Advancements In Biomimetic Underwater Propulsion Boundary Interactions And Crossflow Compensation Matthew Perkins by Matthew Perkins instant download after payment.

Biomimetic propulsion is an active area of research in the eld of robotics. This work
presents advancements to help improve the performance of vehicles employing oscillating foil
propulsion. For vehicles operating near the sea
oor, ground e ect on rolling and pitching
foils was investigated in Manuscript 1. The `ground e ect' was found to be present and to
cause a repulsion force on the foil as well as an increased thrust force. It was also shown
that ground e ect can be activated by biasing the foil into the ground e ect zone while
the vehicle maintains a greater distance from the boundary. The e ects on the foil due
to `ground e ect' were compared to previous work done with heaving and pitching foils
showing that `ground e ect' is an inherently 3 dimensional phenomena and studies using
2 dimensional constrained
ow cannot be extrapolated into rolling and pitching foils.