Show/Hide Menu
Hide/Show Apps
Logout
Türkçe
Türkçe
Search
Search
Login
Login
OpenMETU
OpenMETU
About
About
Open Science Policy
Open Science Policy
Open Access Guideline
Open Access Guideline
Postgraduate Thesis Guideline
Postgraduate Thesis Guideline
Communities & Collections
Communities & Collections
Help
Help
Frequently Asked Questions
Frequently Asked Questions
Guides
Guides
Thesis submission
Thesis submission
MS without thesis term project submission
MS without thesis term project submission
Publication submission with DOI
Publication submission with DOI
Publication submission
Publication submission
Supporting Information
Supporting Information
General Information
General Information
Copyright, Embargo and License
Copyright, Embargo and License
Contact us
Contact us
Design, characterization, optimization, modeling and control of a bio-inspired fin based actuator system
Download
Atakan_Durmaz_MS_Thesis_final.pdf
Date
2024-9-5
Author
Durmaz, Atakan
Metadata
Show full item record
This work is licensed under a
Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International License
.
Item Usage Stats
52
views
0
downloads
Cite This
This paper introduces an innovative approach to modeling and characterization of a novel bio-inspired fin actuator mechanism for underwater applications. While extensive research has been conducted on various underwater actuator systems, our study uniquely focuses on the modeling and simulation of a bio-inspired fin mechanism. We employ a set of novel efficiency metrics to standardize performance comparisons across different platforms for both simulations and experiments. This fin mechanism offers a fresh perspective on underwater locomotion, particularly in addressing the trade-off between stability and maneuverability. We introduced a previously overlooked parameter to enhance the system's performance via increased bio-inspired characteristics, which added complexity to our analysis. Through comprehensive simulations and rigorous analysis, we determined an optimal set of parameters for each efficiency metric we developed and the steady state thrust force during the system's dynamic evolution. Due to the intrinsic nature of the problem, we identified parameters that can be updated in real-time and others, such as geometric parameters, that remain fixed. Consequently, we selected appropriate control parameters that can be adjusted on the fly and simulated the system to achieve an optimized response with predetermined geometric parameters. Finally, we validated our theoretical findings by comparing experimental data obtained from a custom-designed test platform. This comparison allowed us to establish the relationship between the control parameters, our proposed efficiency metrics, and the generated thrust force. This study contributes to advancing bio-inspired underwater actuator mechanisms, offering improved performance and adaptability.
Subject Keywords
Undulatory motion
,
Bio-inspired
,
Fin mechanism
,
Actuator characterization
,
System modeling
URI
https://hdl.handle.net/11511/111273
Collections
Graduate School of Natural and Applied Sciences, Thesis
Citation Formats
IEEE
ACM
APA
CHICAGO
MLA
BibTeX
A. Durmaz, “Design, characterization, optimization, modeling and control of a bio-inspired fin based actuator system,” M.S. - Master of Science, Middle East Technical University, 2024.