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http://tdr.lib.ntu.edu.tw/jspui/handle/123456789/39442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 | Chiuan-Shing Wu | en |
| dc.contributor.author | 吳泉興 | zh_TW |
| dc.date.accessioned | 2021-06-13T17:28:37Z | - |
| dc.date.available | 2004-11-23 | |
| dc.date.copyright | 2004-11-23 | |
| dc.date.issued | 2004 | |
| dc.date.submitted | 2004-10-11 | |
| dc.identifier.citation | [1] C. M. Breder, 'The locomotion of fishes,' Zoologica, vol. 4, pp. 159-256, 1926.
[2] M. Sfakiotakis, D. M. Lane, and J. B. C. Davies, 'Review of fish swimming modes for aquatic locomotion,' J. Oceanic Eng., vol. 24, pp. 237-252, 1999. [3] J. Guo, F. C. Chiu, Y. J. Joeng, and S. W. Cheng, 'Motion Control and Way-point Tracking of a Biomimetic Underwater Vehicle,' in IEEE Intl'l. Symp. on Underwater Technology. Tokyo, 2002, pp. 73-78. [4] 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. [5] J. Guo, F. C. Chiu, C. C. Chen, and Y. S. Ho, 'Determining the Bodily Motion of A Biomimetic Underwater Vehicle Under Oscillating Propulsion,' in IEEE Int'l. Conf. on Robotics and Automation. Taipei, 2003, pp. 983-988. [6] J. Guo, F. C. Chiu, S. W. Cheng, and Y. S. Ho, 'Control Systems for Waypoint-tracking of a Biomimetic Autonomous Underwater Vehicle,' in OCEANS. San Diego, 2003, pp. 333-339. [7] R. J. Mason, J. W. Burdick, K. A. Morgansen, V. Duindam, and R. M. Murray, 'Nonlinear control methods for planar Carangiform robot fish locomotion,' in IEEE Int'l. Conf. on Robotics and Automation, 2001, pp. 427-434. [8] R. J. Mason and J. W. Burdick, 'Experiments in Carangiform robotic fish locomotion,' in IEEE Int'l. Conf. on Robotics and Automation, 2000. [9] R. Mason and J. Burdick, 'Construction and modeling of a Carangiform robotic fish,' in Int'l. Symp. Experimental Robotics, 1999. [10] S. D. Kelly, R. J. Mason, C. T. Anhalt, R. M. Murray, and J. W. Burdick, 'Modeling and experimental investigation of Carangiform locomotion for control,' in American Control Conference, 1998. [11] N. Kato, Y. Ando, and T. Shigetomi, 'Precision Maneuvering of Underwater Robot by Mechanical Pectoral Fins,' in IEEE int'l. Symp. on Underwater Technology. Taipei, 2004, pp. 303-310. [12] N. Kato, 'Control performance in the horizontal plane of a fish robot with mechanical pectoral fins,' J. Oceanic Eng., vol. 25, pp. 121-129, 2000. [13] N. Kato and T. Inaba, 'Hovering performance of fish robot with apparatus of pectoral fin motion,' in 10th Int'l. Symp. on UUST, 1997, pp. 177-188. [14] N. Kato and M. Furushima, 'Pectoral Fin Model for Maneuver of Underwater Vehicles,' in IEEE AUV'96, 1996. [15] 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. [16] S. Licht, F. Hover, and M. S. Triantafyllou, 'Design of a Flapping Foil Underwater Vehicle,' in IEEE int'l. Symp. on Underwater Technology. Taipei, 2004, pp. 311-316. [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] S. B. Niku., 'Introduction to Robotics, Analysis, Systems, Applications,' Prentice Hall, 2000, pp. 60-67. [19] R. J. Schilling, 'Fundamentals of Robotics: Analysis and Control,' Prentice Hall, 1998, pp. 204-206. [20] J. J. Videler, Fish Swimming. London; New York: Chapman & Hall, 1993. [21] S. Vogel, Life in Moving Fluids: The Physical Biology of Flow, 2 ed: Princeton University Press, 1996. [22] J. A. Walker and M. W. Westneat, 'Kinematics, dynamics and energetics of rowing and flapping propulsion in fishes,' Integr. Comp. Biol., vol. 42, pp. 1032-1043, 2002. [23] M. W. Westneat and J. A. Walker, 'Pectoral fin design and swimming performance: testing thrust and efficiency models with structure and behavior of living fishes,' in 14th Int'l Symp. on UUST. Durham, N. H., 2001. [24] J. A. Walker, 'Pectoral fin rowing is a drag?' Amer. Zool., vol. 38:18A, 1999. [25] J. A. Walker, 'Does a rigid body limit maneuverability?' J. Experimental Biology, vol. 203:3391-3396, 2000. | |
| dc.identifier.uri | http://tdr.lib.ntu.edu.tw/jspui/handle/123456789/39442 | - |
| dc.description.abstract | 仿生型自主式水下載具(BAUV) 研究的主要目的為發展一具高效率、省能、輕巧和高操控性的仿生型水下載具。 本文提出一種能協調胸鰭與尾鰭的協調控制方法，以高操控性能為目標，使載具的運動在水中更靈活。本文首先探討仿生型自主式水下載具的平面數學模型，求得胸鰭與尾鰭運動參數與載具動關係之的特性曲線，並依據此特性曲線提出協調控制器設計之方法，以整合胸鰭與尾鰭的運動。模擬與實驗結果包括：高速游泳、低速巡航、循跡控制、轉彎、減速與水中停留。模擬與實驗的結果證實以本文提出之協調控制器設計方法，能改善仿生型自主式水下載具的操控性能。
關鍵詞：自主式水下載具, 非線性控制, 循跡控制, 水下技術, 尾鰭, 胸鰭, 魚類游泳 | zh_TW |
| dc.description.abstract | The work described in this thesis is part of a multi-year research project to develop a Biomimetic Autonomous Underwater Vehicle (BAUV). Our purpose is to develop a biomimetic submarine with a high swimming efficiency, and is highly maneuverable.
