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oai:www.ideals.illinois.edu:2142/83903 2023-07-11 col_2142_5131 col_2142_14787 com_2142_5130 com_2142_9630 com_2142_234

Bentsman, Joseph Xiong, Hailong 2015-09-25T21:12:39Z 2015-09-25T21:12:39Z 10000-01-01 2007 2007 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). 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. http://hdl.handle.net/2142/83903 (MiAaPQ)AAI3301252 eng Engineering, Mechanical Geometric Mechanics, Ideal Hydrodynamics, and the Locomotion of Planar Shape -Changing Aquatic Vehicles text Mechanical Engineering Mechanical Engineering University of Illinois at Urbana-Champaign Dissertation Ph.D.