Ultra-fast escape maneuver of an octopus-inspired robot

We design and test an octopus-inspired flexible hull robot that demonstrates outstanding fast-starting performance. The robot is hyper-inflated with water, and then rapidly deflates to expel the fluid so as to power the escape maneuver. Using this robot we verify for the first time in laboratory testing that rapid size-change can substantially reduce separation in bluff bodies traveling several body lengths, and recover fluid energy which can be employed to improve the propulsive performance. The robot is found to experience speeds over ten body lengths per second, exceeding that of a similarly propelled optimally streamlined rigid rocket. The peak net thrust force on the robot is more than 2.6 times that on an optimal rigid body performing the same maneuver, experimentally demonstrating large energy recovery and enabling acceleration greater than 14 body lengths per second squared. Finally, over 53% of the available energy is converted into payload kinetic energy, a performance that exceeds the estimated energy conversion efficiency of fast-starting fish. The Reynolds number based on final speed and robot length is $Re \approx 700,000$. We use the experimental data to establish a fundamental deflation scaling parameter $\sigma^*$ which characterizes the mechanisms of flow control via shape change. Based on this scaling parameter, we find that the fast-starting performance improves with increasing size.Comment: Submitted July 10th to Bioinspiration & Biomimetic

Efficiency of Fish Propulsion

It is shown that the system efficiency of a self-propelled flexible body is ill-defined unless one considers the concept of quasi-propulsive efficiency, defined as the ratio of the power needed to tow a body in rigid-straight condition over the power it needs for self-propulsion, both measured for the same speed. Through examples we show that the quasi-propulsive efficiency is the only rational non-dimensional metric of the propulsive fitness of fish and fish-like mechanisms. Using two-dimensional viscous simulations and the concept of quasi-propulsive efficiency, we discuss the efficiency two-dimensional undulating foils. We show that low efficiencies, due to adverse body-propulsor hydrodynamic interactions, cannot be accounted for by the increase in friction drag

Coupled Inline-Cross Flow VIV Hydrodynamic Coefficients Database

Vortex Induced Vibrations (VIV) cause major fatigue damage to long slender bodies and have been extensively studied in the past decades. While most of the past research focused on the cross flow direction, it was recently shown that the inline motion in the direction of the flow has a major impact on the fatigue life damage due to its higher frequency (second harmonic) and more importantly, its coupling with the crossflow motion, which triggers a third harmonic stress component in the cross flow direction. In this paper, the coupled inline-crossflow VIV problem is addressed from semiempirical modeling of fluid forces. Extensive fine grid forced inline-crossflow VIV experiments were designed and carried out in the MIT towing tank. An inline-crossflow VIV hydrodynamics coefficients database was newly constructed using the experimental results and it is expected to be useful for other semi empirical programs predicting coupled inlinecrossflow VIV in the field. Several key hydrodynamic coefficients in the database, including lift force coefficients, drag force coefficients and added mass coefficients, were systematically analyzed. The coefficients in the crossflow and the inline directions were found to have strong dependency on the phase between the inline and crossflow motions.BP-MIT Major Program

Kill Line Model Cross Flow Inline Coupled Vortex-Induced Vibration

Currents and waves cause flow-structure interaction problems in systems installed in the ocean. Particularly for bluff bodies, vortices form in the body wake, which can cause strong structural vibrations (Vortex-Induced Vibrations, VIV). The magnitude and frequency content of VIV is determined by the shape, material properties, and size of the bluff body, and the nature and velocity of the oncoming flow. Riser systems are extensively used in the ocean to drill for oil wells, or produce oil and gas from the bottom of the ocean. Risers of ten consist of a central pipe, surrounded by several smaller cylinders, including the kill and choke lines. We present a series of experiments involving forced in-line and cross flow motions of short rigid sections of a riser containing 6 symmetrically arranged kill and choke lines. The experiments were carried out at the MIT Towing Tank. We present a systematic database of the hydrodynamic coefficients, consisting of the forces in phase with velocity and the added mass coefficients that are also suitable to be used with semi-empirical VIV predicting codes

Shape of retracting foils that model morphing bodies controls shed energy and wake structure

The flow mechanisms of shape-changing moving bodies are investigated through the simple model of a foil that is rapidly retracted over a spanwise distance as it is towed at constant angle of attack. It is shown experimentally and through simulation that by altering the shape of the tip of the retracting foil, different shape-changing conditions may be reproduced, corresponding to: (i) a vanishing body, (ii) a deflating body and (iii) a melting body. A sharp-edge, ‘vanishing-like’ foil manifests strong energy release to the fluid; however, it is accompanied by an additional release of energy, resulting in the formation of a strong ring vortex at the sharp tip edges of the foil during the retracting motion. This additional energy release introduces complex and quickly evolving vortex structures. By contrast, a streamlined, ‘shrinking-like’ foil avoids generating the ring vortex, leaving a structurally simpler wake. The ‘shrinking’ foil also recovers a large part of the initial energy from the fluid, resulting in much weaker wake structures. Finally, a sharp edged but hollow, ‘melting-like’ foil provides an energetic wake while avoiding the generation of a vortex ring. As a result, a melting-like body forms a simple and highly energetic and stable wake, that entrains all of the original added mass fluid energy. The three conditions studied correspond to different modes of flow control employed by aquatic animals and birds, and encountered in disappearing bodies, such as rising bubbles undergoing phase change to fluid

