請用此 Handle URI 來引用此文件:
http://tdr.lib.ntu.edu.tw/jspui/handle/123456789/19210
完整後設資料紀錄
DC 欄位 | 值 | 語言 |
---|---|---|
dc.contributor.advisor | 郭振華(Jen-Hwa Guo) | |
dc.contributor.author | I-Hsiang Chen | en |
dc.contributor.author | 陳奕翔 | zh_TW |
dc.date.accessioned | 2021-06-08T01:48:59Z | - |
dc.date.copyright | 2020-08-24 | |
dc.date.issued | 2020 | |
dc.date.submitted | 2020-08-18 | |
dc.identifier.citation | [1] Rozhdestvensky, Kirill V. 'Wing-in-ground effect vehicles.' Progress in aerospace sciences 42.3 (2006): 211-283. [2] Blevins, Erin, and George V. Lauder. 'Swimming near the substrate: a simple robotic model of stingray locomotion.' Bioinspiration biomimetics 8.1 (2013): 016005. [3] Sierra, Daniel M., and J. H. Guo. 'Two-Dimensional Dynamic Ground Effect on a Swimming Undulating Plate: A Parametric Study.' Journal of Mechanics 34.6 (2018): 863-877. [4] Sfakiotakis, Michael, David M. Lane, and J. Bruce C. Davies. 'Review of fish swimming modes for aquatic locomotion.' IEEE Journal of oceanic engineering 24.2 (1999): 237-252. [5] C. M. Breder, 'The locomotion of fishes,' 1926. [6] T. W. Sheu and Y. Chen, 'Numerical study of flow field induced by a locomotive fish in the moving meshes,' International journal for numerical methods in engineering, vol. 69, pp. 2247-2263, 2007. [7] Jia-En Chang, 'Simulation of the Parametric Study of a 2-D Streamline-shape Biomimetic Underwater Vehicle under the Dynamic Ground Effect,' ESOE National Taiwan University, February,2017. [8] Wu, T. Yao-Tsu. 'Swimming of a waving plate.' Journal of Fluid Mechanics 10.3 (1961): 321-344. [9] Epstein, Michael, J. Edward Colgate, and Malcolm A. MacIver. 'A biologically inspired robotic ribbon fin.' IEEE/RSJ International Conference on Intelligent Robots and Systems, workshop on Morphology, Control, and Passive Dynamics. 2005. [10] Epstein, Michael, J. Edward Colgate, and Malcolm A. MacIver. 'Generating thrust with a biologically-inspired robotic ribbon fin.' 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE, 2006. [11] Cowan, Noah J., and Eric S. Fortune. 'The critical role of locomotion mechanics in decoding sensory systems.' Journal of Neuroscience 27.5 (2007): 1123-1128. [12] Fung, Y. C., 'An Introduction to the Theory of Aeroelasticity ', Dover Publications, Inc., New York,(2008). [13] Blevins, E. and Lauder, G. V., 'Swimming Near the Substrate: A Simple Robotic Model of Stingray Locomotion,' Bioinspiration Biomimetics, 8, 016005(2013). [14] Schlichting, H. and Gersten, K., 'Boundary-Layer Theory,' Springer-Verlag, Berlin (2003). [15] Eloy, Christophe, and Lionel Schouveiler. 'Optimisation of two-dimensional undulatory swimming at high Reynolds number.' International Journal of Non-Linear Mechanics 46.4 (2011): 568-576. [16] R. J. Schilling, 'Fundamentals of Robotics: Analysis and Control,' Prentice Hall,1998, pp. 204-206. [17] J. Guo and Y. J. Joeng, 'Guidance and control of a biomimetic autonomous underwater vehicle using body- fin propulsion,' Engineering fot the Maritime Environment - Part M, vol. 218, pp. 93-111, 2004. [18] F. C. Chiu, J. Guo, and C. P. Wu, 'Simulation on the Undulatory Locomotion of a Flexible Slender Body,' in Int'l. Symp. on Aqua Bio-Mechanisms. Hawaii, 2000, pp. 185-190. [19] F. C. Chiu, J. Guo, and C. K. Chen, 'A Practical Method for Simulating Pectoral Fin Locomotion of A Biomimetic Autonomous Underwater Vehicle,' in IEEE int'l. Symp. on Underwater Technology. Taipei, 2004, pp. 323-329. [20] Yi-Lun Chiu, 'Dynamic Modeling and Monocular Image-Based Pose Tracking for an AUV in Power Turn,' ESOE National Taiwan University, February,2016. [21] Nowroozi, Bryan N., et al. 'Whole-body lift and ground effect during pectoral fin locomotion in the northern spearnose poacher (Agonopsis vulsa).' Zoology 112.5 (2009): 393-402. [22] Webb, Paul W. 'The effect of solid and porous channel walls on steady swimming of steelhead trout Oncorhynchus mykiss.' Journal of Experimental Biology 178.1 (1993): 97-108. [23] Quinn, Daniel B., George V. Lauder, and Alexander J. Smits. 'Flexible propulsors in ground effect.' Bioinspiration biomimetics 9.3 (2014): 036008. [24] MatWeb. 'Overview of materials for Silicone Rubber' http://www.matweb.com/search/DataSheet.aspx?MatGUID=cbe7a469897a47eda563816c86a73520 ckck=1 [25] Blevins, Erin, and George V. Lauder. 'Swimming near the substrate: a simple robotic model of stingray locomotion.' Bioinspiration biomimetics 8.1 (2013): 016005. | |
