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Title:Geometric Mechanics, Ideal Hydrodynamics, and the Locomotion of Planar Shape -Changing Aquatic Vehicles
Author(s):Xiong, Hailong
Doctoral Committee Chair(s):Bentsman, Joseph
Department / Program:Mechanical Engineering
Discipline:Mechanical Engineering
Degree Granting Institution:University of Illinois at Urbana-Champaign
Degree:Ph.D.
Genre:Dissertation
Subject(s):Engineering, Mechanical
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.
Issue Date:2007
Type:Text
Language:English
Description:121 p.
Thesis (Ph.D.)--University of Illinois at Urbana-Champaign, 2007.
URI:http://hdl.handle.net/2142/83903
Other Identifier(s):(MiAaPQ)AAI3301252
Date Available in IDEALS:2015-09-25
Date Deposited:2007


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