Skip Navigation

Integrative and Comparative Biology 2002 42(1):118-126; doi:10.1093/icb/42.1.118
© 2002 by The Society for Integrative and Comparative Biology
This Article
Right arrow Full Text Freely available
Right arrow FREE Full Text (PDF) Freely available
Right arrow Alert me when this article is cited
Right arrow Alert me if a correction is posted
Services
Right arrow Email this article to a friend
Right arrow Similar articles in this journal
Right arrow Similar articles in ISI Web of Science
Right arrow Alert me to new issues of the journal
Right arrow Add to My Personal Archive
Right arrow Download to citation manager
Right arrow Search for citing articles in:
ISI Web of Science (18)
Right arrow Request Permissions
Google Scholar
Right arrow Articles by Anderson, J. M.
Right arrow Articles by Chhabra, N. K.
Right arrow Search for Related Content
Social Bookmarking
Add to CiteULike   Add to Connotea   Add to Del.icio.us  
What's this?

Maneuvering and Stability Performance of a Robotic Tuna1

Jamie M. Anderson2,1 and Narender K. Chhabra1
1 Mechanical and Instruments Division, Charles Stark Draper Laboratory, 555 Technology Square, Cambridge, Massachusetts 02139

The Draper Laboratory Vorticity Control Unmanned Undersea Vehicle (VCUUV) is the first mission-scale, autonomous underwater vehicle that uses vorticity control propulsion and maneuvering. Built as a research platform with which to study the energetics and maneuvering performance of fish-swimming propulsion, the VCUUV is a self-contained free swimming research vehicle which follows the morphology and kinematics of a yellowfin tuna. The forward half of the vehicle is comprised of a rigid hull which houses batteries, electronics, ballast and hydraulic power unit. The aft section is a freely flooded articulated robot tail which is terminated with a lunate caudal fin. Utilizing experimentally optimized body and tail kinematics from the MIT RoboTuna, the VCUUV has demonstrated stable steady swimming speeds up to 1.2 m/sec and aggressive maneuvering trajectories with turning rates up to 75 degrees per second. This paper summarizes the vehicle maneuvering and stability performance observed in field trials and compares the results to predicted performance using theoretical and empirical techniques.


Add to CiteULike CiteULike   Add to Connotea Connotea   Add to Del.icio.us Del.icio.us    What's this?


This article has been cited by other articles:


Home page
 Transactions of the Institute of Measurement and ControlHome page
Junzhi Yu, Lizhong Liu, and Min Tan
Three-dimensional dynamic modelling of robotic fish: simulations and experiments
Transactions of the Institute of Measurement and Control, August 1, 2008; 30(3-4): 239 - 258.
[Abstract] [PDF]

Home page
 J. Exp. Biol.Home page
A. H. Techet
Propulsive performance of biologically inspired flapping foils at high Reynolds numbers
J. Exp. Biol., January 15, 2008; 211(2): 274 - 279.
[Abstract] [Full Text] [PDF]

Home page
 J. Exp. Biol.Home page
G. V. Lauder, E. J. Anderson, J. Tangorra, and P. G. A. Madden
Fish biorobotics: kinematics and hydrodynamics of self-propulsion
J. Exp. Biol., August 15, 2007; 210(16): 2767 - 2780.
[Abstract] [Full Text] [PDF]


Disclaimer: Please note that abstracts for content published before 1996 were created through digital scanning and may therefore not exactly replicate the text of the original print issues. All efforts have been made to ensure accuracy, but the Publisher will not be held responsible for any remaining inaccuracies. If you require any further clarification, please contact our Customer Services Department.