dc.identifier.uri | http://tdr.lib.ntu.edu.tw/jspui/handle/123456789/19210 | - |
dc.description.abstract | 本研究探討仿生型水下載具利用動態地面效應增進推進效率之方法。已知的研究顯示,當靠近固體邊界游動時,具有側鰭之扁平魚類會藉由調整側鰭擺動方式來運用與地面的距離提升推進效率。為了能運用此生物力學的概念,以提升自主式水載具的能量運用效率,本研究設計並製作一具結合側鰭與尾鰭擺動推進之扁平形機器魚。側鰭與尾鰭的作動是由多組伺服馬達驅動關節連桿達成,採用柔性扁平帶狀材料,並控制其週期振動之包絡線使呈等振幅與線性振幅兩種擺動方式,在不同波數的振動模式下,探討動態地面效應對於推進性能的影響。本研究使用理論與實驗建立側鰭之推力模式,並整合魚體、側鰭及尾鰭之動力學模型,使用文獻中所推求之動態地面效應之二維勢流理論模型近似解,求得魚體與底面距離對於推進力與推進速度之影響。理論及實驗數據顯示,機器魚在離底面不同距離下,進行等振福與線性振幅運動實驗,可驗證動態地面效應具有提升機器魚推進效率之結果。而線性振幅之側鰭擺動模式,以及側鰭之波數較大者其動態地面效應對推進效率之提升較為顯著。 | zh_TW |
dc.description.abstract | The aim of this research is to develop a robotic fish of a flat-fish shape which can increase its propulsive efficiency by swimming near a solid boundary. The dynamic ground effect is a phenomenon which is known to be a hydrodynamic benefit for flat-fish while swimming near ground to gain energy efficiency. A fish mechanism which oscillates with two ribbon fins as paired side-fins and a tail fin is designed and built. The ribbon fins comprise of rigid links and a flexible material, actuated by an array of servo motors. The ribbon fins are periodically oscillating with sinusoidal functions. Kinematic conditions that define the ribbon fin swimming patterns, such as the wave number, constant and linear oscillation envelops are investigated to understand the benefits on the propulsion efficiency from the dynamic ground effect. A side-fin is modeled as a transformed oscillating dipole in two-dimensional potential flow, and approximate solutions of propulsive energy and forward velocity due to ground effect are derived using its image dipole on the opposite side of the ground. The gain in propulsion efficiency is predicted and experimentally investigated using the robotic fish near a solid ground. It is found that both theoretically predictions and experimental data show that higher efficiencies can be achieved when swimming near the ground. Higher wave numbers, and linear amplitude mode of oscillation have better propulsion efficiency. The proposed technique is expected to benefit robotic fish that swim with a close distance along a ground by increasing its propulsive efficiency. | en |
dc.description.provenance | Made available in DSpace on 2021-06-08T01:48:59Z (GMT). No. of bitstreams: 1 U0001-1708202016112500.pdf: 3513034 bytes, checksum: f6b2717538aaa64e4f0086ff3b8bdb98 (MD5) Previous issue date: 2020 | en |
dc.description.tableofcontents | 誌謝 ii 中文摘要 iv ABSTRACT v CONTENTSLIST OF FIGURE vii LIST OF FIGURE x LIST OF TABLES xiv LIST OF SYMBOLS xv Chapter 1 Introduction 1 1.1 Motivation 1 1.2 Literature review 3 1.3 Thesis organization 5 Chapter 2 Dynamic analysis 7 2.1 Fin model 7 2.2 Dynamic ground effect 14 2.3 Summary 15 Chapter 3 Dynamic model of robotic fish 16 3.1 Assumptions 16 3.2 Parameters of the robotic fish 17 3.3 Dynamics of the Pipe fish 21 3.4 Hydrodynamics 28 3.4.1 Force of the body caudal fin 28 3.4.2 Forces of the pectoral fins 30 3.5 A state space model for Pipe fish 32 3.6 Simulations 32 Chapter 4 Experiments 40 4.1 Testing platform 40 4.2 Description of hardware 41 4.3 Experimental setting 44 4.4 Depth and heading control 46 4.5 Data and result 47 4.6 Analysis of experiment 50 Chapter 5 Conclusions 54 5.1 Conclusions 54 5.2 Suggestions for future research 55 References 56 Appendix 60 A. Hardware Specifications 60 B. Derivation of dynamic ground effects 65 | |
dc.language.iso | en | |
dc.title | 扁平機器魚推進之動態地面效應研究 | zh_TW |
dc.title | Dynamic Ground Effect on the Propulsion of a Robotic Flat-fish | en |
dc.type | Thesis | |
dc.date.schoolyear | 108-2 | |
dc.description.degree | 碩士 | |
dc.contributor.oralexamcommittee | 黃千芬(Chen-fen Huang),江茂雄(Mao-Hsiung Chiang),嚴惟果(Wei-Kuo Yen) | |
dc.subject.keyword | 仿生,機器魚,側鰭,推進效率,水下技術, | zh_TW |
dc.subject.keyword | biomimetic,robotic fish,side fin,propulsion efficiency,underwater technology, | en |
dc.relation.page | 92 | |
dc.identifier.doi | 10.6342/NTU202003790 | |
dc.rights.note | 未授權 | |
dc.date.accepted | 2020-08-19 | |
dc.contributor.author-college | 工學院 | zh_TW |
dc.contributor.author-dept | 工程科學及海洋工程學研究所 | zh_TW |
顯示於系所單位: | 工程科學及海洋工程學系 |
文件中的檔案:
檔案 | 大小 | 格式 | |
---|---|---|---|
U0001-1708202016112500.pdf 目前未授權公開取用 | 3.43 MB | Adobe PDF |
系統中的文件,除了特別指名其著作權條款之外,均受到著作權保護,並且保留所有的權利。