Development and application of distributed MEMS pressure sensor array for AUV object avoidance

A novel sensory system is being developed for AUVs to augment current sensory systems for navigation and operation in difficult environments. These environments are frequently cluttered and murky with substantial flow from currents or waves, frustrating sonar and vision systems while posing an increased risk to AUVs. In order to manage such situations, a better ability to locate and identify physical objects is needed. This gap could be filled by small low frequency pressure sensors distributed over the surface of the AUV in dense arrays.United States. National Oceanic and Atmospheric Administration (Grant NA06OAR4170019 Project R/RT-2/RCM-17

Lateral-Line Inspired MEMS-Array Pressure Sensing for Passive Underwater Navigation

This paper presents work toward the development of a novel MEMS sensing technology for AUVs. The proposed lateral line-inspired sensor system is a high-density array of pressure sensors for measuring hydrodynamic disturbances. By measuring pressure variations on a vehicle surface, a dense pressure sensor array will allow the AUV to detect, classify, and locate nearby obstacles and optimize its motion in unsteady environments. This approach is very similar to the canal lateral line system found in all fish, which allow them to function in dark or clouded environments. In order to lay the groundwork for developing the MEMS sensor and interpreting the pressure distributions, the paper also presents experiments demonstrating the discrimination between cylindrical obstacles of round and square cross sections with an array of off-the-shelf pressure sensors. Test objects with 5.1 cm and 7.6 cm diameters passed stationary sensors at 0.5 m/s and 0.75 m/s and with 1.3 and 5.1 mm separation. Hand chosen features and features chosen through a Principal Component Analysis are used to discriminate between object shapes under a variety of conditions. A classification error rate of under 2% is achieved across all velocities, sizes, and separations. These results lead to requirements for the density, sensitivity, and frequency response of the MEMS sensors, which fall well in the MEMS domain. The pressure sensor array proposed here consists of hundreds of MEMS pressure sensors with diameters near 1 mm spaced a few millimeters apart fabricated on etched silicon and Pyrex wafers; a fabrication process for producing the array is described. A strain-gauge pressure sensor is analyzed and shown to satisfy specifications as required by the results from the afore-mentioned experiments. The sensing element is a strain gauge mounted on a flexible diaphragm, which is a thin (20 µm) layer of silicon attached at the edges to a square silicon cavity 2000 µm wide on a side. A source voltage of 10 V produces a sensor with a sensitivity on the order of 1µV/Pa. Since the thermal noise voltage is near 0.7 µV, the pressure resolution of the sensors is on the order of 1 Pa.United States. National Oceanic and Atmospheric Administration (Grant NA06OAR4170019 Project R/RT-2/RMC-17

Consolidation of Empirics for Calculation of VIV Response

The present paper consolidates available experimental results for both sub-critical and critical Reynolds numbers and varying surface roughness and formulates a coefficient excitation model that aims at unbiased response estimates when using semi-empirical VIV prediction programs. A simplified procedure is suggested to account for higher order effects when relevant. The paper discusses the use of a modified coefficient excitation model with the objective of capturing or correctly reflecting certain specific features that have been observed in sub-critical and supercritical VIV experiments. The first part of this paper shows how the available low Reynolds number hydrodynamic data that currently forms the basis for most semi-empirical prediction software needs to be modified to correctly reflect the available experimental observations at sub-critical Reynolds numbers. The latter part of this paper looks at the available high Reynolds experimental data and suggests ways whereby the previously identified force coefficient database might be modified to reflect what is currently known about the VIV response of smooth and rough surfaced cylinders in the critical and super-critical Reynolds regimes.Norway Deepwater Progra

Cardiac Amyloidosis : Mini Review and a Case Report

Amyloidosis is a rare heterogeneous group of systemic disorders, which result due to extra cellular deposition of an insoluble, amorphous, eosinophilic, substance known as amyloid. The disease is often characterized by a restrictive cardiomyopathy with a poor prognosis and survival. The treatment of cardiac amyloidosis depends on the underlying etiology. However, the diagnosis of the type of cardiac amyloidosis is not always straightforward. We present here a case of cardiac amyloidosis and we discuss the different forms