請用此 Handle URI 來引用此文件:
http://tdr.lib.ntu.edu.tw/jspui/handle/123456789/55371
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 | Pei-Li Kuo | en |
dc.contributor.author | 郭倍豊 | zh_TW |
dc.date.accessioned | 2021-06-16T03:58:58Z | - |
dc.date.available | 2020-02-04 | |
dc.date.copyright | 2015-02-04 | |
dc.date.issued | 2014 | |
dc.date.submitted | 2014-11-26 | |
dc.identifier.citation | [1] M. Sfakiotakis, D. M. Lane, and J. B. C. Davies, 'Review of fish swimming modes for aquatic locomotion,' IEEE Journal of Oceanic Engineering, vol. 24, pp. 237-252, Apr, 1999.
[2] D. S. Barrett, 'Propulsive efficiency of a flexible hull underwater vehicle,' Ph.D. dissertation, Massachusetts Institute of Technology, 1996. [3] J. M. Anderson and P. A. Kerrebrock, 'The vorticity control unmanned undersea vehicle (VCUUV)-An autonomous vehicle employing fish swimming propulsion and maneuvering,' in Proc. 10th International Symposium on Unmanned Untethered Submersible Technology, NH, Sept. 1997, pp. 189-195. [4] T. J. Pitcher, B. L. Partridge, and C. S. Wardle, 'Blind Fish Can School,' Science, vol. 194, pp. 963-965, 1976. [5] D. Hoekstra and J. Janssen, 'Non-Visual Feeding-Behavior of the Mottled Sculpin, Cottus-Bairdi, in Lake-Michigan,' Environmental Biology of Fishes, vol. 12, pp. 111-117, 1985. [6] C. Voncampenhausen, I. Riess, and R. Weissert, 'Detection of Stationary Objects by the Blind Cave Fish Anoptichthys-Jordani (Characidae),' Journal of Comparative Physiology, vol. 143, pp. 369-374, 1981. [7] J. C. Montgomery, S. Coombs, and C. F. Baker, 'The mechanosensory lateral line system of the hypogean form of Astyanax fasciatus,' Environmental Biology of Fishes, vol. 62, pp. 87-96, Oct. 2001. [8] S. P. Windsor, D. Tan, and J. C. Montgomery, 'Swimming kinematics and hydrodynamic imaging in the blind Mexican cave fish (Astyanax fasciatus),' Journal of Experimental Biology, vol. 211, pp. 2950-2959, Sep. 15 2008. [9] S. Coombs, 'Smart skins: Information processing by lateral line flow sensors,' Autonomous Robots, vol. 11, pp. 255-261, Nov. 2001. [10] Z. F. Fan, J. Chen, J. Zou, D. Bullen, C. Liu, and F. Delcomyn, 'Design and fabrication of artificial lateral line flow sensors,' Journal of Micromechanics and Microengineering, vol. 12, pp. 655-661, Sep. 2002. [11] Y. C. Yang, N. Nguyen, N. N. Chen, M. Lockwood, C. Tucker, H. Hu, et al., 'Artificial lateral line with biomimetic neuromasts to emulate fish sensing,' Bioinspiration & Biomimetics, vol. 5, Mar. 2010. [12] J. Dusek, A. G. P. Kottapalli, M. E. Woo, M. Asadnia, J. Miao, J. H. Lang, et al., 'Development and testing of bio-inspired microelectromechanical pressure sensor arrays for increased situational awareness for marine vehicles,' Smart Materials and Structures, vol. 22, p. 22 Jan. 2013. [13] S. Childress, Mechanics of swimming and flying vol. 2: Cambridge University Press, Cambridge, UK, 1981. [14] Lighthill MJ., 'Note on the Swimming of Slender Fish,' Journal of Fluid Mechanics, vol. 9, pp. 305-317, 1960. [15] Lighthil MJ., 'Hydromechanics of Aquatic Animal Propulsion,' Annual Review of Fluid Mechanics, vol. 1, pp. 413-415, 1969. [16] Lighthil MJ., 'Aquatic Animal Propulsion of High Hydromechanical Efficiency,' Journal of Fluid Mechanics, vol. 44, pp. 265-301, 1970. [17] E. S. Hassan, 'Mathematical Description of the Stimuli to the Lateral Line System of Fish Derived from a 3-Dimensional Flow Field