Innovative Energy-Saving Propulsion System for Low-Speed Biomimetic Underwater Vehicles

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Abstract
This paper describes research on a unique propulsion system design for a low-speed Biomimetic Unmanned Underwater Vehicle (BUUV). It is biomimetic in the sense that it mimics the movement of aquatic organisms. The undulating propulsion system has numerous advantages over the rotary impeller and is becoming more popular in underwater robotics. The analysis of an artificial seal’s propulsion system with two tail fins is described here. The contrast between the previous undulating propulsion system and the new one is detailed using mathematical analysis and experimental data. The experimental comparison was carried out on a laboratory test stand equipped with specialist sensor equipment to determine the energy efficiency of various types of propulsion systems. Due to a patent procedure, the innovative propulsion system presented in this work has never been published previously. The fins have extra joints, which is the subject of patent claims. The extra joint is intended to improve energy efficiency and reduce fatigue wear on the fins.