Award Date

5-2009

Degree Type

Thesis

Degree Name

Master of Science in Electrical Engineering (MSEE)

Department

Electrical and Computer Engineering

First Committee Member

Sahjendra Singh, Chair

Second Committee Member

Venkatesan Muthukumar

Third Committee Member

Pushkin Kachroo

Graduate Faculty Representative

Woosoon Yim

Number of Pages

114

Abstract

Aquatic animals have splendid ability to move smoothly through water using variety of oscillating fins. Presently researchers are involved in developing biorobotic autonomous underwater vehicles (BAUVs) which have the ability to swim like marine animals. Multiple oscillating fins (dorsal, caudal, pectoral, pelvic, etc.) can be mounted on BAUVs to generate control forces for propulsion and maneuvering. In this research work, control of the BAUVs using pectoral fins alone is considered. The oscillating pectoral fins produce unsteady periodic forces. The control of motion of an BAUV in yaw and dive planes are considered.

Keywords

Hydrodynamics; Submersibles

Disciplines

Electrical and Computer Engineering | Engineering | Ocean Engineering

Language

English

Comments

Signatures have been redacted for privacy and security measures.


Share

COinS