Thesis (S.M.)--Massachusetts Institute of Technology, Dept. of Ocean Engineering; and, (S.M.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 2000. / Includes bibliographical references (p. 75-76). / A robotic mechanism is described, called Robopike. The robot has fork length equal to 82cm, and contains 5 motors, a computer and a wireless modem for communication during testing. Details of the construction and testing methods are provided. The testing covered only a small part of the extensive parametric range, and resulted in speeds up to 0.11 body lengths per second and turns of 350 in two seconds. The kinematics of the robot are quantified and analyzed. A non-dimensional number, the Maneuvering Strouhal Number (Stm) is defined based on observations from live fish and previous theoretical developments. Recommendations for further improvements in the maneuvering performance of flexible hull vehicles are derived based on the Maneuvering Strouhal Number (Stm). / by John Muir Kumph. / S.M.
| Identifer | oai:union.ndltd.org:MIT/oai:dspace.mit.edu:1721.1/8968 |
| Date | January 2000 |
| Creators | Kumph, John Muir |
| Contributors | Michael Triantafyllou., Massachusetts Institute of Technology. Dept. of Mechanical Engineering., Massachusetts Institute of Technology. Dept. of Ocean Engineering., Massachusetts Institute of Technology. Dept. of Mechanical Engineering. |
| Publisher | Massachusetts Institute of Technology |
| Source Sets | M.I.T. Theses and Dissertation |
| Language | English |
| Detected Language | English |
| Type | Thesis |
| Format | 76 p., 4101003 bytes, 4100762 bytes, application/pdf, application/pdf, application/pdf |
| Rights | M.I.T. theses are protected by copyright. They may be viewed from this source for any purpose, but reproduction or distribution in any format is prohibited without written permission. See provided URL for inquiries about permission., http://dspace.mit.edu/handle/1721.1/7582 |
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