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| DC 欄位 | 值 | 語言 |
|---|---|---|
| dc.contributor.advisor | 劉浩澧 | zh_TW |
| dc.contributor.advisor | Hao-Li Liu | en |
| dc.contributor.author | 楊曼永 | zh_TW |
| dc.contributor.author | Man-Yung Yang | en |
| dc.date.accessioned | 2026-03-04T16:06:54Z | - |
| dc.date.available | 2026-04-09 | - |
| dc.date.copyright | 2026-03-04 | - |
| dc.date.issued | 2025 | - |
| dc.date.submitted | 2026-02-25 | - |
| dc.identifier.citation | [1] J. Vargas, S. Alsweiss, O. Toker, J. Santos, et al., “An overview of autonomous vehicles sensors and their vulnerability to weather conditions,” Sensors, vol. 21, no. 16, 2021.
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Zhang and Z. Jin, “The experiment of acoustic levitation and the analysis by simulation,” Open Access Library Journal, vol. 8, no. 5, pp. 1–10, 2021. [26] L. Cox, A. Croxford, B. W. Drinkwater, and A. Marzo, “Acoustic lock: Position and orientation trapping of non-spherical subwavelength particles in mid-air using a single-axis acoustic levitator,” Applied Physics Letters, vol. 113, no. 5, p. 054101, 2018. [27] H. Bruus, “Acoustofluidics 7: The acoustic radiation force on small particles,” Lab Chip, vol. 12, pp. 1014–1021, 2012. [28] A. Marzo, T. Corkett, and B. W. Drinkwater, “Ultraino: An open phased-array system for narrowband airborne ultrasound transmission,” IEEE Transactions on Ultrasonics, Ferroelectrics, and Frequency Control, vol. 65, no. 1, pp. 102–111, 2018. [29] S. Suzuki, S. Inoue, M. Fujiwara, Y. Makino, and H. Shinoda, “AUTD3: Scalable Airborne Ultrasound Tactile Display,” IEEE Transactions on Haptics, vol. 14, no. 4, pp. 740–745, 2021. [30] C.-S. Gong, M.-Y. Yang, and H.-L. Liu, “Object levitation via mode-switching airborne ultrasonic array system,” Sensors Letters, to be submitted, 2025. | - |
| dc.identifier.uri | http://tdr.lib.ntu.edu.tw/jspui/handle/123456789/101730 | - |
| dc.description.abstract | 傳統超音波懸浮系統多依賴固定架構與單一聲場配置，為維持穩定性，常需將物體限制於特定高度或空間內操作，降低整體靈活性，亦難以因應大範圍的操控需求。特別是在單面陣列系統中，儘管具備開放式操作優勢，懸浮穩定性卻易隨距離變化而顯著下降。為突破此限制，本研究提出一套動態模式切換系統，結合單面與雙面懸浮配置之優勢，透過反射板開孔設計與空間分區策略，依據物體位置與移動方向自動切換懸浮模式。於陣列中心保留單面操作靈活性，邊緣區域則轉換為駐波懸浮模式，顯著提升三維可操控範圍。系統採用 10×10 超音波相位陣列，並預先建立空間座標與相位配置之查找表，支援即時聚焦更新與快速控制切換。移動控制方面，採用步進式三維導引演算法，結合誤差補償與模式判斷機制，實現穩定且連續之懸浮移動。實驗結果顯示，物體於本系統中可達單面陣列懸浮模式約三倍之移動範圍，且能穩定地於超出原始陣列與反射板結構範圍之外之空間中移動。展現高度靈活性與擴展潛力，具備應用於非接觸搬運、人機互動等場域之實用性。 | zh_TW |
| dc.description.abstract | Conventional ultrasonic levitation systems typically rely on fixed configurations and a single acoustic field pattern. To maintain stability, objects are often constrained to specific heights or spatial regions, which reduces overall flexibility and limits their ability to support large-scale manipulation tasks. In particular, although single-sided array systems offer open operational advantages, their levitation stability degrades significantly with increasing distance from the array. To overcome these limitations, this study proposes a dynamic mode-switching system that combines the strengths of both single-sided and dualsided levitation configurations. By implementing a perforated reflector and spatial partitioning strategy, the system dynamically switches levitation modes based on the object’s position and movement direction. Single-sided levitation is retained at the array center to preserve operational flexibility, while the peripheral region transitions to a standing-wave mode, significantly expanding the controllable three-dimensional workspace. The