{"id":{"repo_id":"uiuc","oai_identifier":"oai:www.ideals.illinois.edu:2142/83903"},"canonical_url":"https://search.dev.ndltd.org/etd/uiuc/oai:www.ideals.illinois.edu:2142/83903","repository":{"repo_id":"uiuc","name":"University of Illinois - Urbana-Champaign","base_url":"https://www.ideals.illinois.edu/oai-pmh"},"display":{"title":"Geometric Mechanics, Ideal Hydrodynamics, and the Locomotion of Planar Shape -Changing Aquatic Vehicles","abstract":"Our model for locomotion builds upon the classical Kirchhoff equations for a deformable body in an irrotational fluid, requiring that the total effective momentum in the fluid-body system be conserved even in the presence of the Kutta condition. We analyze the dynamics of this model in the context of geometric mechanics, demonstrating in particular that the system comprising a free deformable body and an assembly of point vortices possesses a Hamiltonian structure, and study the energetics of forward locomotion and turning through numerical simulations. We also derive a reduced-order version of our model, suitable for use in model-based control and motion planning, and compare its predictions to those of the complete model.","abstract_html":"Our model for locomotion builds upon the classical Kirchhoff equations for a deformable body in an irrotational fluid, requiring that the total effective momentum in the fluid-body system be conserved even in the presence of the Kutta condition. We analyze the dynamics of this model in the context of geometric mechanics, demonstrating in particular that the system comprising a free deformable body and an assembly of point vortices possesses a Hamiltonian structure, and study the energetics of forward locomotion and turning through numerical simulations. We also derive a reduced-order version of our model, suitable for use in model-based control and motion planning, and compare its predictions to those of the complete model.","abstract_has_math":false,"creators":["Xiong, Hailong"],"institution":"University of Illinois at Urbana-Champaign","degree_name":"Ph.D.","degree_level":"Dissertation","degree_discipline":"Mechanical Engineering","degree_department":null,"school":null,"contributors":["Bentsman, Joseph"],"advisors":[],"committee_chairs":[],"committee_members":[],"year":2015,"date_issued":"2015-09-25T21:12:39Z","date_published":"2015-09-25T21:12:39Z","updated_at":"2026-07-22T22:26:22Z","subjects":["Engineering, Mechanical"],"languages":["eng"],"rights":[],"rights_urls":[],"identifier_entries":[{"key":"dc:identifier","label":"Identifier","values":["(MiAaPQ)AAI3301252"],"render_values":[{"text":"(MiAaPQ)AAI3301252","href":null,"code":true}]}]},"links":{"outbound_url":"http://hdl.handle.net/2142/83903","outbound_label":"Handle","outbound_source":"dc:identifier"},"metadata_groups":[{"id":"people","label":"People","entries":[{"key":"dc:contributor","label":"Contributor","values":["Bentsman, Joseph"]},{"key":"dc:creator","label":"Author","values":["Xiong, Hailong"]}]},{"id":"academic_context","label":"Academic Context","entries":[{"key":"dc:date","label":"Dc Date","values":["2015-09-25T21:12:39Z","10000-01-01","2007"]},{"key":"dc:type","label":"Dc Type","values":["text"]},{"key":"thesis:degree_discipline","label":"Discipline","values":["Mechanical Engineering"]},{"key":"thesis:degree_level","label":"Degree Level","values":["Dissertation"]},{"key":"thesis:degree_name","label":"Degree Name","values":["Ph.D."]},{"key":"thesis:institution_name","label":"Thesis Institution Name","values":["University of Illinois at Urbana-Champaign"]}]},{"id":"subjects_keywords","label":"Subjects and Keywords","entries":[{"key":"dc:subject","label":"Dc Subject","values":["Engineering, Mechanical"]}]},{"id":"language_rights","label":"Language and Rights","entries":[{"key":"dc:language","label":"Dc Language","values":["eng"]}]},{"id":"identifiers","label":"Identifiers","entries":[{"key":"dc:identifier","label":"Identifier","values":["http://hdl.handle.net/2142/83903","(MiAaPQ)AAI3301252"]}]},{"id":"additional","label":"Additional Metadata","entries":[{"key":"dc:description","label":"Description","values":["Our model for locomotion builds upon the classical Kirchhoff equations for a deformable body in an irrotational fluid, requiring that the total effective momentum in the fluid-body system be conserved even in the presence of the Kutta condition. We analyze the dynamics of this model in the context of geometric mechanics, demonstrating in particular that the system comprising a free deformable body and an assembly of point vortices possesses a Hamiltonian structure, and study the energetics of forward locomotion and turning through numerical simulations. We also derive a reduced-order version of our model, suitable for use in model-based control and motion planning, and compare its predictions to those of the complete model.","Made available in DSpace on 2015-09-25T21:12:39Z (GMT). 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We analyze the dynamics of this model in the context of geometric mechanics, demonstrating in particular that the system comprising a free deformable body and an assembly of point vortices possesses a Hamiltonian structure, and study the energetics of forward locomotion and turning through numerical simulations. We also derive a reduced-order version of our model, suitable for use in model-based control and motion planning, and compare its predictions to those of the complete model.","Made available in DSpace on 2015-09-25T21:12:39Z (GMT). No. of bitstreams: 2 license.txt: 4848 bytes, checksum: 96035ab3f5e1c23cc7138a224ce498bd (MD5) 3301252.pdf: 2915435 bytes, checksum: 33e9aee1ef557b5b7d247704c3d39ba7 (MD5) Previous issue date: 2007","Embargo set by: Seth Robbins for item 85184 Lift date: Forever Reason: Restricted to the U of I community idenfinitely during batch ingest of legacy ETDs","Restricted to the U of I community idenfinitely during batch ingest of legacy ETDs","U of I Only","121 p.","Thesis (Ph.D.)--University of Illinois at Urbana-Champaign, 2007."],"dc:identifier":["http://hdl.handle.net/2142/83903","(MiAaPQ)AAI3301252"],"dc:language":["eng"],"dc:subject":["Engineering, Mechanical"],"dc:title":["Geometric Mechanics, Ideal Hydrodynamics, and the Locomotion of Planar Shape -Changing Aquatic Vehicles"],"dc:type":["text"],"thesis:degree_discipline":["Mechanical Engineering"],"thesis:degree_level":["Dissertation"],"thesis:degree_name":["Ph.D."],"thesis:institution_name":["University of Illinois at Urbana-Champaign"]},"updated_at":"2026-07-22T22:26:22Z"}