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Biomimetic locomotion in liquid environments (PhD Thesis, MIT)
Biomimetic locomotion is of interest in applications where good cruising speeds, high maneuverability and stealth are needed. Current Biomimetic devices that use traditional discrete-stiff mechanisms have severe limitations because of their complexity. The proposed approach exploits the natural dynamics of a flexible structure in order to achieve the body motions needed to implement Biomimetic swimming performance.
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Downhole conveyance module (Masters Thesis, MIT)
Measurements of environmental properties inside oil wells are crucial in order to forecast production. The required sensor modules are traditionally conveyed by tethered rover type mechanisms that push the modules inside oil wells. However, the increasing depths and varying orientations of present oil wells make cable friction a problem and autonomous modules become desirable. Propulsion efficiency is crucial in order to ensure that autonomous modules are capable of covering the lengths of present oil wells. The proposed approach exploits the liquid momentum present inside an oil well to generate thrust that a conveyance module can use to control its position at a minimal energy cost.
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