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Proceedings Paper

JetSum: SMA actuator based undersea unmanned vehicle inspired by jellyfish bio-mechanics
Author(s): Scott Bressers; Sanghun Chung; Alex Villanueva; Colin Smith; Shashank Priya
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Paper Abstract

Previously, we reported an undersea unmanned vehicle (UUV) termed as JetSum, inspired by the locomotion of medusa jellyfish, [12]. The propulsion of JetSum was based on shape memory alloy (SMA) wires replicating the contraction-relaxation cycle of natural jellyfish locomotion. In this paper, we report modified design of JetSum that addresses problems related to electrical isolation and power consumption. The modifications lead to significant improvement in functionality, providing implementation of a full continuous bell, bolstering critical sealing junctions, and reducing the overall power requirement. A LabVIEW controller program was developed to automate and optimize the driving of JetSum enabling reduction in power consumption for full contraction of SMA. JetSum locomotion in underwater conditions was recorded by using a high-speed camera and analyzed with image processing techniques developed in MatLab. The results show that JetSum was able to achieve velocity of 7 cm/s with power consumption of 8.94 W per cycle.

Paper Details

Date Published: 31 March 2010
PDF: 9 pages
Proc. SPIE 7644, Behavior and Mechanics of Multifunctional Materials and Composites 2010, 76440G (31 March 2010); doi: 10.1117/12.847595
Show Author Affiliations
Scott Bressers, Virginia Polytechnic Institute and State Univ. (United States)
Sanghun Chung, Virginia Polytechnic Institute and State Univ. (United States)
Alex Villanueva, Virginia Polytechnic Institute and State Univ. (United States)
Colin Smith, Virginia Polytechnic Institute and State Univ. (United States)
Shashank Priya, Virginia Polytechnic Institute and State Univ. (United States)


Published in SPIE Proceedings Vol. 7644:
Behavior and Mechanics of Multifunctional Materials and Composites 2010
Zoubeida Ounaies; Jiangyu Li, Editor(s)

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