Print Email Facebook Twitter A highly versatile autonomous underwater vehicle with biomechanical propulsion Title A highly versatile autonomous underwater vehicle with biomechanical propulsion Author Simons, D.G. Bergers, M.M.C. Henrion, S. Hulzenga, J.I.J. Jutte, R.W. Pas, W.M.G. Van Schravendijk, M. Vercruyssen, T.G.A. Wilken, A.P. Faculty Aerospace Engineering Department Remote Sensing Date 2009-10-02 Abstract An autonomous underwater vehicle with a biomechanical propulsion system is a possible answer to the demand for small, silent sensor platforms in many fields. The design of Galatea, a bio-mimetic AUV, involves four aspects: hydrodynamic shape, the propulsion, the motion control systems and payload. The shape of the hull is based on a modified Wortmann FX 71-L-150/20 airfoil. Wind tunnel tests have been conducted to determine the hydrodynamic force coefficients. The propulsion system is based on bio-mimetic undulating fin propulsion. A test set-up is build to get more insight in the fundamentals of this mechanism. The swimming behaviour is currently manually controlled and will be developed into an fully autonomous system. In the future, more research on the undulating fin propulsion system will be carried out and a second, modular prototype robot will be developed. Subject biomechanicshydrodynamicsmobile robotsmotion controlremotely operated vehiclesunderwater vehicles To reference this document use: http://resolver.tudelft.nl/uuid:09b1a7f3-e077-4158-9f6e-1b74e9c0636b DOI https://doi.org/10.1109/OCEANSE.2009.5278175 Publisher IEEE ISBN 9781424425228 Source Oceans 2009: Europe, 11-14 May 2009, Bremen, Germany Part of collection Institutional Repository Document type conference paper Rights (c) 2009 The Author(s)IEEE Files PDF Simons2009.pdf 2.49 MB Close viewer /islandora/object/uuid:09b1a7f3-e077-4158-9f6e-1b74e9c0636b/datastream/OBJ/view