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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（CAREER）项目将研究配备仿生翅片推进系统的水下航行器。正在研究的具体配置包括沿车辆长度延伸的单个波状翅片，它控制向前运动和方向操纵。该项目将首先使用分析、计算和实验研究来描述鳍的形状和运动与单个容器的运动之间的关系。然后，这些结果将扩展到由多艘编队航行的船只组成的合作小组。特别令人感兴趣的是编队如何充分利用每艘船的起伏鳍提供的控制输入来提高集体机动性和效率，并改变远场尾流模式。该项目的结果将适用于其他相关的波动推进和控制配置。这些多智能体水下系统的发展将使国家在科学和经济上受益，通过允许高效和多功能的操作来探索资源和进行海洋观测，同时对水下环境的干扰最小。这些系统对于国家国防也很重要，因为它们能够长距离移动、同时执行多个独立任务并控制其声学特征。该项目将招募工程领域代表性不足的群体——尤其是西班牙裔学生——从而增加工程学生群体和未来美国劳动力的多样性。该研究项目将研究一类波状鳍水下航行器，无论是单独的还是集体的，从而了解水动力相互作用如何影响船只和编队的速度、尾流特征、能源效率和可操纵性。至关重要的是，每个代理都应该充分利用系统内的流体动力相互作用，以及与周围流体环境的相互作用。该研究计划的目标包括（i）测量单艘和多艘船舶的动力学和尾流； (ii) 开发系统的动态模型； (iii) 建立将鳍运动学参数与船舶运动相关的控制模型； (iv) 研究一系列仿生水下船只的性能和水动力相互作用。该研究将使用具有波状鳍推进功能的新型仿生船将实验工作和建模结合起来。这些方法将包括运动学、水动力、流场和功耗的测量。该奖项反映了 NSF 的法定使命，并通过使用基金会的智力价值和更广泛的影响审查标准进行评估，被认为值得支持。