system employs a 10×10 ultrasonic phased array and precomputes a lookup table mapping spatial coordinates to corresponding phase configurations, enabling real-time focus updates and rapid control switching. For motion control, a step-based 3D guidance algorithm is adopted, incorporating error compensation and mode transition logic to achieve stable and continuous levitation movement. The object achieves approximately three times the movement range compared to the single-sided levitation mode, demonstrating high flexibility and scalability for practical applications such as contactless transport and human–machine interaction. | en |
| dc.description.provenance | Submitted by admin ntu (admin@lib.ntu.edu.tw) on 2026-03-04T16:06:54Z No. of bitstreams: 0 | en |
| dc.description.provenance | Made available in DSpace on 2026-03-04T16:06:54Z (GMT). No. of bitstreams: 0 | en |
| dc.description.tableofcontents | 口試委員審定書 i
致謝 ii 摘要 iii Abstract iv 目次 v 圖次 viii 表次 xi 第一章 緒論 1 1.1 超音波技術概述與應用分類 1 1.2 超音波相位陣列於非接觸式懸浮之應用 4 1.3 超音波物體懸浮裝置之分類 6 1.4 超音波物體懸浮範圍之文獻回顧與分析 8 1.4.1 Marzo’s Work(2015) 8 1.4.2 Koroyasu’s Work(2024) 9 1.4.3 Chen’s Work(2024) 10 1.5 研究目的及貢獻 12 第二章 方法與理論 13 2.1 相位陣列之計算與聚焦原理 13 2.1.1 相位計算方法 13 2.1.2 聚焦聲場實現原理 14 2.2 物體懸浮原理 16 2.2.1 強聚焦式相位驅動 16 2.2.2 雙陷阱式相位驅動 18 2.2.3 物體懸浮條件 18 2.3 聲輻射力計算公式 19 2.4 雙模式懸浮整合及場景設計方法 22 2.4.1 雙懸浮之模式定義 22 2.4.2 反射板開孔設計方法 23 2.5 系統總覽 25 2.5.1 超音波相位陣列系統 25 2.5.2 USB 3.0 高速通訊模組 26 2.5.3 FPGA 26 2.5.4 類比驅動電路板架構 27 2.5.5 超音波傳感器及陣列 29 2.6 使用者介面 29 2.6.1 相位計算介面 29 2.6.2 懸浮移動介面 31 2.7 懸浮移動及模式切換演算法 32 2.7.1 三維移動控制與誤差補償 32 2.7.2 邊界區域之模式切換策略 34 2.8 以空間座標建立對應相位 LUTs 方法 36 2.9 超音波陣列模擬軟體 37 2.10 實驗設備與規劃 39 2.10.1 實驗目的 39 2.10.2 硬體設備 39 2.10.3 實驗規劃 44 第三章 實驗設置與結果 45 3.1 無反射板情況下之聲場量測與聲輻射力分析 45 3.1.1 聲場量測 45 3.1.2 聲輻射力及懸浮物體重量評估 47 3.2 有反射板情況下聲場量測與聲輻射力分析 53 3.2.1 聲場量測 53 3.2.2 聲輻射力及懸浮物體重量評估 57 3.3 懸浮物體重量分析 60 3.4 物體移動範圍提升探討 63 3.5 物體移動速度之分析與優化 66 3.5.1 系統相位切換速度上限測試 66 3.5.2 建立 LUTs 對於物體移動速度優化 66 3.6 不同陣列規模下聲輻射力物體重量分析 67 第四章 結論與未來展望 69 4.1 結論 69 4.2 未來展望 70 參考文獻 72 附錄 A — 實作演示影片 76 | - |
| dc.language.iso | zh_TW | - |
| dc.subject | 空氣超音波 | - |
| dc.subject | 超音波相位陣列 | - |
| dc.subject | 動態懸浮模式切換 | - |
| dc.subject | 三維懸浮移動 | - |
| dc.subject | 非接觸操控 | - |
| dc.subject | Airborne Ultrasound | - |
| dc.subject | Ultrasonic Phased Array | - |
| dc.subject | Dynamic Levitation Mode Switching | - |
| dc.subject | 3D Levitation Movement | - |
| dc.subject | Contactless Manipulation | - |
| dc.title | 模式切換操作於空氣超音波陣列之物體懸浮 | zh_TW |
| dc.title | Object Levitation via Mode-Switching Airborne Ultrasonic Array System | en |
| dc.type | Thesis | - |
| dc.date.schoolyear | 114-2 | - |
| dc.description.degree | 碩士 | - |
| dc.contributor.oralexamcommittee | 傅琪鉦;李昇憲;龔存雄 | zh_TW |
| dc.contributor.oralexamcommittee | Chi-Cheng Fu ;Sheng-Shian Li;Cihun-Siyong Gong | en |
| dc.subject.keyword | 空氣超音波,超音波相位陣列動態懸浮模式切換三維懸浮移動非接觸操控 | zh_TW |
| dc.subject.keyword | Airborne Ultrasound,Ultrasonic Phased ArrayDynamic Levitation Mode Switching3D Levitation MovementContactless Manipulation | en |
| dc.relation.page | 76 | - |
| dc.identifier.doi | 10.6342/NTU202504284 | - |
| dc.rights.note | 同意授權(全球公開) | - |
| dc.date.accepted | 2026-02-25 | - |
| dc.contributor.author-college | 電機資訊學院 | - |
| dc.contributor.author-dept | 電機工程學系 | - |
| dc.date.embargo-lift | 2031-02-24 | - |
| 顯示於系所單位： | 電機工程學系 | |
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| ntu-114-2.pdf 此日期後於網路公開 2031-02-24 | 7.77 MB | Adobe PDF |
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