Chapter

Bio-mechanisms of Swimming and Flying

pp 283-294

Design, Development, and Testing of Flapping Fins with Actively Controlled Curvature for an Unmanned Underwater Vehicle

  • John PalmisanoAffiliated withCenter for Biomolecular Science and Engineering, Naval Research Laboratory
  • , Jason GederAffiliated withLaboratory for Computational Physics and Fluid Dynamics, Naval Research Laboratory
  • , Ravi RamamurtiAffiliated withLaboratory for Computational Physics and Fluid Dynamics, Naval Research Laboratory
  • , Kerr-Jia LiuAffiliated withDepartment of Mechanical and Aerospace Engineering, George Washington University
  • , Jonah Jonah CohenAffiliated withCenter for Biomolecular Science and Engineering, Naval Research Laboratory
  • , Tewodros MengeshaAffiliated withDepartment of Mechanical and Aerospace Engineering, George Washington University
  • , Jawad NaciriAffiliated withCenter for Biomolecular Science and Engineering, Naval Research Laboratory
  • , William SandbergAffiliated withLaboratory for Computational Physics and Fluid Dynamics, Naval Research Laboratory
  • , Banahalli RatnaAffiliated withCenter for Biomolecular Science and Engineering, Naval Research Laboratory

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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.

Key words

Biomimetic pectoral fin UUV unsteady CFD PID control adaptive curvature