Biologically inspired optimization of underwater vehicles hull geometries and fin propulsion

摘要

If robotic systems are energy autonomous, all functions are subject to the energy efficiency principle. This applies in particular to small systems whose energy reserves are limited. In this development project on underwater systems of the Micro-Observer-Category, the focus is on manoeuvrability, minimization of propulsion resistance and alternative propulsion systems. First hull optimizations based on biological models reduce the overall resistance of the system by up to 85% and different hull morphologies allow different application scenarios. Alternative fin drives are used, even if their efficiency does not yet reach that of classic propeller drives. However, they reduce the risk of foreign object entrainment as well as substrat swirling.