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UNDERWATER ROBOTICS IS AN EXPANSIVE FIELD. MOST underwater robots are designed for salvage operations or exploration. In the future, underwater robots will help farm the ocean for fish, pharmaceuticals, minerals, and energy. Underwater robots may also be used as mock-ups to test spacefaring robots. A neutrally buoyant robot is essentially weightless. Propellers and motors replace rockets on these underwater robots. The lack of friction encountered in space can only be simulated in the underwater environment. If you want to design a robot that will function in space, a good place to start is with an underwater robot. The National Aeronautics and Space Administration (NASA) has funded the development of telepresence remotely operated vehicles (TROVs) (see Fig. 13.1) and autonomous underwater vehicles (AUVs). The TROV tests virtual-reality (VR) based telerobotic techniques. Telepresence technologies are increasingly more important in exploration and hazardous duty. Telepresence technology will continue to grow in these fields and expand into others like entertainment.
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Interestingly, studies are being conducted that examine the swimming motion and propulsion of fish. It is common knowledge that underwater animals move and swim more efficiently than a ship s propeller can move a ship. Want to prove this to yourself easily Have you ever tapped on the glass of an aquarium filled with fish The sudden noise sometimes causes the fish to dart around so quickly your eyes can t follow their movement. Imagine if you
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Copyright 2002, 1998 The McGraw-Hill Companies, Inc. Click Here for Terms of Use.
13.1 NASA TROV craft. Photo courtesy of NASA
could design a ship that could move that fast, that suddenly. It s not surprising then that the U.S. government is funding some of these studies. How efficient are fish at swimming compared to our current method of water propulsion Let s glimpse at a partial analysis. In 1936 James Gray, a British zoologist, studied dolphins. His purpose was to calculate the power a dolphin needed to move itself at 20 knots, a speed at which dolphins are commonly reported to be able to swim. Gray s model of the dolphin was rigid, assuming that the water resistance for a moving dolphin is the same for a rigid model and flexible model. This is not true, but even accounting for this error, the conclusion Gray calculated is interesting. The dolphin is too weak, by a factor of 7, to attain the 20-knot speed. One may further deduce that the dolphin may be able to reduce its water resistance by a factor of 7 to compensate. But this probably isn t the entire answer either. Well, for the last 60 years no one has been able to prove or disprove Gray s calculations conclusively. Any swimming mechanism that mimics fishlike swimming is grossly inefficient. Recently new studies are under way to again study fishlike swimming. With new computer technology behind this endeavor, scientists hope to answer these long-held questions. Researchers at the Massachusetts Institute of Technology (MIT) in Cambridge have been studying the bluefin tuna for the last several
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years. They have created a 4-foot (ft) model robot fish that swims down the Ocean Engineering Test Tank Facility. The robot fish resembles a real fish. The skin is made of foam and Lycra. The robot uses six external motors that are connected to pulleys and tendons within the robot. The fish moves and swims like a real bluefin tuna.
Swimming with foils
The tail of a fish is considered a hydrofoil. As the tail flaps side to side, it pushes water backwards and propels the fish forward. As the tail moves, vortexes are formed in the water behind it. It is believed that the vortex formation is key to understanding the greater efficiency of fish propulsion. Dolphins are interesting; their hydrofoil tail lies horizontal. So instead of moving their tails side to side like fish, they move their tails up and down. This creates the same efficient thrust in water propelling the dolphin forward. Penguins swim by using the thrust generated by their wings. Pictures of penguins swimming in water strongly resemble those of flying birds. There is a difference though. With birds in flight, the beating of their wings must supply lift as well as forward thrust. The lift is necessary to counteract the force of gravity. With penguins there is no necessity of lift. The density of water equals that of a penguin s body (neutral buoyancy), so the flapping of a penguin s wings simply needs to produce forward thrust.
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