An autonomous underwater vehicle with a biomechanical propulsion system is a possible answer to the demand for small, silent sensor platforms in many fields. The design of Galatea, a bio-mimetic AUV, involves four aspects: hydrodynamic shape, the propulsion, the motion control systems and payload. The shape of the hull is based on a modified Wortmann FX 71-L-150/20 airfoil. Wind tunnel tests have been conducted to determine the hydrodynamic force coefficients. The propulsion system is based on bio-mimetic undulating fin propulsion. A test set-up is build to get more insight in the fundamentals of this mechanism. The swimming behaviour is currently manually controlled and will be developed into an fully autonomous system. In the future, more research on the undulating fin propulsion system will be carried out and a second, modular prototype robot will be developed.
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机译：具有生物力学推进系统的自动水下机器人可以满足许多领域对小型静音传感器平台的需求。 Galatea是一种仿生AUV，其设计涉及四个方面：流体动力形状，推进力，运动控制系统和有效载荷。船体的形状基于改良的Wortmann FX 71-L-150 / 20机翼。已经进行了风洞测试以确定水动力系数。推进系统基于仿生波浪鳍推进。建立测试设置的目的是为了更深入地了解该机制的基础。目前，游泳行为是手动控制的，并将发展为完全自主的系统。将来，将对起伏的鳍片推进系统进行更多的研究，并开发第二台模块化原型机器人。
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