Towards passive station holding of autonomous underwater vehicles inspired by fish behaviour in unsteady flows
Towards passive station holding of autonomous underwater vehicles inspired by fish behaviour in unsteady flows
Some species of fish are able to alter their mode of swimming to interact with naturally produced vortices; the use of these gaits reduces the energy expended by the fish. To analyse the feasibility of autonomous underwater vehicles (AUV) replicating these gaits, a series of experiments are performed with unpowered rigid and flexible bodies positioned in the Kármán wake of a rigid cylinder. Simple motion capture techniques are used to capture the bodies’ lateral and upstream motion in the flow. The results demonstrate that manufactured bodies are capable of passively mimicking fish behaviours, to a limited extent. More importantly, it was concluded that while significant upstream movement was possible for a manufactured object, it was achievable irrespective of the stiffness of the material. For AUVs operating in unsteady flow regimes an ability to utilise energy saving gaits may improve the range or operational time.
Marine craft, design, autonomous underwater vehicles, station holdin, g bio-inspired, flexible bodies
551-565
Phillips, A.B.
f565b1da-6881-4e2a-8729-c082b869028f
Blake, J.I.R.
6afa420d-0936-4acc-861b-36885406c891
Boyd, S.W.
bcbdefe0-5acf-4d6a-8a16-f4abf7c78b10
Griffiths, G.
2887c3c7-95f2-4834-b3f6-0284344d3580
November 2016
Phillips, A.B.
f565b1da-6881-4e2a-8729-c082b869028f
Blake, J.I.R.
6afa420d-0936-4acc-861b-36885406c891
Boyd, S.W.
bcbdefe0-5acf-4d6a-8a16-f4abf7c78b10
Griffiths, G.
2887c3c7-95f2-4834-b3f6-0284344d3580
Phillips, A.B., Blake, J.I.R., Boyd, S.W. and Griffiths, G.
(2016)
Towards passive station holding of autonomous underwater vehicles inspired by fish behaviour in unsteady flows.
Proceedings of the Institution of Mechanical Engineers, Part M: Journal of Engineering for the Maritime Environment, 230 (4), .
(doi:10.1177/1475090215605134).
Abstract
Some species of fish are able to alter their mode of swimming to interact with naturally produced vortices; the use of these gaits reduces the energy expended by the fish. To analyse the feasibility of autonomous underwater vehicles (AUV) replicating these gaits, a series of experiments are performed with unpowered rigid and flexible bodies positioned in the Kármán wake of a rigid cylinder. Simple motion capture techniques are used to capture the bodies’ lateral and upstream motion in the flow. The results demonstrate that manufactured bodies are capable of passively mimicking fish behaviours, to a limited extent. More importantly, it was concluded that while significant upstream movement was possible for a manufactured object, it was achievable irrespective of the stiffness of the material. For AUVs operating in unsteady flow regimes an ability to utilise energy saving gaits may improve the range or operational time.
Text
JEME_REVISED.pdf
- Accepted Manuscript
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Accepted/In Press date: 5 August 2015
e-pub ahead of print date: 24 September 2015
Published date: November 2016
Keywords:
Marine craft, design, autonomous underwater vehicles, station holdin, g bio-inspired, flexible bodies
Organisations:
National Oceanography Centre, Fluid Structure Interactions Group
Identifiers
Local EPrints ID: 380115
URI: http://eprints.soton.ac.uk/id/eprint/380115
ISSN: 1475-0902
PURE UUID: d9eb9ded-41a1-4444-9d3f-146587aa65a4
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Date deposited: 11 Aug 2015 10:57
Last modified: 15 Mar 2024 03:21
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Author:
A.B. Phillips
Author:
G. Griffiths
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