Design of a Biomimetic Underwater Glider
Date Issued
2015
Date
2015
Author(s)
Chang, Kai-Min
Abstract
This work develops a design method of a biomimetic underwater glider. When enforcing a wide range of measurement and long-duty-cycle data collection in the ocean, owing to the limited internal space of the underwater vehicle, the energy to run the device is quite limited. How to save propulsion energy appeared to be quite important. Our device changes the buoyancy and center of gravity locations to change the angle of attack, then with wings for generate gliding motion in the water. During gliding process, vehicle change the tail swinging angle to achieve heading control. First, linear equations of motion of an underwater vehicle are derived. Then the added mass terms are computed by the similar ellipsoids method and viscous resistance are calculated by the empirical estimation method which was developed by Bottaccini for the standard torpedoes. Estimating resistance of vehicle with wings, a design methodology for size of wings is proposed to choose the position and size of wings. This work considers the performance characteristics of the vehicle, such as buoyancy engine energy, diving efficiency and turning radius, etc. Finally, this work demonstrates the experimental data to validate the design method by a biomimetic underwater glider.
Subjects
robotic fish
autonomous underwater vehicle
underwater glider
equation of motion
turning radius
Type
thesis
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