David S. Barrett

Oscillating foils of high propulsive efficiency

Thrust-producing harmonically oscillating foils are studied through force and power measurements, as well as visualization data, to classify the principal characteristics of the flow around and in the wake of the foil. Visualization data are obtained using digital particle image velocimetry at Reynolds number 1100, and force and power data are measured at Reynolds number 40 000. The experimental results are compared with theoretical predictions of linear and nonlinear inviscid theory and it is found that agreement between theory and experiment is good over a certain parametric range, when the wake consists of an array of alternating vortices and either very weak or no leading-edge vortices form. High propulsive efficiency, as high as 87%, is measured experimentally under conditions of optimal wake formation. Visualization results elucidate the basic mechanisms involved and show that conditions of high efficiency are associated with the formation on alternating sides of the foil of a moderately strong leading-edge vortex per half-cycle, which is convected downstream and interacts with trailing-edge vorticity, resulting eventually in the formation of a reverse Karman street. The phase angle between transverse oscillation and angular motion is the critical parameter affecting the interaction of leading-edge and trailing-edge vorticity, as well as the efficiency of propulsion.

Drag reduction in fish-like locomotion

We present experimental force and power measurements demonstrating that the power required to propel an actively swimming, streamlined, fish-like body is significantly smaller than the power needed to tow the body straight and rigid at the same speed U . The data have been obtained through accurate force and motion measurements on a laboratory fish-like robotic mechanism, 1.2 m long, covered with a flexible skin and equipped with a tail fin, at Reynolds numbers up to 10 6 , with turbulence stimulation. The lateral motion of the body is in the form of a travelling wave with wavelength λ and varying amplitude along the length, smoothly increasing from the front to the tail end. A parametric investigation shows sensitivity of drag reduction to the non-dimensional frequency (Strouhal number), amplitude of body oscillation and wavelength λ, and angle of attack and phase angle of the tail fin. A necessary condition for drag reduction is that the phase speed of the body wave be greater than the forward speed U . Power estimates using an inviscid numerical scheme compare favourably with the experimental data. The method employs a boundary-integral method for arbitrary flexible body geometry and motions, while the wake shed from the fish-like form is modelled by an evolving desingularized dipole sheet.

Active vorticity control in a shear flow using a flapping foil

It is shown experimentally that free shear flows can be substantially altered through direct control of the large coherent vortices present in the flow. First, flow-visualization experiments are conducted in Kalliroscope fluid at Reynolds number 550. A foil is placed in the wake of a D-section cylinder, sufficiently far behind the cylinder so that it does not interfere with the vortex formation process. The foil performs a heaving and pitching oscillation at a frequency close to the Strouhal frequency of the cylinder, while cylinder and foil also move forward at constant speed. By varying the phase of the foil oscillation, three basic interaction modes are identified

The optimal control of a flexible hull robotic undersea vehicle propelled by an oscillating foil

Determining the optimal swimming motion for a flexible hull robotic undersea vehicle propelled by an oscillating foil is an acutely complex problem involving the vehicles body kinematics and the hydrodynamics of the surrounding water. The overall intractability of the hydrodynamics of a flexible body precludes a purely analytical solution. The immense size of the experimental variable space prevents a purely empirical one. In order to overcome both difficulties, we have developed a self-optimizing motion controller based on a genetic algorithm. This controller effectively uses evolutionary principles to exponentially optimize swimming performance.

Intelligence for miniature robots

Abstract It seems clear that small robots which take advantage of recent reductions in packaging size and costs of microelectronics can potentially be very useful; even more so if similar savings could be achieved in the actuation and power supply areas. Typically, the computational power required in a robotic system that connects perception to action is enormous, but if the organization of the sensors, actuators and computing elements is carefully laid out, the actual silicon area required for the intelligence system becomes quite small. A viable avenue of pursuit, then, is to aim towards scaling down the rest of the subsystems in a robot to the same scale as the control system, integrating motors, sensors, computation and power supplies onto a single piece of silicon; the advantages being mass productibility, lower costs and the avoidance of the usual connector problems encountered in combining discrete subsystems. By rethinking implementation strategies with this new form of robotic technology (i.e., the application of many very small robots), it may be possible to solve many problems more cost effectively, albeit in novel ways. As the completely integrated robot faces many technology hurdles, it seems necessary to focus on just one or two of the problem areas at a time. It turns out that many of the cost-saving benefits still accrue at small, but macroscopic scales. This paper describes an exercise of building a complete system, aimed at being as small as possible, but using off the shelf components exclusively. The result is an autonomous mobile robot slightly larger than one cubic inch, which incorporates sensing, actuation, onboard computation and on-board power supplies. Nicknamed Squirt, this robot acts as a ‘bug’, hiding in dark corners and venturing out in the direction of last heard noises, only moving after the noises are long gone.

The world's largest one cubic inch robot

The authors describe an exercise of building a complete robot system, aimed at being as small as possible, but using off-the-shelf components exclusively. The result is an autonomous one (almost) cubic inch robot which incorporates sensing. actuation, onboard computation, and onboard power supplies. Nicknamed Squirt this robot acts as a bug hiding in dark corners and venturing out in the direction of last-heard noises, only moving after the noises are long gone.<<ETX>>

Mover detection in single channel LiMIT SAR data

Detecting moving targets in SAR imagery has recently gained a lot of interest as a way to create optical-like radar video sequences that work in all weather conditions, and as a method to do moving target detection in the absence of MTI. The problem can generally be broken into two parts: first, detecting the mover in the SAR imagery and second, geo-locating the mover to the proper cross-range in the SAR image. In this paper, we describe a series of algorithms to solve the first part in single-channel SAR. We first remove the stationary scene with short time Fourier transform subtraction. We then detect the movers by applying a set of possible motion corrections to the image, and use a novel matched filter to detect the movers in this space. We demonstrate our algorithms using data collected from the LiMIT airborne radar system.