{"id":{"repo_id":"mit","oai_identifier":"oai:dspace.mit.edu:1721.1/91445"},"canonical_url":"https://search.dev.ndltd.org/etd/mit/oai:dspace.mit.edu:1721.1/91445","repository":{"repo_id":"mit","name":"MIT","base_url":"https://dspace.mit.edu/oai/request"},"display":{"title":"Modular Lorentz force actuators for efficient biomimetic propulsion of Autonomous Underwater Vehicles","abstract":"In this thesis, we developed a highly scalable design for modular Lorentz force actuators for use in segmented flexible-hull undersea vehicles such as the RoboTuna being developed at Franklin W, Olin College of Engineering. The actuators were designed to directly drive tail foil sections, or vertebrae, in an oscillatory motion to provide thrust. The design process was automated to facilitate implementation in different sized vertebrae. A set of prototype actuators was manufactured and tested to evaluate the feasibility of the design. 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The prototype actuators achieved the required motion and demonstrated modest performance at a variety of load levels.","abstract_has_math":false,"creators":["Church, Joseph Christopher"],"institution":"Massachusetts Institute of Technology","degree_name":null,"degree_level":null,"degree_discipline":null,"degree_department":"Massachusetts Institute of Technology. Department of Electrical Engineering and Computer Science.","school":null,"contributors":[],"advisors":["David L. Trumper."],"committee_chairs":[],"committee_members":[],"year":2014,"date_issued":"2014","date_published":"2014","updated_at":"2026-07-22T22:22:04Z","subjects":["Electrical Engineering and Computer Science."],"languages":["eng"],"rights":["M.I.T. theses are protected by copyright. They may be viewed from this source for any purpose, but reproduction or distribution in any format is prohibited without written permission. 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