Difficulties exist with designing and testing on a model scale. The purpose of this study is to examine variations in the flow field of a submarine due to hull/propulsor interaction and Reynolds scaling. The scope of this study includes the simulation of the flow past a 1) five-bladed marine propeller with 0° skew, 2) unappended submarine hull, 3) forward propelled submarine with asymmetrical stern appendages, and 4) submarine in crashback with asymmetrical stern appendages. The bare hull simulations are conducted for three different length scales: small model scale, large model scale, and full scale. The isolated propeller and appended submarine simulations are conducted on the large model scale. It is of interest how sensitive the various flow characteristics are to Reynolds number and the turbulence model. All simulations are at 0° angle of attack, and validated with experimental data where available.

With the aim to understand the synergistic roles played by kinematics, aerodynamics, and inertia in flapping wing maneuvers, this thesis first investigates the plunging motion of a simple flat plate as it is a fundamental motion in the kinematics of many flying animals. A wide range of frequency (k) and amplitude (h) is investigated to account for a robust kinematic characterization in the form of plunge velocity (kh). Leading Edge Vortices (LEVs) are found to be responsible for producing thrust while Trailing Edge Vortices (TEVs) produce drag. The vortex dynamics becomes nonlinear for higher kh and three main vortex-vortex interactions (VVI) are identified in the flow-field. To estimate the sole effect of LEVs on thrust coefficient, TEVs are eliminated by introducing a splitter plate. This resulted in reduced non-linearity in VVI and facilitated a parametrization of aerodynamic thrust coefficient with key kinematic features, frequency (k) and amplitude (h) [C_T= A.k^1.4 h-B where A and B are constants]. This is followed by investigating the more direct problem of bio-inspired MAV research – the interplay of kinematics, aerodynamics, and inertia on maneuvering bat flights. At first, an ascending right turn of a H. pratti bat is investigated to elucidate on the kinematic features and aerodynamic mechanisms used to effectuate the maneuver. Deceleration in flight speed, an increase in flapping frequency, shortening of the upstroke, and thrust generation at the end of the upstroke is observed during this maneuver. The turn is initiated by the synergisytic implementation of roll and yaw rotation where the turning moments are generated by drawing the inside wing closer to the body, by introducing phase lags in force generation between the two wings and by redirecting force production to the outer part of the wing outside of the turn. Upon comparison with a similar maneuver by a H. armiger bat, some commonalities as well as differences were observed. This analysis was followed by a comparative study among different maneuvering flights (a straight flight, two ascending right turns, and a U-turn) in order to establish the complete motion dynamics of a maneuver in action. The individual effects of aerodynamics and wing inertia for maneuvering flights of a H. armiger and H. pratti are investigated. It is found that for both, translation and rotation the overall trajectory trend is mostly driven by the aerodynamic forces and moments, whereas inertial effects drive the intricate intra-cycle fluctuations as well as the vertical velocity and altitude gain during ascent. Additionally, inertial moments play a dominant role for effecting yaw rotations where the importance of the Coriolis and centrifugal moments increase with increasing acuteness of the maneuver, with the largest effect of centrifugal moments being evidenced in the U-turn. / Doctor of Philosophy / The study of flapping wing is of paramount interest in the field of small aerial and aquatic vehicle propulsion. The intricate mechanisms acting behind a flapping wing maneuver can be explained by the synergistic roles played by 3 main components; details of the wing motion or the kinematics, how the air reacts to the wing motion or the aerodynamics, and the effort or force required to move the wings or wing inertia. This dissertation systematically reports the contribution of these components to a flapping flight maneuver. At first, the plunging motion of a simple flat plate is investigated as it is a fundamental motion in the flapping flight of many flying animals. A wide range of frequency and amplitude is investigated and their effect is characterized by a single parameter called "plunge velocity". It is found that, the resultant flow field becomes disorderly for higher plunge velocities which can be characterized by three different types of vortex interactions. The observed results facilitated a robust parametrization of aerodynamic thrust production with key kinematic features, frequency and amplitude. After this, the dissertation focuses on the bio-inspiration aspect of flapping flight by investigating the interplay of kinematics, aerodynamics, and inertia of maneuvering bat flights. At first, an ascending right turn of one species (H. pratti) is investigated to elucidate on the kinematic features and aerodynamic mechanisms used to effectuate the maneuver. Some characteristic features observed are – lowering of flight speed, increase in flapping rate, shortening of upstrokes, and generation of a forward force at the end of the upstroke. It is observed, that the bat turns by using synergistic body rotations in multiple directions which are effected by various techniques such as - drawing the wing inside the turn closer to the body, and changing the timing and location of the forces produced between the two wings. Upon comparison with a similar maneuver by a H. armiger bat, some commonalities as well as differences were observed in the maneuver mechanisms. This analysis was followed by a comparative study among different maneuvering flights (a straight flight, two ascending right turns, and a U-turn) to establish the complete motion dynamics of a maneuver. The individual contributions of aerodynamics and wing inertia for maneuvering flights of a H. armiger and H. pratti are investigated. It is found that for both, translation and rotation the overall trajectory is mostly influenced by the aerodynamic forces and moments, whereas inertial effects are responsible for trajectory fluctuations during a flapping cycle as well contributing to altitude gain during ascent for the H. armiger bat.

