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The last few decades have led to the rise of research focused on propulsionand control systems for bio-inspired unmanned underwater vehicles (UUVs), whichprovide more maneuverable alternatives to traditional UUVs in underwatermissions. Propulsive efficiency is of utmost importance for flapping-fin UUVsin order to extend their range and endurance for essential operations. Tooptimize for different gait performance metrics, we develop a non-dimensionalfigure of merit (FOM), derived from measures of propulsive efficiency, that isable to evaluate different fin designs and kinematics, and allow for comparisonwith other bio-inspired platforms. We create and train computational modelsusing experimental data, and use these models to predict thrust and power underdifferent fin operating states, providing efficiency profiles. We then use thedeveloped FOM to analyze optimal gaits and compare the performance betweendifferent fin materials. These comparisons provide a better understanding ofhow fin materials affect our thrust generation and propulsive efficiency,allowing us to inform control systems and weight for efficiency on an inversegait-selector model.

Computational Approaches for Modeling Power Consumption on an Underwater Flapping Fin Propulsion System