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\wikidoc{file=Proj.Morpheus}
\wikidoc{auth=mikerb@mit.edu}

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\section*{Morpheus - A Highly Maneuverable AUV with Bioinspired Dorsal Fins}
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By adopting bioinspired morphing dorsal and ventral fins, this project
demonstrates how to achieve good directional stability, exceptional
maneuverability, and minimal adverse response to turbulent flow,
properties that are highly desirable for rigid hull AUVs, but are
presently difficult to achieve because they impose contradictory
requirements. This project develops the theory and design for
switching between operating with sufficient stability that ensures a
steady course in the presence of disturbances, with low corrective
control action; reverting to high maneuverability to execute very
rapid course and depth changes, improving turning rate by 25\% up to
50\%; and ensuring at all times that angular responses to external
turbulence is minimized. Developments are demonstrated through
tests on a 1-meter long autonomous underwater vehicle (AUV), named
\textit{Morpheus}.  The vehicle is capable of dynamically changing its
stability-maneuverability qualities by using tuna-inspired morphing
dorsal fins, which can be deployed, deflected and retracted, as
needed. A series of free-swimming experiments and maneuvering
simulations, combined with mathematical analysis, led to the design of
optimal retractable dorsal fins.

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%\section*{Quick Facts}
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\begin{longtable}{|r|p{0.76\textwidth}|} \hline

  \var{Status}: &amp; Ongoing since August 2019 \\ \hline
  \var{Sponsors}: &amp; Lockheed Martin  \\ \hline
  \var{People}: &amp; Supun Randeni, Michael Sacarny, Michael Triantafyllou
  (PI), Michael Benjamin (PI), Emily Mellin, Skyler Cheung \\ \hline
  \var{Software:} &amp; MOOS-IvP public codebase, Hydroman \\ \hline
  \var{Robots:} &amp; \urlx{https://oceanai.mit.edu/pavlab/robots/morpheus} \\ \hline
\end{longtable}
\normalsize


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\section*{Recent Publications}

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