Collaborative Research: Unsteady Hydrodynamics and Geometric Control of Pisciform Locomotion

合作研究：鱼形运动的非定常流体动力学和几何控制

基本信息

批准号：
1635673
负责人：
Haithem Taha
金额：
$ 18万
依托单位：
University of California-Irvine
依托单位国家：
美国
项目类别：
Standard Grant
财政年份：
2016
资助国家：
美国
起止时间：
2016-09-01 至 2019-08-31
项目状态：
已结题

来源：
https://www.nsf.gov/awardsearch/showAward?AWD_ID=1635673&HistoricalAwards=false
关键词：
Collaborative Research Unsteady Hydrodynamics Geometric

项目摘要

This collaborative project will improve the state-of-the-art of physical models and control design methods for propulsion and control in fluids, through the study of pisciform locomotion -- that is, through the study of movement strategies used by fishlike animals. The project balances fundamental analysis, numerical simulation, and physical experiments. A cornerstone of the effort is the development of a modular biolocomotion emulator (MBE) that can be configured to demonstrate the full spectrum of distinct pisciform strategies, from oscillatory locomotion (used, for example, by tuna) to undulatory locomotion (used, for example, by eels). The results will advance the capabilities of engineered systems, towards the astonishing capabilities for speed, agility, stealth, robustness, and efficiency seen in fishlike animals.Previous models of pisciform locomotion have largely relied on quasi-steady flow assumptions that fail to capture important unsteady interactions between the body and the fluid. This effort will formulate, identify and validate a low-dimensional, state space model for unsteady flow effects and incorporate that model into a geometric control framework that enables the design of optimum morphologies and gaits. Specifically, the research program will produce (i) an assessment of the unsteady vortex lattice method (UVLM) as a tool for modeling pisciform locomotion, (ii) an experimentally validated, reduced-order state space representation for the unsteady forces on a series of moving foils in a flow, (iii) methods for optimizing the morphology and gait of a pisciform swimmer using a geometric control model that has been amended to include unsteady flow effects, and (iv) a parametric repository of motion, force, and visualization data from towing experiments using the MBE.

该合作项目将通过研究鱼状运动，即通过研究鱼状动物使用的运动策略，改进用于流体推进和控制的最先进的物理模型和控制设计方法。该项目平衡了基础分析、数值模拟和物理实验。这项工作的基石是开发模块化生物运动模拟器（MBE），该模拟器可配置为演示各种不同的鱼形策略，从振荡运动（例如金枪鱼使用）到波动运动（例如金枪鱼使用），由鳗鱼）。研究结果将提高工程系统的能力，使其在速度、敏捷性、隐秘性、鲁棒性和效率方面达到鱼类动物中所见的惊人能力。以前的鱼状运动模型在很大程度上依赖于准稳态流假设，而这些假设未能捕捉到重要的不稳定因素。身体和液体之间的相互作用。这项工作将制定、识别和验证非定常流动效应的低维状态空间模型，并将该模型合并到几何控制框架中，从而实现最佳形态和步态的设计。具体来说，该研究计划将产生（i）对作为鱼形运动建模工具的非定常涡晶格方法（UVLM）的评估，（ii）经过实验验证的降阶状态空间表示，用于表示一系列物体上的非定常力。在水流中移动水翼，(iii) 使用几何控制模型优化鱼形游泳者的形态和步态的方法，该模型已修改为包括非稳态流动效应，以及 (iv) 参数存储库使用 MBE 进行牵引实验的运动、力和可视化数据。