Locomotion of articulated bodies in an ideal fluid: 2d model with buoyancy, circulation and collisions
نویسندگان
چکیده
Articulated solid bodies (ASB) is a basic model for the study of shapechanging underwater vehicles made of rigid parts linked together by pivoting joints. In this paper we study the locomotion of such swimming mechanisms in an ideal fluid. Our study ranges over a wide class of problems: several ASBs can be involved (without being hydrodynamically decoupled), the fluid-bodies system can be partially or totally confined and fluid circulation, buoyancy force and possible collisions between bodies are taken into account. We derive the Euler-Lagrange equation governing the dynamics of the system, study its well-posedness and describe a numerical scheme implemented in a Matlab toolbox (Biohydrodynamics Toolbox).
منابع مشابه
Locomotion of Articulated Bodies in a Perfect Fluid
This paper is concerned with modeling the dynamics of N articulated solid bodies submerged in an ideal fluid. The model is used to analyze the locomotion of aquatic animals due to the coupling between their shape changes and the fluid dynamics in their environment. The equations of motion are obtained by making use of a two-stage reduction process which leads to significant mathematical and com...
متن کاملRoll Dynamic Response of an Articulated Vehicle carrying liquids
The directional response and roll stability characteristics of a partly filled tractor semi-trailer vehicle, with cylindrical tank, are investigated in various maneuvers. The dynamic interaction of liquid cargo with the tractor semi-trailer vehicle is also evaluated by integrating a dynamic slosh model of the partly filled tank with five-degrees-of-freedom of a tractor semi-trailer tank mode...
متن کاملHydrodynamic Modelling of Coral Reefs:Ningaloo Reef-Western Australia
As with all coral reef systems, the ecology of Ningaloo Reef is closely linked to water circulation which transport and disperse key material such as nutrients and larvae. Circulation on coral reefs may be driven by a number of forcing mechanisms including waves, tides, wind, and buoyancy effects. Surface waves interacting with reefs have long been known to dominate the currents on many coral r...
متن کاملAnalysis of Roll Control System to Eliminate Liquid Sloshing Effect on Lateral Stability of an Articulated Vehicle Carrying Liquid
In this paper, the consequences of filled volume on the transient lateral dynamic and stabilities boundaries displacement of an articulated vehicle carrying liquid is investigated. First, a sixteen-degrees-of-freedom nonlinear dynamic model of an articulated vehicle is developed then, using TruckSim software the model is validated. Next, the dynamic interaction of the fluid cargo with the vehic...
متن کاملLiquid Sloshing Effect Analysis on Lateral Dynamics of an Articulated Vehicle Carrying Liquid for Various Filled Volumes
In this paper, the consequences of filled volume on the transient lateral dynamic and stabilities boundaries displacement of an articulated vehicle carrying liquid is investigated. First, a sixteen-degrees-of-freedom nonlinear dynamic model of an articulated vehicle is developed. Then, the model is validated by using TruckSim software. Next, the dynamic interaction of the fluid cargo with the v...
متن کامل