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An elastic pulsed-jet thruster for soft unmanned underwater vehicles

An elastic pulsed-jet thruster for soft unmanned underwater vehicles
An elastic pulsed-jet thruster for soft unmanned underwater vehicles
This paper reports on the development of a new kind of unmanned underwater vehicle which draws inspiration from cephalopods both in terms of morphology and swimming routine. The robot developed here is the first in its kind, being a soft aquatic robot which travels in water by pulsed-jet propulsion. The general design principles of this innovative kind of underwater robot are illustrated and a first prototype is built and tested. The experiments demonstrate an inverse correlation between the frequency of pulsation and the speed of the robot. A mathematical model which associates the kinematics of the pulsating routine to the dynamics of the swimming is devised and compared with the experiments in order to better investigate the interplay of the various design parameters.
Giorgio-Serchi, Francesco
8571dc14-19c1-4ed1-8080-d380736a6ffa
Arienti, Andrea
64933f16-d247-42bc-a453-cbe474efa594
Baldoli, Ilaria
6e84883a-0708-43c3-ac19-681d70191f26
Laschi, Cecilia
302c8a64-0ba9-4d5c-9d6f-efcfd4acc64a
Giorgio-Serchi, Francesco
8571dc14-19c1-4ed1-8080-d380736a6ffa
Arienti, Andrea
64933f16-d247-42bc-a453-cbe474efa594
Baldoli, Ilaria
6e84883a-0708-43c3-ac19-681d70191f26
Laschi, Cecilia
302c8a64-0ba9-4d5c-9d6f-efcfd4acc64a

Giorgio-Serchi, Francesco, Arienti, Andrea, Baldoli, Ilaria and Laschi, Cecilia (2013) An elastic pulsed-jet thruster for soft unmanned underwater vehicles. IEEE International Conference on Robotics and Automation (ICRA), Karlsruhe, Germany. 05 - 09 May 2013. (doi:10.1109/ICRA.2013.6631306).

Record type: Conference or Workshop Item (Paper)

Abstract

This paper reports on the development of a new kind of unmanned underwater vehicle which draws inspiration from cephalopods both in terms of morphology and swimming routine. The robot developed here is the first in its kind, being a soft aquatic robot which travels in water by pulsed-jet propulsion. The general design principles of this innovative kind of underwater robot are illustrated and a first prototype is built and tested. The experiments demonstrate an inverse correlation between the frequency of pulsation and the speed of the robot. A mathematical model which associates the kinematics of the pulsating routine to the dynamics of the swimming is devised and compared with the experiments in order to better investigate the interplay of the various design parameters.

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More information

Published date: 6 May 2013
Venue - Dates: IEEE International Conference on Robotics and Automation (ICRA), Karlsruhe, Germany, 2013-05-05 - 2013-05-09
Organisations: Fluid Structure Interactions Group

Identifiers

Local EPrints ID: 395581
URI: http://eprints.soton.ac.uk/id/eprint/395581
PURE UUID: 218ee384-dd25-4710-abc4-4b27799baaea
ORCID for Francesco Giorgio-Serchi: ORCID iD orcid.org/0000-0002-5090-9007

Catalogue record

Date deposited: 08 Jun 2016 17:41
Last modified: 27 Apr 2022 08:41

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Contributors

Author: Francesco Giorgio-Serchi ORCID iD
Author: Andrea Arienti
Author: Ilaria Baldoli
Author: Cecilia Laschi

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