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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 | Kai-Min Chang | en |
dc.contributor.author | 張凱閔 | zh_TW |
dc.date.accessioned | 2021-06-16T03:03:17Z | - |
dc.date.available | 2025-06-30 | |
dc.date.copyright | 2015-07-20 | |
dc.date.issued | 2015 | |
dc.date.submitted | 2015-07-01 | |
dc.identifier.citation | [1] Watt, George D. “Estimates for the Added Mass of a Multi-Component, Deeply Submerged Vehicle, PartⅠ: Theory and Program Description,” National Defence Research and Development Branch, Canada, October, 1988.
[2] Bottaccini, M. R. “The Stability Coefficients of Standard Torpedoes”, U. S. Naval Ordance Test Station, NAVORD Report 3346, 1954 [3] Chiu, F.C., Guo, J., Chang, Y.Y., Wang, C.C., Wang, J. P., “On the Linear Hydrodynamic Forces and the Maneuverability of Unmanned Untethered Submersible with Streamlined Body,” J. of Japanese Society of Naval Architecture, No. 180, 1996. (In Japanese) [4] Nomoto, K., and Norrbin, N. H.,“A Review of Methods of Defining and Measuring the Maneuverability of Ships,” International Towing Tank Conference, Appendix I, Report of Maneuverability Committee, Rome, 1969. [5] Landweber, L. and M. Gertler, Mathematical Formulation of Bodies of Revolution, The David W. Taylor Model Basin Report 719, 1950. [6] 蔡進發 (Tsai, J.F.), “高操控性自主式水下載具阻力推進性能之研究,” 第十八屆海洋工程研討會論文集, 1996. [7] R. E. Davis, C. C. Eriksen and C. P. Jones, “Autonomous Buoyancy-driven Underwater Gliders,” The Technology and Applications of Autonomous Underwater Vehicles. G.. Griffiths, ed., Taylor and Francis, London, 2002. [8] C. C. Eriksen, T. J. Osse, R. D. Light, T. Wen, T. W. Lehman, P. L. Sabin, J. W. Ballard, and A. M. Chiodi, “Seaglider: A Long-Range Autonomous Underwater Vehicle for Oceanographic Research,” IEEE Journal of Oceanic Engineering, Vol. 26, No. 4, pp.424-436, 2001. [9] N. E. Leonard and J. G. Graver, “Model-Based Feedback Control of Autonomous Underwater Gliders,” IEEE Journal of Oceanic Engineering, Vol. 26, No. 4, pp.633-645, 2001. [10] A. M. Galea, Optimal Path Planning and High Level Control of an Autonomous Gliding Underwater Vehicle, Master Thesis, Massachusetts Institute of Technology, 1999. [11] J. G. Graver, Underwater Gliders: Dynamics, Control and Design, Ph.D. Thesis, Princeton University, 2005 [12] C. Jones, B. Allsup, and C. DeCollibus, “ Slocum glider: Expanding our understanding of the oceans,” Oceans - St. John's, 2014, pp.1,10, September 2014. [13] E. Hoak and R. D. Finck, USAF STABILITY AND CONTROL DATCOM, Flight Control Division, Air Force Flight Dynamics Laboratory, Wright-Patterson Air Force Base, 1978. [14] D. C. WEBB, P. J. Simonetti, and C. P. Jones, “ SLOCUM : an Underwater Glider Propelled by Environmental Energy,” IEEE Journal of Oceanic Engineering, Vol. 26, No. 4, pp.447-452, 2001. [15] J. Sherman, R. E. Davis, W. B. Owens, and J. Valdes, “ The Autonomous Underwater Glider ‘Spary’,” IEEE Journal of Oceanic Engineering, Vol. 26, No.4, pp.437-446, 2001. [16] J. G. Graver, R. Bachmayer and N.E. Leonard, “ Underwater Glider Model Parameter Identification,” Proc. 13th Int. Symp. on Umanned Untethered Submersible Technology (UUST), August 2003. [17] Ming-Feng Guo, A Study on the Analysis of Performance and Simulation for the Maneuvering Motions of Underwater Glider, Master Thesis, National Taiwan University, 2007. [18] Min-Yu, Cai, Hydrodynamic Coefficients Analysis of Underwater Glider, Master Thesis, National Taiwan University, 2007. [19] J. D. Anderson, JR. Aircraft Performance and Design, McGraw-Hill, 1999 | |
dc.identifier.uri | http://tdr.lib.ntu.edu.tw/jspui/handle/123456789/54543 | - |
dc.description.abstract | 本論文發展仿生型水下滑翔機之設計方法。在執行水下大範圍且長周期之量測工作時,由於在有限的酬載空間下所能提供載具運行之能源相當有限,因此省能推進設計相當重要。本裝置利用改變浮力及重心位置進行攻角變化,再搭配裝置兩側之翼板,在水中進行滑翔以達到省能之效果,在滑翔過程中改變尾鰭角度進而達到航向的控制。本文首先建立載具運動方程式,接著以近似橢圓體估算法計算其附加質量及附加慣性矩,引用Bottaccini為了標準魚雷而發展的經驗式估算法進行黏性阻力的推算。估算載具與翼板之阻力,發展設計翼尺寸之方法與選擇翼擺放之位置。本文考慮載具特性指標如浮力引擎的耗能、下潛效率及迴轉半徑等。最後本文製作一具實驗載具,並展示實驗數據,以驗證此方法於仿生型水下滑翔機設計的可行性。 | zh_TW |
