintenance. Six modules will be designed and implemented for the UUV, including propulsion module, central control module, manipulator module, buoyancy control module, body frame module and obstacle avoidance module.
Document Details
- Document Type
- DoD Grant Award
- Publication Date
- Aug 12, 2016
- Source ID
- N000141612413
Entities
People
- Mingjun Zhang
Organizations
- Office of Naval Research
- Ohio State University
- United States Navy