Biomimetic Underwater Vehicle Phase Following to a Periodically Oscillating Source
Date Issued
2014
Date
2014
Author(s)
Chen, Chien-Ju
Abstract
Fish uses the lateral line system to detect the difference of pressure field around the body. The lateral line system allows fish to avoid predators, localize prey, interact with fish school, etc. In this study, a piezoelectric material PVDF sensor is used to measure dynamic pressure surrounding the fish body, mimicking as a lateral line sensor. Then the lateral line measurements is used on a biomimetic autonomous underwater vehicle (BAUV) to track the motion of a periodically oscillating source by following the source’s phase. This article firstly mention the production of the lateral line sensor, the design of the charge amplification circuit for PVDF, and the calibration of the sensor sensitivity using a commercial pressure sensor. Secondly, mechanics and motion control of the BAUV is derived. The BAUV’s tail fin can be controlled to be an oscillator like mechanism. A dipole model is used to predict the dynamic pressure around the tail fin using the potential flow theory. A moving dipole source is then considered as an external source that is oscillating with constant amplitude and frequency. Relative phase between the tail fin and the dipole source are estimated using measurement from the PVDF sensor attached on the fish body. Coupling forces based on the phase angle between the tail and the oscillating source are derived to drive the tail fin. Tank experiments employing a captured BAUV beside a moving dipole mechanism are conducted to observe the phase following. Effects of the relative velocity between the BAUV and the oscillating source on the phase following performance is discussed.
Subjects
Biomimetic autonomous underwater vehicle
Piezoelectric film
Lateral line
Dipole
Phase following
Type
thesis
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