Geometric Mechanics, Ideal Hydrodynamics, and the Locomotion of Planar Shape -Changing Aquatic Vehicles

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.

Name thesis:degree_name

Ph.D.

Level thesis:degree_level

Dissertation

Discipline thesis:degree_discipline

Mechanical Engineering

Grantor

University of Illinois at Urbana-Champaign

Year dc:date

2015

Author dc:creator

• Xiong, Hailong

Contributors dc:contributor

• Bentsman, Joseph

• Engineering, Mechanical

Language dc:language

eng

Identifier

(MiAaPQ)AAI3301252

OAI identifier oai:identifier

oai:www.ideals.illinois.edu:2142/83903