Biomimetic Swimmer Inspired by the Manta Ray

Abstract

There is a need for the development of autonomous underwater vehicles (AUVs) that can be deployed quickly and can be adapted for a variety of missions (e.g., surveillance, search and rescue, sentry duty, logistics support, and chemical or biological agent detection). Stealth is a critical requirement in these new tactical vehicles. To address this need, we considered using batoid rays as the inspiration for the development of a Biomimetic Autonomous Undersea Vehicle (BAUV). Particular attention has been focused on the manta ray (Manta birostris, order Myliobatiformes, family Mobulidae). Manta rays, like other batoids, embody many of the qualities required in an ideal underwater vehicle,CONTENTS17.1 Introduction 495 17.2 Biology 49617.2.1 Morphology 497 17.2.2 Steady Swimming Kinematics 499 17.2.3 Maneuvering 50017.3 Hydrodynamics 502 17.4 Integrated Structure and Control 507