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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 | Chia-Chin Hsieh | en |
dc.contributor.author | 謝佳縉 | zh_TW |
dc.date.accessioned | 2021-06-12T17:59:36Z | - |
dc.date.available | 2013-01-30 | |
dc.date.copyright | 2008-01-30 | |
dc.date.issued | 2008 | |
dc.date.submitted | 2008-01-29 | |
dc.identifier.citation | [1] Michael Sfakiotakis, David M. Lane, J. Bruce C. Davies, 'Review of Fish Swimming Modes for Aquatic Locomotion,' IEEE JOURNAL OF OCEANIC ENGINEERING, VOL. 24, NO. 2, APRIL 1999
[2] G. K. Taylor, R. L. Nudds & A. L. R. Thomas, “Flying and swimming animals cruise at a Strouhal number tuned for high power efficiency,” Nature, Vol. 425, October 2003, pp. 707-711. [3] N. Hogan, “Adaptive Control of Mechanical Impedance by Coactivation of Antagonist Muscles,” IEEE Transactions on Automatic Control, Vol. AC-29, No. 8, August 1984, pp. 681-690. [4] R. Blickhan & J. Y. Cheng, “Energy Storage by Elastic Mechanisms in the Tail of Large Swimmers-a Re-evaluation,” Journal of Theoretical Biology, Vol. 168, 1994, pp. 315-321. [5] M. M. Murray & L. E. Howle, “Spring stiffness influence on an oscillating propulsor,” Journal of Fluids and Structures, Vol. 17, 2003, pp. 915-926. [6] 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 [7] F. C. Chiu, S.W. Cheng, Y.J. Joeng, “ Motion control and way-point tracking of a biomimetic underwater vehicle,” Proc. IEEE Int’l Symp. on Underwater Technology, Tokyo, Japan, pp. 73-78,2002 [8] Jenhwa Guo, Fomg-Chen Chiu, Chih-Chieh Chen and Yueh-Sheng Ho, “Determining the Bodily Motion of a Biomimetic Underwater Vehicle Under Oscillating Propulsion,” Proceedingsofthe2003 IEEE International Conference On Robotics &Automation Taipei, Taiwan, September 14-19, 2003 [9] J. Guo, F. C. Chiu, S. W. Cheng, Y. S. Ho, 'Control Systems for Waypoint-tracking of a Biomimetic Autonomous Underwater Vehicle,' in OCEANS. San Diego, 2003, pp. 333-339. [10] Shane A. Migliore, Edgar A. Brown, Stephen P. DeWeerth, 'Novel Nonlinear Elastic Actuators for Passively Controlling Robotic Joint Compliance,' Journal Of Mechanical Design, 406 / Vol. 129, APRIL 2007 [11] Kirsten F. Laurin-Kovitz, J.Edward Colgate, Steven D. R. Carnes, 'Design of Components for Programmable Passive Impedance,' Proceedings of the 1991 IEEE International Conference on Robotics and Automation, Sacramento, CA, Vol. 2, pp.1476–1481. [12] Shane A. Migliore, Edgar A. Brown, Stephen P. DeWeerth, 'Biologically Inspired Joint Stiffness Control,' Proceedings of the 2005 IEEE International Conference on Robotics and Automation Barcelona, Spain, April 2006 [13] English, C., Russell, D., 1999, “Mechanics and Stiffness Limitations of a Variable Stiffness Actuator for Use in Prosthetic Limbs,” Mech. Mach. Theory, 34, pp. 7–25. [14] R. J. Schilling, 'Fundamentals of Robotics: Analysis and Control,' Prentice Hall, 1998, pp. 204-206. [15] Weikuo, Yen, “Power Reduction by controlling Joint Compliances for the Propulsion of a Biomimetic Underwater Vehicle” | |
dc.identifier.uri | http://tdr.lib.ntu.edu.tw/jspui/handle/123456789/27267 | - |
dc.description.abstract | Animals improve their energy efficiency and adapt to changes in task requirements or in environmental conditions by controlling joint compliance dynamically. This work mimics fish’s propulsion using a compliant tail fin to show the power reduction while the fish propels by the tail fin. A compliance control scheme of caudal joint for a biomimetic autonomous underwater vehicle (BAUV) is presented. The scheme is based on actuators arranged antagonistically about joints. Design considerations on the hardware are presented to reduce the power consumption from actuators and emulate the underlying mechanics fish use to produce movement. Oscillation motions of the tail fin are driven by motors through springs. A state space model and a way-point tracking controller for the BAUV system are presented. A method is derived to determine the optimal spring compliance. Simulations are performed to verify the existence of the optimal joint compliance. Water tank experiments using a BAUV demonstrate that tuning joint compliances can reduce the amount of energy required for the propulsion of the tail fin. | en |
dc.description.provenance | Made available in DSpace on 2021-06-12T17:59:36Z (GMT). No. of bitstreams: 1 ntu-97-R94525045-1.pdf: 1115686 bytes, checksum: b8e203dc1aebdc7b1842c8c7110d9517 (MD5) Previous issue date: 2008 | en |
dc.description.tableofcontents | 致謝......................................................I
中文摘要.................................................II Abstract ...............................................III Table of Contents .......................................IV List of Figures .........................................VI List of Tables .......................................... X List of Symbols .........................................XI Chapter1 Introduction ....................................1 1. Motivation ......................................1 2. Literature review ...............................2 3. Thesis organization .............................4 Chapter2 Optimal spring compliance .......................5 1. Equation of motion for a foil ...................5 2. Storage of energy by elastic elements ...........8 Chapter3 Dynamic modeling and simulations of a BAUV system ..................................................15 1. Assumption and preliminaries ...................15 2. Dynamics of a BAUV .............................19 3. Hydrodynamics of tail fin ......................25 4. Way-point tracking controller design ...........28 5. Simulations ....................................36 Chapter4 Experiment .....................................45 1. Joint compliance control scheme ................45 2. Experimental hardware arrangement ..............54 3. Experimental results ...........................57 4. Discussions ....................................79 Chapter5 Conclusions ....................................81 Reference ...............................................82 | |
dc.language.iso | en | |
dc.title | 關節撓度對仿生型水下載具推進功率之效應 | zh_TW |
dc.title | Joint Compliance Effects on the Propulsion Power of a Biomimetic Underwater Vehicle | en |
dc.type | Thesis | |
dc.date.schoolyear | 96-1 | |
dc.description.degree | 碩士 | |
dc.contributor.oralexamcommittee | 邱逢琛(Forng-Chen Chiu),曾慶耀(Ching-Yaw Tzeng) | |
dc.subject.keyword | 仿生,水下載具,撓度控制,推進,節能, | zh_TW |
dc.subject.keyword | biomimetic,underwater vehicles,compliance control,propulsion,energy saving, | en |
dc.relation.page | 84 | |
dc.rights.note | 有償授權 | |
dc.date.accepted | 2008-01-29 | |
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 |
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