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Fig. 12. Measurements of efficiency versus coefficient of X-force.
The blue data were first collected in a systematic matrix study over a
predefined range of oscillation parameters. This data gathering was spread
over about 1.5 years, which is common in conventional experimental procedures
where the hydrodynamic characteristics and the models of control laws are
determined before a vehicle design is carried out. The symbols denote the
carriage speed, where x is U
=0, o is 0.46, +
is 0.83, and * is 1.34 m s–1. The numbered dots
denote trial numbers from the random search algorithm; green dots denote
trials with a pitch bias greater than 5°, and red dots denote runs after
which the bias had converged to less than 5°. Observe that from an
arbitrary starting point, the algorithm rapidly reaches the point of highest
efficiency for hovering as denoted by the x symbols. The search for
maximum efficiency converges with any initial random selection of oscillation
parameters. The rapid search method also works well when the fin is towed.
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