Collaborative Research: Pulsatile Jet Propulsion for Underwater Robots

合作研究：水下机器人脉动喷射推进

• 批准号: 0413078
• 负责人: Joel Burdick
• 金额: $ 20万
• 依托单位: California Institute of Technology
• 依托单位国家: 美国
• 项目类别: Continuing Grant
• 财政年份: 2005
• 资助国家: 美国
• 起止时间: 2005-01-01 至 2008-12-31
• 项目状态: 已结题
• 来源: https://www.nsf.gov/awardsearch/showAward?AWD_ID=0413078&HistoricalAwards=false
• 关键词: Collaborative; Research; Pulsatile; Jet; Propulsion

A novel pulsatile jet propulsion scheme for low speed maneuvering of small underwater robots is developed, demonstrated, and characterized. This propulsion scheme is loosely analogous to that used by squid and jellyfish. The potential for pulsatile jet propulsion is explored by first optimizing the design of a pulsatile jet actuator and associated actuation concepts. Next, a vehicle-level fluid dynamical model is developed in order to capture the interaction of the pulsatile jet flows with the primary flow past the vehicle. Prior development in nonlinear averaging-based vehicle feedback control schemes is adapted to this technology using such models. The pulsatile jet prototypes and control scheme is integrated into a prototype underwater vehicle, whose performance is characterized. The suggested propulsion scheme has very few moving parts, has no protruding components that increase drag, and takes up relatively little volume.Undergraduate engineering students are heavily involved in the design, fabrication, and testing of the pulsatile jet actuators and underwater vehicle prototypes proposed in this project. These activities provide excellent hands-on engineering experiences for the participating students.

开发，证明和表征了一种新型的脉动喷射推进方案，用于小型水下机器人的低速操纵。这种推进方案与鱿鱼和水母所使用的方案相似。 通过首先优化脉动射流执行器和相关的致动概念的设计来探索脉冲喷射推进的潜力。接下来，开发了车辆级流体动力学模型，以捕获脉冲射流流与经过车辆的主要流量的相互作用。基于非线性平均的车辆反馈控制方案的事先开发适用于此技术。脉冲射流原型和控制方案被整合到一个原型的水下车辆中，其性能的特征是。建议的推进方案几乎没有运动部件，没有增加阻力的突出组件，并且占相对较少的体积。高级工程专业的学生大量参与了设计，制造和测试脉冲喷气式力执行器和水下汽车原型。这些活动为参与学生提供了出色的动手工程经验。