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6 April 2009 Jellyfish inspired underwater unmanned vehicle
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An unmanned underwater vehicle (UUV) was designed inspired by the form and functionality of a Jellyfish. These natural organisms were chosen as bio-inspiration for a multitude of reasons including: efficiency of locomotion, lack of natural predators, proper form and shape to incorporate payload, and varying range of sizes. The structure consists of a hub body surrounded by bell segments and microcontroller based drive system. The locomotion of UUV was achieved by shape memory alloy "Biometal Fiber" actuation which possesses large strain and blocking force with adequate response time. The main criterion in design of UUV was the use of low-profile shape memory alloy actuators which act as artificial muscles. In this manuscript, we discuss the design of two Jellyfish prototypes and present experimental results illustrating the performance and power consumption.
© (2009) COPYRIGHT Society of Photo-Optical Instrumentation Engineers (SPIE). Downloading of the abstract is permitted for personal use only.
Alex Villanueva, Scott Bresser, Sanghun Chung, Yonas Tadesse, and Shashank Priya "Jellyfish inspired underwater unmanned vehicle", Proc. SPIE 7287, Electroactive Polymer Actuators and Devices (EAPAD) 2009, 72871G (6 April 2009);

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