Design, characterization, optimization, modeling and control of a bio-inspired fin based actuator system

Date

2024-9-5

Author

Durmaz, Atakan

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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