Modifiable stability and maneuverability of high speed unmanned underwater vehicles (UUVs) through bioinspired control fins

Underwater Vehicles generally have control fins located only near their aft end, for making controllable changes in directions. This design allows for stability of control; however, the turns are typically large in comparison to the vehicle body length. Some bony fish, such as tuna, on the other hand, have deployable ventral and dorsal fins located towards the front of their body, in addition to their other fins. Their deployable fins allow them to modulate their hydrodynamic behavior in response to their environment. Tunas keep these fins retracted during steady cruising, and then deploy them during rapid maneuvers. However, the details of these hydrodynamic effects are not well understood. To investigate this phenomena, using a REMUS 100 as a model, a pair of vertical fins was added at different hull positions, to investigate the effects of fin location on the horizontal plane hydrodynamics, through: stability parameters, nonlinear simulation, and towing tank experiments. Depending on the added fin location, the stability of the vehicle changed, thereby affecting the maneuverability. As fins were placed further forward on the vehicle, maneuverability increased, with effects tapering off at 0.2 BL ahead of the vehicle's center of buoyancy. This investigation explored how rigid underwater vehicles could benefit from added fins, without drastically changing the design of current vehicles.

Name thesis:degree_name

Master

Department dc:contributor.department

Joint Program in Oceanography/Applied Ocean Science and Engineering

Grantor dc:publisher

Massachusetts Institute of Technology

Year dc:date.issued

2020

Author dc:creator

• Winey, Nastasia Elizabeth.

Advisor dc:contributor.advisor

• Michael Triantafyllou and Dana Yoerger.

• Joint Program in Oceanography/Applied Ocean Science and Engineering.
• Mechanical Engineering.
• Woods Hole Oceanographic Institution.

Statement dc:rights

• MIT theses may be protected by copyright. Please reuse MIT thesis content according to the MIT Libraries Permissions Policy, which is available through the URL provided.

Licence dc:rights.uri

• http://dspace.mit.edu/handle/1721.1/7582

Language dc:language.iso

eng

Handle dc:identifier.uri

https://hdl.handle.net/1721.1/129025

OAI identifier oai:identifier

oai:dspace.mit.edu:1721.1/129025