A planar model of the BAUV is firstly described. Parameters that are suitable for control the surge speed and turning rate are then identified for both body/caudal fin, and for a pair of pectoral fins. A coordinated controller for integration of the tail fin and pectoral fins is then proposed. Swimming performances of the control system using the proposed control architecture are then examined by simulations and water tank experiments. The control approach adopted in this thesis is easy to implement. Only a few parameters are required. Furthermore, it combines two swimming mechanisms for high speed swimming and low speed hovering. Waypoint tracking, turning, hovering and braking behaviors of the BAUV are then demonstrated. Keywords: AUV, nonlinear control, tracking, underwater technology, caudal fin, pectoral, fin, fish swimming | en |
| dc.description.provenance | Made available in DSpace on 2021-06-13T17:28:37Z (GMT). No. of bitstreams: 1 ntu-93-R91525033-1.pdf: 1430500 bytes, checksum: 890fc15c1e53c2f7f2cd66f222d8a6f7 (MD5) Previous issue date: 2004 | en |
| dc.description.tableofcontents | 致謝 I
摘要 II ABSTRACT III TABLE OF CONTENTS IV LIST OF FIGURES VI LIST OF TABLES IX LIST OF SYMBOLS X CHAPTER1 INTRODUCTION 1 1.1 MOTIVATION 1 1.2 LITERATURE REVIEW 2 1.3 THESIS OVERVIEW 4 CHAPTER2 DYNAMIC MODELING 5 2.1 ASSUMPTIONS AND PRELIMINARIES 6 2.1.1 Assumptions 6 2.1.2 Preliminaries 6 2.2 DYNAMICS OF A BAUV 11 2.3 HYDRODYNAMICS OF FINS 15 2.3.1 Forces of the Body/Caudal Fin 15 2.3.2 Forces of the Pectoral Fins 17 2.4 A STATE SPACE MODEL FOR A BAUV 22 CHAPTER3 CONTROLLER DESIGN 24 3.1 GUIDANCE OF THE BAUV 24 3.2 CONTROLLER DESIGN 26 3.2.1 Kinematics Design 26 3.2.2 Coordinated Controller Design 35 CHAPTER4 SIMULATIONS 39 4.1 BRAKING TEST 41 4.2 TURNING TEST 45 4.3 HOVERING TEST 49 4.4 CURVILINEAR MOTION TEST 51 CHAPTER5 EXPERIMENTAL RESULTS 53 5.1 DESCRIPTION OF HARDWARE 53 5.2 CHARACTERISTICS OF THE BAUV 55 5.3 EXPERIMENTS FOR GUIDANCE AND CONTROL 58 5.3.1 Braking Test 59 5.3.2 Curvilinear Motion Test 64 5.3.3 Discussion 69 CHAPTER6 CONCLUSIONS 72 REFERENCES 74 | |
| dc.language.iso | en | |
| dc.subject | 魚類游泳 | zh_TW |
| dc.subject | 自主式水下載具 | zh_TW |
| dc.subject | 胸鰭 | zh_TW |
| dc.subject | 非線性控制 | zh_TW |
| dc.subject | 水下技術 | zh_TW |
| dc.subject | 循跡控制 | zh_TW |
| dc.subject | 尾鰭 | zh_TW |
| dc.subject | tracking | en |
| dc.subject | AUV | en |
| dc.subject | caudal fin | en |
| dc.subject | fish swimming | en |
| dc.subject | pectoral | en |
| dc.subject | fin | en |
| dc.subject | underwater technology | en |
| dc.subject | nonlinear control | en |
| dc.title | 仿生型自主式水下載具胸鰭與尾鰭之協調循跡控制器設計 | zh_TW |
| dc.title | Design of a Coordinated Tracking Controller for a Biomimetic Autonomous Underwater Vehicle Using Pectoral and Caudal Fins | en |
| dc.type | Thesis | |
| dc.date.schoolyear | 93-1 | |
| dc.description.degree | 碩士 | |
| dc.contributor.oralexamcommittee | 郭真祥,江茂雄,邱逢琛 | |
| dc.subject.keyword | 自主式水下載具,胸鰭,非線性控制,水下技術,循跡控制,尾鰭,魚類游泳, | zh_TW |
| dc.subject.keyword | fish swimming,pectoral,fin,tracking,caudal fin,AUV,nonlinear control,underwater technology, | en |
| dc.relation.page | 76 | |
| dc.rights.note | 有償授權 | |
| dc.date.accepted | 2004-10-11 | |
| 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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|---|---|---|---|
| ntu-93-1.pdf 未授權公開取用 | 1.4 MB | Adobe PDF |
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