In the recent years, a dynamical development of an underwater robotics has been noticed. One of the newest group of underwater robots are biomimetic underwater vehicles. These vehicles are driven by undulating propulsion imitating fins of underwater creatures, e.g. a fish, a seal, etc.
This paper undertakes problem of thrust measurement of new biomimetic underwater vehicle equipped with undulating propulsion. At the beginning, the stand for thrust measurement is described. Then, two constructions of BUVs imitating a fish and a seal are presented. Further, the results of thrust measurement for two different undulating propulsions are inserted. At the end of the paper containing conclusions from performed measurements and foreseen research is included.
Most existing vibration isolators and dampers based on magnetorheological (MR) materials need electrical power to feed magnetic coils to stimulate the MR material, so if there is a loss of power, such as during a strong earthquake or system failure, they are unable to protect the structure. This paper outlines the design and test of a controllable multilayered magnetorheological elastomer (MRE) isolator based on a circular dipolar Halbach array; which is a set of magnets that generates a strong and uniform magnetic field. Combining an MRE layered isolator system with the Halbach array allows for constant vibration isolation with very low power consumption, where the power generated is only used to adjust the Halbach position. When this system was tested it successfully altered the lateral stiffness and damping force by 81.13% and 148.72%, respectively. This paper also includes an extended analysis of the magnetic field generated by the circular dipolar Halbach array and a discussion of the improvements that may potentially improve the range of magnetic fields generated.
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