Underwater Locomotion of Swimming Cylinders
(1997) In MSc ThesesDepartment of Automatic Control
- Abstract
- The object of this thesis is to explore of a planar, almost circular amoeba, can move efficiently in an inviscid fluid. We investigate a homogenous amoeba and a heterogeneous amoeba and find that motion is possible for both using the physical fact that more work is needed when moving a bulky body in a fluid than when moving a small body of the same mass. For our calculations to be valid only small body shape changes may be considered. We find that the greatest amount of motion can usually be achieved by the heterogeneous amoeba and that an in some optimal way to control this is to use sinusoidal control inputs. It is concluded that such an amoeba is a practically feasible although not a very efficient form of underwater vehicle.
Please use this url to cite or link to this publication:
http://lup.lub.lu.se/student-papers/record/8848666
- author
- Andreas, Helena
- supervisor
- organization
- year
- 1997
- type
- H3 - Professional qualifications (4 Years - )
- subject
- keywords
- Underwater locomotion, Irrotational fluif, Deformation, Lie bracket motion, Optimal control
- publication/series
- MSc Theses
- report number
- TFRT-5589
- ISSN
- 0280-5316
- language
- English
- id
- 8848666
- date added to LUP
- 2016-03-24 17:40:27
- date last changed
- 2016-03-24 17:40:27
@misc{8848666, abstract = {{The object of this thesis is to explore of a planar, almost circular amoeba, can move efficiently in an inviscid fluid. We investigate a homogenous amoeba and a heterogeneous amoeba and find that motion is possible for both using the physical fact that more work is needed when moving a bulky body in a fluid than when moving a small body of the same mass. For our calculations to be valid only small body shape changes may be considered. We find that the greatest amount of motion can usually be achieved by the heterogeneous amoeba and that an in some optimal way to control this is to use sinusoidal control inputs. It is concluded that such an amoeba is a practically feasible although not a very efficient form of underwater vehicle.}}, author = {{Andreas, Helena}}, issn = {{0280-5316}}, language = {{eng}}, note = {{Student Paper}}, series = {{MSc Theses}}, title = {{Underwater Locomotion of Swimming Cylinders}}, year = {{1997}}, }