Self-motion effects on hydrodynamic pressure sensing. Part I: forward backward motion

In underwater locomotion, extracting meaningful information from local flows is as desirable as it is challenging, due to complex fluid-structure interaction. Sensing and motion are tightly interconnected; hydrodynamic signals generated by the external stimuli are modified by the self-generated flow signals. Given that very little is known about self-generated signals, we used onboard pressure sensors to measure the pressure profiles over the head of a fusiform-shape craft while moving forward and backward harmonically. From these measurements we obtained a second-order polynomial model which incorporates the velocity and acceleration of the craft to estimate the surface pressure within the swimming range up to one body length/second (L s− 1). The analysis of the model reveals valuable insights into the temporal and spatial changes of the pressure intensity as a function of craft's velocity