dc.description.abstract | This work develops a design method of a biomimetic underwater glider. When enforcing a wide range of measurement and long-duty-cycle data collection in the ocean, owing to the limited internal space of the underwater vehicle, the energy to run the device is quite limited. How to save propulsion energy appeared to be quite important. Our device changes the buoyancy and center of gravity locations to change the angle of attack, then with wings for generate gliding motion in the water. During gliding process, vehicle change the tail swinging angle to achieve heading control. First, linear equations of motion of an underwater vehicle are derived. Then the added mass terms are computed by the similar ellipsoids method and viscous resistance are calculated by the empirical estimation method which was developed by Bottaccini for the standard torpedoes. Estimating resistance of vehicle with wings, a design methodology for size of wings is proposed to choose the position and size of wings. This work considers the performance characteristics of the vehicle, such as buoyancy engine energy, diving efficiency and turning radius, etc. Finally, this work demonstrates the experimental data to validate the design method by a biomimetic underwater glider. | en |
dc.description.provenance | Made available in DSpace on 2021-06-16T03:03:17Z (GMT). No. of bitstreams: 1 ntu-104-R01525077-1.pdf: 2151688 bytes, checksum: c06e61563d9440a63c13be00ff9cc213 (MD5) Previous issue date: 2015 | en |
dc.description.tableofcontents | 摘要 I
Abstract II List III Figures List VI Tables List X Symbol List XI Chapter 1 Introduction 1 1.1 Motivation 1 1.2 Literature Review 2 1.3 Thesis Organization 4 Chapter 2 Hardware of the Biomimetic Underwater Glider 5 2.1 Hardware Introduction 5 2.2 Vehicle System Architecture 13 2.3 Vehicle Shape 16 Chapter 3 Parameters of the Biomimetic Underwater Glider 19 3.1 Introduction 19 3.2 Coordinate Systems 20 3.3 Equations of Motion 22 3.3.1 Translational Motion 23 3.3.2 Rotational Motion 26 3.3.3 Six Degrees of Freedom Motion Model 30 3.4 Added Moment of Inertia and Added Mass 32 3.4.1 Added Mass of an Ellipsoid 32 3.4.2 The Interference Effects between Major Body and the Appendages 36 3.4.3 The Fluid Kinetic Energy of Ellipsoid 39 3.4.4 The Interference Velocity through the Primary of Ellipsoid 43 3.4.5 The Analytical Expression of Added Mass of Long Slender Ellipsoid 45 3.5 Fluid Damping Force 47 3.6 Restoring Forces 50 3.6.1 Operation Constrains for Buoyancy engine 51 Chapter 4 Performance of the Biomimetic Underwater Glider 53 4.1 Linear Equations of Motion 53 4.2 Resistance estimation 57 4.3 Performance of Steady Underwater Glider 58 4.4 Design of Wings 62 4.5 Turning Radius 66 4.6 Attack Angle 67 Chapter 5 Vehicle Testing 68 5.1 Vehicle parameter estimation 68 5.2 Energy Cost of Piston Type Buoyancy Engines 71 5.3 Turning Radius 76 5.4 Attack Angle 81 5.5 Diving Depth 84 5.6 Simulations of Glider Motion 88 5.7 Gliding Experiments 94 Chapter 6 Conclusion 107 References 108 | |
dc.language.iso | en | |
dc.title | 仿生型水下滑翔機之設計 | zh_TW |
dc.title | Design of a Biomimetic Underwater Glider | en |
dc.type | Thesis | |
dc.date.schoolyear | 103-2 | |
dc.description.degree | 碩士 | |
dc.contributor.oralexamcommittee | 江茂雄(Mao-Hsiung Chiang),林顯群(Sheam-Chyun Lin),鄭逸琳(Yih-Lin Cheng) | |
dc.subject.keyword | 機器魚,自主式水下載具,水下滑翔機,運動方程式,迴轉半徑, | zh_TW |
dc.subject.keyword | robotic fish,autonomous underwater vehicle,underwater glider,equation of motion,turning radius, | en |
dc.relation.page | 110 | |
dc.rights.note | 有償授權 | |
dc.date.accepted | 2015-07-01 | |
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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