Book Description

Undulatory ribbon-fin-based propulsion is an appealing propulsion mechanism due to its rich locomotor capabilities that can improve the propulsive performance and maneuverability of underwater vehicles. For instance, the swimming mechanics of weakly electric black ghost knifesh (Apteronotus albifrons) is of great interest to study because of their high swimming efficiency at low speeds and extraordinary agility such as rapid reversal swimming, hovering in presence of water disturbance, rolling and vertical swimming. In this thesis work, to facilitate our understanding on the flexible undulatory ribbon fin propulsion, we have four research motivations. The first objective is to study how the use of flexible rays and different fin morphology can influence the propulsive performance of ribbon-fin propulsion. It is possible that natural swimmers using this locomotion method could take advantage of passive fin motion based on the coupling of fluid-structure interaction and the elasto-mechanical responses of the undulating fin. Therefore, the second objective is to understand how an under-actuated undulating fin can take advantage of natural dynamics of the fluid-structure interaction for the propulsive force generation. In addition to the impressive propulsive performance of the undulatory fin propulsion, the exceptional maneuverability of knifesh is also a key motivation that drives this thesis work. Thus, we dedicate to investigate how traveling wave shapes and actuation parameters (frequency, wavelength) can manipulate the maneuvering behaviors of a swimmer propelled by an undulating ribbon fin. Lastly, we aim to uncover the varying traveling wave amplitudes and pectoral fins on its maneuvering performances. Two robotic devices were developed to study the propulsive performance of both fully actuated and under-actuated ribbon fin propulsion and investigate the maneuver control of a free-swimming underwater robot propelled by an undulatory fin. For the first research aim, we study the effect of flexible rays and different fin morphology on the propulsive performance of ribbon-fin propulsion. A physical model composed of fifteen rays interconnected with an elastic membrane was used to test four different ray flexural stiffness and four aspect ratios. Our results show that flexible rays can improve the propulsive effciency compared to a rigid counterpart. In addition, the morphology of the ribbon fin affects its propulsive performance as well, and there could exist an optimal fin morphology. To understand how an underactuated undulating fin can modify its active and passive fin motion to effectively control the hydrodynamic force and propulsive effciency. We did a series of experiments using the same robotic fin model but with some structural modications and we measured fin kinematics, net surge force and power consumption. We found that the under-actuated fin can keep the equivalent propulsive effciency as the fully-actuated counterpart within our experimental parameter range. Moreover, our results demonstrate that the thrust force and power consumption of an under-actuated fin follow the same scaling laws as the fully-actuated fin. To conduct the free-swimming maneuver study, we developed a self-contained, free-swimming robot propelled by an undulatory fin, which is able to perform the following maneuvers: forward, reversed swimming and hovering motion. We also performed V3V PIV experiments to capture the flow structures generated by the robotic device. Our results show that the robot can reach higher swimming effciency at low frequencies. As the number of traveling waves increases, the robot swims more stably in roll, pitch and yaw motions. For cases with varying wave amplitudes, traveling wave with incremental wave amplitude can achieve free-swimming velocity higher than that of decremental wave amplitude. However, the latter case can generate higher pitch angles. For the robot with slightly negative-pitched pectoral fins, it can perform slow diving maneuvers. These findings demonstrate that we can take advantage of the undulating ribbon fin propulsion to achieve high maneuverability for the future underwater vehicles in complex environment.