Characterization of a Submersible In-line Pump as a Thrust Generator for Swimming Robots

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dc.contributor.advisorGhorbel, Fathi H.en_US
dc.creatorKaralomlu, Alien_US
dc.date.accessioned2017-08-03T17:27:08Zen_US
dc.date.available2017-08-03T17:27:08Zen_US
dc.date.created2016-05en_US
dc.date.issued2016-04-21en_US
dc.date.submittedMay 2016en_US
dc.date.updated2017-08-03T17:27:08Zen_US
dc.description.abstractThroughout history, machines have replaced human labor in many industries. Our machines have made it possible to transcend human limitations. In the present day, underwater robots have stretched the boundaries of what was previously thought impossible in terms of exploration, security and scientific discovery. These robots have become prevalent in a number of sectors and fields including the military, marine biology, oceanography and documentary production. As their applications become increasingly diverse, establishing precise control over the movement of these robots become more and more crucial. DC motors as force/torque generators for robots are well understood. We know exactly how much voltage must be applied to generate precise movement to achieve specifi c tasks. On the other hand, this is not the case for thrust generators for swimming robots due to the complexity of the dynamics of the combination of motor action with fluid/solid interactions. An in-line pump consists of a DC motor pumping fluid via a centrifugal pump through a tight space to generate thrust. Understanding of the dynamics of these interactions are vital if we are to establish accurate control over underwater robots. Through the mathematical modeling of ducted thrusters, computational analysis of fluid dynamics of ideal centrifugal pumps and a pendulum arm experimental setup, this research seeks to improve our understanding of the submersible in-line pumps as thrust generators for swimming robots.en_US
dc.format.mimetypeapplication/pdfen_US
dc.identifier.citationKaralomlu, Ali. "Characterization of a Submersible In-line Pump as a Thrust Generator for Swimming Robots." (2016) Master’s Thesis, Rice University. <a href="https://hdl.handle.net/1911/96564">https://hdl.handle.net/1911/96564</a>.en_US
dc.identifier.urihttps://hdl.handle.net/1911/96564en_US
dc.language.isoengen_US
dc.rightsCopyright is held by the author, unless otherwise indicated. Permission to reuse, publish, or reproduce the work beyond the bounds of fair use or other exemptions to copyright law must be obtained from the copyright holder.en_US
dc.subjectIn-line Pumpen_US
dc.subjectCentrifugal Pumpen_US
dc.subjectSwimming Robotsen_US
dc.subjectThrusteren_US
dc.subjectCharacterizationen_US
dc.titleCharacterization of a Submersible In-line Pump as a Thrust Generator for Swimming Robotsen_US
dc.typeThesisen_US
dc.type.materialTexten_US
thesis.degree.departmentMechanical Engineeringen_US
thesis.degree.disciplineEngineeringen_US
thesis.degree.grantorRice Universityen_US
thesis.degree.levelMastersen_US
thesis.degree.nameMaster of Scienceen_US
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