dc.contributor.author | Orucevic, Amer | |
dc.contributor.author | Lysø, Mads Erlend Bøe | |
dc.contributor.author | Schmidt-Didlaukies, Henrik | |
dc.contributor.author | Pettersen, Kristin Ytterstad | |
dc.contributor.author | Gravdahl, Jan Tommy | |
dc.date.accessioned | 2023-12-08T12:08:30Z | |
dc.date.available | 2023-12-08T12:08:30Z | |
dc.date.created | 2023-11-10T15:23:49Z | |
dc.date.issued | 2023 | |
dc.identifier.issn | 2405-8963 | |
dc.identifier.uri | https://hdl.handle.net/11250/3106611 | |
dc.description.abstract | In this paper we explore the optimal positioning of an underwater snake robot (USR) for energy harvesting in the wake of a bluff body. The USR and fluid are simulated jointly using a coupled vortex particle-mesh method and multi-body system solver. The power dissipated in the damped joints of the robot is used as a proxy for the harvested energy. Furthermore, the effect of different damper coefficients on power dissipation is explored. An extremum-seeking control (ESC) scheme for nonlinear systems with time-varying steady-state solutions is employed to optimize the horizontal placement of the robot. The results show that the dissipated power does have a clear optimum. Moreover, the horizontal position of the USR under the ESC scheme is demonstrated to converge to a vicinity of the optimal position. | en_US |
dc.language.iso | eng | en_US |
dc.publisher | IFAC | en_US |
dc.rights | Attribution-NonCommercial-NoDerivatives 4.0 Internasjonal | * |
dc.rights.uri | http://creativecommons.org/licenses/by-nc-nd/4.0/deed.no | * |
dc.title | Optimal Positioning of Snake Robots in Vortex Wakes using Extremum-Seeking Control. | en_US |
dc.title.alternative | Optimal Positioning of Snake Robots in Vortex Wakes using Extremum-Seeking Control. | en_US |
dc.type | Peer reviewed | en_US |
dc.type | Journal article | en_US |
dc.description.version | publishedVersion | en_US |
dc.subject.nsi | VDP::Teknologi: 500 | en_US |
dc.subject.nsi | VDP::Technology: 500 | en_US |
dc.source.journal | IFAC-PapersOnLine | en_US |
dc.identifier.doi | 10.1016/j.ifacol.2023.10.535 | |
dc.identifier.cristin | 2195205 | |
dc.relation.project | ERC-European Research Council: 101017697-CRÈME | en_US |
dc.relation.project | Norges forskningsråd: 22325 | en_US |
dc.relation.project | ERC-European Research Council: 101017697 | en_US |
cristin.ispublished | true | |
cristin.fulltext | postprint | |
cristin.qualitycode | 1 | |