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In this paper, we discuss the design aspects and the development of the MARES AUV, a 1.5 m long vehicle, weighting 32 kg, designed and built at the University of Porto, Portugal. This vehicle is highly maneuverable, with the ability to move in the vertical plane, controlling pitch and vertical velocity; forward velocity can also be determined, anywhere between 0 and 2 m/s. MARES can easily integrate...
This paper presents a dynamic model of robotic fish which synthesizes both the carangiform and anguilliform swimming modes. The designed robotic fish is divided into three parts: stiff anterior body, flexible rear body, and an oscillating lunate caudal fin. We use unsteady flow theory to analyze the motion of the anterior part and the links, and adopt basic airfoil theory for the caudal fin. By summing...
There are many considerations that go into the design of a human-powered submarine, but the two most important are speed and control. The speed of the submarine is determined by the mechanical efficiency of the drive system and the drag. The controllability of the submarine results from the design of the control surfaces and the control actuator. In a one-man sub, both of these systems are at the...
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