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: 0413300
• 负责人: Kamran Mohseni
• 金额: --
• 依托单位: University of Colorado at Boulder
• 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 2008-08-31
• 项目状态: 已结题
• 来源: https://www.nsf.gov/awardsearch/showAward?AWD_ID=0413300&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、演示和表征了一种用于小型水下机器人低速操纵的新型脉动喷射推进方案。这种推进方案与鱿鱼和水母使用的推进方案大致相似。 首先通过优化脉动喷射致动器和相关致动概念的设计来探索脉动喷射推进的潜力。接下来，开发了车辆级流体动力学模型，以捕获脉动射流与经过车辆的主流的相互作用。基于非线性平均的车辆反馈控制方案的先前开发使用此类模型来适应该技术。脉动射流原型和控制方案被集成到原型水下航行器中，并对其性能进行了表征。建议的推进方案具有很少的运动部件，没有增加阻力的突出部件，并且占用的体积相对较小。工程本科生大量参与了脉动射流执行器和水下航行器原型的设计、制造和测试。这个项目。这些活动为参与的学生提供了出色的实践工程经验。