We demonstrate that shape-changing or morphing fins provide a new paradigm for improving the ability of vehicles to maneuver and move rapidly underwater. An ingenuous solution is employed by fish to accommodate both the need for stability of locomotion and the ability to perform tight maneuvers: Retractable fins can alter the stability properties of a vehicle to suit their particular goals. Tunas, for example, are large fish that are fast swimmers and yet they need rapid turning agility to track the smaller fish they pursue; they have perfected the use of their dorsal and ventral fins to ensure stability when retracted and rapid turning when erected. Although fish employ unsteady propulsors rather than propellers, we show that engineering rigid-hull underwater vehicles can also exploit similar solutions. We explore the basic flow mechanisms and design considerations of employing morphing fins to alter the stability and maneuvering qualities of vehicles and apply unsteady forces ...

中文翻译：

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用于AUV的背鳍的仿生设计，以增强可操纵性。

我们证明，可变形或变形的鳍片为提高车辆在水下机动和快速移动的能力提供了新的范例。鱼采用了一种独创的解决方案来满足对运动稳定性的要求和执行严格操纵的能力：可伸缩的鳍片可以改变车辆的稳定性，以适应其特定目标。例如，金枪鱼是快速游泳的大鱼，但它们需要快速的转向敏捷性来追踪所追捕的小鱼。他们完善了背鳍和腹鳍的使用，以确保缩回时的稳定性和竖立时的快速转向。尽管鱼类使用的是不稳定的推进器，而不是螺旋桨，但我们证明工程硬壳水下航行器也可以采用类似的解决方案。