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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
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
1475-0902
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
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), 551-565. (doi:10.1177/1475090215605134).

Record type: Article

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.

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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
ORCID for A.B. Phillips: ORCID iD orcid.org/0000-0003-3234-8506
ORCID for J.I.R. Blake: ORCID iD orcid.org/0000-0001-5291-8233

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Date deposited: 11 Aug 2015 10:57
Last modified: 09 Jan 2022 03:17

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Contributors

Author: A.B. Phillips ORCID iD
Author: J.I.R. Blake ORCID iD
Author: S.W. Boyd
Author: G. Griffiths

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