Uddin, Mohammad Irfan

Navigation of unmanned underwater vehicles in coastal zones, tight spaces and close to structures such as ports, ship hulls and pipelines remains a difficult challenge. Currently Autonomous Underwater Vehicles (AUVs) use a variety of techniques for motion control, including single thrusters with diving planes or hydrofoils, robotic wrists, or a moving mass. However, these techniques provide limited maneuverability. The objective of this work was to understand the mechanics of elongated fin propulsion for swimming and motion control of underwater vehicles. This bio-inspired propulsion is used by several fishes that swim by undulating a thin and elongated median fin that allow them to perform forward and directional maneuvers. In the first chapter we present the literature review as well as the mathematical formulation using thrust vectoring approach to achieve forward and turning maneuvers. In the second chapter, we used a robotic vessel with elongated fin propulsion to determine the thrust scaling and efficiency. Using precise force and swimming kinematics measurements with the robotic vessel, the thrust generated by the undulating fin was found to scale with the square of the relative velocity between the free streaming flow and the wave speed. In addition, a hydrodynamic efficiency is presented based on propulsive force measurements and a model on the power required to oscillate the fin laterally.

The 3MT® competition celebrates the exciting research conducted by graduate students. Developed by The University of Queensland (UQ), the exercise cultivates students’ academic, presentation, and research communication skills. The competition supports their capacity to effectively explain their research in three minutes, in language appropriate to a non-specialist audience. The first 3MT® competition was held at the University of Queensland in 2008 with 160 students competing. In 2009 and 2010 the 3MT® competition was promoted to other Australian and New Zealand universities and enthusiasm for the concept grew. Since 2011, the popularity of the competition has increased and 3MT® competitions are now held in over 170 universities across more than 18 countries worldwide.