CAREER: Modeling and Control of Undulating-Fin Underwater Vessels in Close Formation

职业：紧密编队的波状鳍水下船舶的建模和控制

基本信息

批准号：
1751548
负责人：
Oscar Curet
金额：
$ 50万
依托单位：
Florida Atlantic University
依托单位国家：
美国
项目类别：
Standard Grant
财政年份：
2018
资助国家：
美国
起止时间：
2018-06-01 至 2024-11-30
项目状态：
已结题

来源：
https://www.nsf.gov/awardsearch/showAward?AWD_ID=1751548&HistoricalAwards=false
关键词：
CAREER Modeling Control Undulating Fin

项目摘要

This Faculty Early Career Development Program (CAREER) project will study underwater vehicles equipped with a bio-inspired fin-based propulsion system. The specific configuration under study consists of a single undulating fin running along the length of the vehicle, which controls both forward motion and directional maneuvers. The project will first use analytical, computational, and experimental studies to describe how the fin shape and motion relates to the movement of a single vessel. Those results will then be extended to cooperative groups of multiple vessels traveling in formation. Of particular interest are the ways in which formations can make full use of the control inputs available from each vessel's undulating fin to improve collective maneuverability and efficiency, and to alter far-field wake patterns. The results of the project will be applicable to other related undulating propulsion and control configurations. The development of these multi-agent underwater systems will benefit the nation scientifically and economically, by allowing efficient and versatile operation to explore for resources and perform oceanographic observations, with minimal disturbance to the underwater environment. These systems will also be important to the nation's defense, due to their ability to travel long distances, perform multiple simultaneous independent tasks, and control their acoustic signature. Groups underrepresented in engineering -- in particular Hispanic students -- will be recruited for this project, thus increasing the diversity of the engineering student body and the future US workforce. This research project will investigate a class of undulating fin underwater vehicles, both singly and collectively, leading to understanding of how hydrodynamic interactions affect the speed, wake signature, energy efficiency, and maneuverability of the vessels and the formation. Critically, each agent should fully exploit hydrodynamic interaction within the system, and also with the surrounding fluid environment. The objectives of the research program include (i) measuring the dynamics and wake of single and multiple vessels; (ii) developing a dynamic model of the system; (iii) establishing a control model relating parameters in the fin kinematics to the motion of the vessel; (iv) studying the performance and hydrodynamic interaction of an array of bio-inspired underwater vessels. The research will combine experimental work and modeling using a novel bio-mimetic vessel with undulating fin propulsion. The methods will include measurements of kinematics, hydrodynamic forces, flow fields and power consumption.This award reflects NSF's statutory mission and has been deemed worthy of support through evaluation using the Foundation's intellectual merit and broader impacts review criteria.

该教师早期职业发展计划（职业）项目将研究配备有生物启发的基于鳍的推进系统的水下车辆。研究中的特定配置由沿车辆长度延伸的单个起伏的鳍组成，该鳍控制着向前运动和方向性操作。该项目将首先使用分析，计算和实验研究来描述鳍片的形状和运动与单个容器的运动如何相关。然后，这些结果将扩展到编队旅行的多个船只的合作组。特别令人感兴趣的是地层可以充分利用从每个船只起伏的鳍上可用的控制输入来提高集体的可操作性和效率，并改变远场唤醒模式的方式。该项目的结果将适用于其他相关的起伏推进和控制配置。这些多代理水下系统的发展将通过允许高效且多功能的运营来探索资源并进行海洋学观察，从而在科学和经济上受益匪浅，并且对水下环境的干扰极少。由于它们能够长距离行驶，执行多个独立任务并控制其声学签名，因此这些系统对国家的防御也将很重要。该项目将被招募在工程学领域的人数不足，尤其是西班牙裔学生，从而增加了工程学生团体和未来的美国劳动力的多样性。该研究项目将单独和集体调查一类起伏的水下水下车辆，从而了解水动力相互作用如何影响船舶的速度，唤醒特征，能源效率和可操作性和形成。至关重要的是，每个药物都应完全利用系统内的流体动力相互作用以及周围的流体环境。研究计划的目标包括（i）测量单血管和多个容器的动态和唤醒；（ii）开发系统的动态模型；（iii）建立一个控制模型，将鳍动力学中的参数与血管的运动相关；（iv）研究一系列生物启发的水下血管的性能和流体动力相互作用。这项研究将使用新型的生物模拟血管和起伏的鳍动力结合实验工作和建模。这些方法将包括对运动学，流体力学力量，流场和功耗的测量。该奖项反映了NSF的法定任务，并且使用基金会的知识绩效和更广泛的影响审查标准，被认为值得通过评估来获得支持。