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Maneuvering and Control of a Synergistically Propelled Ichthyoid

[+] Author Affiliations
Aren M. Hellum, Paul C. Strefling, Ranjan Mukherjee

Michigan State University, East Lansing, MI

Paper No. DSCC2012-MOVIC2012-8680, pp. 187-193; 7 pages
doi:10.1115/DSCC2012-MOVIC2012-8680
From:
  • ASME 2012 5th Annual Dynamic Systems and Control Conference joint with the JSME 2012 11th Motion and Vibration Conference
  • Volume 2: Legged Locomotion; Mechatronic Systems; Mechatronics; Mechatronics for Aquatic Environments; MEMS Control; Model Predictive Control; Modeling and Model-Based Control of Advanced IC Engines; Modeling and Simulation; Multi-Agent and Cooperative Systems; Musculoskeletal Dynamic Systems; Nano Systems; Nonlinear Systems; Nonlinear Systems and Control; Optimal Control; Pattern Recognition and Intelligent Systems; Power and Renewable Energy Systems; Powertrain Systems
  • Fort Lauderdale, Florida, USA, October 17–19, 2012
  • Conference Sponsors: Dynamic Systems and Control Division
  • ISBN: 978-0-7918-4530-1
  • Copyright © 2012 by ASME

abstract

The Synergistically Propelled Ichthyoid [SPI] is a novel submersible propelled by the combined jet and tail action of a fluttering fluid-conveying pipe. A model for an SPI’s motion in a general planar frame is presented which includes a time-variable conveyed fluid velocity. Simulations using this model show that the tail of the SPI may be used as an effective control surface by leveraging the tail’s ability to “vector” its fluid jet as well as turn the oncoming external fluid like a fish. Methods used to effect rapid turns and simultaneous control of orientation and jet speed are also demonstrated.

Copyright © 2012 by ASME

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