Geometric Mechanics, Ideal Hydrodynamics, and the Locomotion of Planar Shape -Changing Aquatic Vehicles
Xiong, Hailong
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https://hdl.handle.net/2142/83903
Description
Title
Geometric Mechanics, Ideal Hydrodynamics, and the Locomotion of Planar Shape -Changing Aquatic Vehicles
Author(s)
Xiong, Hailong
Issue Date
2007
Doctoral Committee Chair(s)
Bentsman, Joseph
Department of Study
Mechanical Engineering
Discipline
Mechanical Engineering
Degree Granting Institution
University of Illinois at Urbana-Champaign
Degree Name
Ph.D.
Degree Level
Dissertation
Keyword(s)
Engineering, Mechanical
Language
eng
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.
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