Maneuverability and heading control of compliant biomimetic swimming devices
Thesis (S.B.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 2007.
| Main Author: | |
|---|---|
| Other Authors: | |
| Format: | Thesis |
| Language: | eng |
| Published: |
Massachusetts Institute of Technology
2008
|
| Subjects: | |
| Online Access: | http://hdl.handle.net/1721.1/40451 |
| _version_ | 1826199250977947648 |
|---|---|
| author | Mazumdar, Anirban |
| author2 | Kamal Youcef-Toumi. |
| author_facet | Kamal Youcef-Toumi. Mazumdar, Anirban |
| author_sort | Mazumdar, Anirban |
| collection | MIT |
| description | Thesis (S.B.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 2007. |
| first_indexed | 2024-09-23T11:16:47Z |
| format | Thesis |
| id | mit-1721.1/40451 |
| institution | Massachusetts Institute of Technology |
| language | eng |
| last_indexed | 2024-09-23T11:16:47Z |
| publishDate | 2008 |
| publisher | Massachusetts Institute of Technology |
| record_format | dspace |
| spelling | mit-1721.1/404512019-04-12T09:25:27Z Maneuverability and heading control of compliant biomimetic swimming devices Mazumdar, Anirban Kamal Youcef-Toumi. Massachusetts Institute of Technology. Dept. of Mechanical Engineering. Massachusetts Institute of Technology. Dept. of Mechanical Engineering. Mechanical Engineering. Thesis (S.B.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 2007. Includes bibliographical references (leaves 63-64). Biomimetic swimming devices that employ compliant mechanisms have shown promise as an alternative to current biomimetic design approaches that involve the use of complex mechanisms. The additional stealth, ruggedness, and efficiency of this approach means that such devices could perform important tasks such as reconnaissance and underwater mapping. Many of these applications also require high levels of maneuverability and closed-loop control. However, maneuverability and heading control are two areas that are relatively unexplored with regard to such devices. Therefore, in order to study maneuverability and control, this thesis outlines a simple dynamic model to predict the maneuvering behavior of compliant biomimetic swimming devices. A comparison of the model predictions with experimental data is also presented. Lastly, the dynamic model is used to successfully design, simulate and implement a compass-based heading control system. by Anirban Mazumdar. S.B. 2008-02-27T22:27:15Z 2008-02-27T22:27:15Z 2007 2007 Thesis http://hdl.handle.net/1721.1/40451 191731218 eng M.I.T. theses are protected by copyright. They may be viewed from this source for any purpose, but reproduction or distribution in any format is prohibited without written permission. See provided URL for inquiries about permission. http://dspace.mit.edu/handle/1721.1/7582 93 leaves application/pdf Massachusetts Institute of Technology |
| spellingShingle | Mechanical Engineering. Mazumdar, Anirban Maneuverability and heading control of compliant biomimetic swimming devices |
| title | Maneuverability and heading control of compliant biomimetic swimming devices |
| title_full | Maneuverability and heading control of compliant biomimetic swimming devices |
| title_fullStr | Maneuverability and heading control of compliant biomimetic swimming devices |
| title_full_unstemmed | Maneuverability and heading control of compliant biomimetic swimming devices |
| title_short | Maneuverability and heading control of compliant biomimetic swimming devices |
| title_sort | maneuverability and heading control of compliant biomimetic swimming devices |
| topic | Mechanical Engineering. |
| url | http://hdl.handle.net/1721.1/40451 |
| work_keys_str_mv | AT mazumdaranirban maneuverabilityandheadingcontrolofcompliantbiomimeticswimmingdevices |