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Underwater Locomotion of Swimming Cylinders

Andreas, Helena (1997) In MSc Theses
Department 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.
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author
Andreas, Helena
supervisor
organization
year
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},
  keyword      = {Underwater locomotion,Irrotational fluif,Deformation,Lie bracket motion,Optimal control},
  language     = {eng},
  note         = {Student Paper},
  series       = {MSc Theses},
  title        = {Underwater Locomotion of Swimming Cylinders},
  year         = {1997},
}