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

  • John Palmisano
  • Jason Geder
  • Ravi Ramamurti
  • Kerr-Jia Liu
  • Jonah Jonah Cohen
  • Tewodros Mengesha
  • Jawad Naciri
  • William Sandberg
  • Banahalli Ratna

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 

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Copyright information

© Springer 2008

Authors and Affiliations

  • John Palmisano
    • 1
  • Jason Geder
    • 2
  • Ravi Ramamurti
    • 2
  • Kerr-Jia Liu
    • 3
  • Jonah Jonah Cohen
    • 1
  • Tewodros Mengesha
    • 3
  • Jawad Naciri
    • 1
  • William Sandberg
    • 2
  • Banahalli Ratna
    • 1
  1. 1.Center for Biomolecular Science and EngineeringNaval Research LaboratoryWashington, DC
  2. 2.Laboratory for Computational Physics and Fluid DynamicsNaval Research LaboratoryWashington, DC
  3. 3.Department of Mechanical and Aerospace EngineeringGeorge Washington UniversityWashington, DC

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