This thesis presents the development of a triaxial cell and a proposal for methodology for estimating horizontal tension edometric condition by conducting laboratory tests on samples unsaturated compacted soil in OMC. The development of triaxial cell permits the use of voltages or controlled deformation. Moreover, the machine allows independent application increments of axial and radial stresses, thereby facilitating implementation assay in any way triaxial stresses. The proposed methodology simplifies estimate lateral tension through comparison of axial stress-strain curves of the test edomÃtrico conventional triaxial and consolidation tests under different paths tensions with the constant relationship between the axial and radial increments. In this case, the value of K0 would be corresponding to the constant trajectory in which the triaxial test curve edomÃtrico overlaps the curve of the test in terms of stress and axial deformations. They were tests performed with different soil types and the results were- roughly consistent with estimates from correlations empirical, thus allowing validate the proposal presented in this research. also It was studied the change of horizontal stress during the collapse flood conditions in edomÃtricas. In these tests it was found that during the breakdown voltage can horizontal remain virtually constant or even decreasing. / Esta dissertaÃÃo apresenta o desenvolvimento de uma cÃlula triaxial e uma proposta de metodologia para estimativa de tensÃo horizontal em condiÃÃo edomÃtrica, atravÃs da realizaÃÃo de ensaios de laboratÃrio em amostras nÃo saturadas de solo compactadas na umidade Ãtima. O desenvolvimento da cÃlula triaxial possibilita a aplicaÃÃo de tensÃes ou deformaÃÃes controladas. AlÃm disso, o equipamento permite a aplicaÃÃo independente de incrementos de tensÃes axiais e radiais, facilitando dessa forma a execuÃÃo de ensaio triaxial sob qualquer caminho de tensÃes. A metodologia proposta simplifica a estimativa da tensÃo lateral atravÃs da comparaÃÃo das curvas tensÃo-deformaÃÃo axial entre o ensaio edomÃtrico convencional e ensaios de adensamento triaxiais sob diferentes caminhos de tensÃes com a relaÃÃo constante entre os incrementos axial e radial. Nesse caso, o valor de K0 seria o correspondente à trajetÃria constante na qual a curva do ensaio triaxial se sobrepÃe a curva do ensaio edomÃtrico em termos de tensÃes e deformaÃÃes axiais. Foram realizados ensaios com diferentes tipos de solo e os resultados mostraram-se aproximadamente concordantes com as estimativas realizadas a partir de correlaÃÃes empÃricas, permitindo dessa forma validar a proposta apresentada nessa pesquisa. TambÃm foi estudada a variaÃÃo da tensÃo horizontal durante o colapso por inundaÃÃo em condiÃÃes edomÃtricas. Nesses ensaios verificou-se que, durante o colapso, a tensÃo horizontal pode permanecer praticamente constante ou atà mesmo diminuir.

Nowadays, small autonomous underwater robots are strongly preferred for remote exploration of unknown and unstructured environments. Such robots allow the exploration and monitoring of underwater environments where a long term underwater presence is required to cover a large area. Furthermore, reducing the robot size, embedding electrical board inside and reducing cost are some of the challenges designers of autonomous underwater robots are facing. As a key device for reliable operation-decision process of autonomous underwater robots, a relatively fast and cost effective controller based on Fuzzy logic and proportional-integral-derivative method is proposed in this thesis. It efficiently models nonlinear system behaviors largely present in robot operation and for which mathematical models are difficult to obtain. To evaluate its response, the fault finding test approach was applied and the response of each task of the robot depicted under different operating conditions. The robot performance while combining all control programs and including sensors was also investigated while the number of program codes and inputs were increased.