Biology-Inspired Precision Maneuvering of Underwater Vehicles

This paper describes the use of a mechanical pectoral fin as a new device for maneuvering and stabilizing an underwater vehicle. The mechanical pectoral fin consists of three servo-motors, which respectively generate a rowing motion, a feathering motion, and a flapping motion. Optimization of the parameters of fin motion so as to generate maximum propulsive force in terms of flow condition and motion pattern revealed that the lift-based rather than the drag-based swimming mode is suitable for generation of propulsive force in uniform flow, whereas the drag-based rather than the lift-based swimming mode is suitable for generation of propulsive force in still water. The underwater vehicle equipped with two pairs of mechanical pectoral fins has not only quite a good propulsive performance, but also a variety of maneuverability in hovering condition. The task sharing by fore and aft pairs of mechanical pectoral fins enables a precise Point To Point control in 3-D underwater space that needs simultaneous performance of azimuth control, position control in horizontal plane and depth control. The drag-based swimming mode of the mechanical pectoral fin rather than the lift-based swimming mode is suitable for the motion control of the underwater vehicle that needs a prompt response under disturbances such as waves.

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