Analysis .2. The Case of Gliding Alongside or above a Plane Surface,' Biological Cybernetics, vol. 66, pp. 453-461, Mar. 1992. [18] E. S. Hassan, 'Mathematical Description of the Stimuli to the Lateral Line System of Fish Derived from a 3-Dimensional Flow Field Analysis .1. The Cases of Moving in Open Water and of Gliding Towards a Plane Surface,' Biological Cybernetics, vol. 66, pp. 443-452, Mar. 1992. [19] E. S. Hassan, 'Mathematical Description of the Stimuli to the Lateral-Line System of Fish, Derived from a 3-Dimensional Flow-Field Analysis .3. The Case of an Oscillating Sphere near the Fish,' Biological Cybernetics, vol. 69, pp. 525-538, Oct. 1993. [20] A. B. Sichert, R. Bamler, and J. L. van Hemmen, 'Hydrodynamic Object Recognition: When Multipoles Count,' Physical Review Letters, vol. 102, 058104 , Feb. 6 2009. [21] M. J. Wolfgang, J. M. Anderson, M. A. Grosenbaugh, D. K. P. Yue, and M. S. Triantafyllou, 'Near-body flow dynamics in swimming fish,' Journal of Experimental Biology, vol. 202, pp. 2303-2327, Sep 1999. [22] K. Streitlien and M. S. Triantafyllou, 'Force and Moment on a Joukowski Profile in the Presence of Point Vortices,' AIAA Journal, vol. 33, pp. 603-610, Apr 1995. [23] R. Mason, 'Fluid locomotion and trajectory planning for shape-changing robots,' Ph.D. dissertation, California Institute of Technology, 2002. [24] E. Kanso and P. K. Newton, 'Locomotory Advantages to Flapping Out of Phase,' Experimental Mechanics, vol. 50, pp. 1367-1372, Nov 2010. [25] J. Goulet, J. Engelmann, B. P. Chagnaud, J. M. P. Franosch, M. D. Suttner, and J. L. van Hemmen, 'Object localization through the lateral line system of fish: theory and experiment,' Journal of Comparative Physiology a-Neuroethology Sensory Neural and Behavioral Physiology, vol. 194, pp. 1-17, Jan 2008. | |
dc.identifier.uri | http://tdr.lib.ntu.edu.tw/jspui/handle/123456789/55371 | - |
dc.description.abstract | 本研究建立魚游動之數學模型以探討仿生型水下載具於開闊場游動時周圍之壓力場,並藉由實驗來驗證此模型。此模型由勢流理論建立而成,推導出壓力場和仿生型載具的速度、角速度及尾巴擺動速度等運動參數之關係式,並利用實驗數據回歸以求得此模型之動力係數。本實驗所使用之仿生型載具為長90公分、寬25公分、高50公分之類魚型水下載具,在載具兩側及頭部分別裝載壓力感測器,用以感測游動時自身所產生之壓力。實驗中,控制仿生型載具尾巴之擺動頻率,以產生周期性之壓力場,藉由分析壓力,進而探討魚游動時所產生之影響。實驗結果顯示仿生型載具游動時,憑藉自身游動狀態參數估測之壓力場和實驗測量值相符,且近一步證實,游經障礙物時量測之壓力與藉運動狀態參數推估之開闊場壓力不同,此差異來自於障礙物所產生之流場變化。根據本文結論,仿生型載具能憑藉自身游動狀態參數估測自身形變所造成之壓力場變化,期許未來能達到水下偵測、群游、避障等目的。 | zh_TW |
dc.description.abstract | In order to predict the pressure of a swimming fish-shaped Biomimetic Autonomous Underwater Vehicle (BAUV); a swimming fish is modeled to study the pressure profile around its body and verified further by data from experiments. The pressure model for the swimming fish is derived analytically from the potential flow theory as a function of the BAUV’s velocity, angular velocity and tail flapping speed. Then a regression model is established and the coefficients that determine the pressure are found from the body kinematics of the fish. A BAUV of 90cm length, 25cm width and 50cm high with pressure sensors on each body side and on its head was built, in order to study the self-induced pressure pattern while the BAUV is swimming. In experiments, the flapping frequency of the BAUV tail was controlled and the hydrodynamic pressure was measured to discuss the effects induced by the swimming kinematics. As a potential application, it is expected that a BAUV could use its own kinematic parameters to estimate the pressure field caused by its own body shape deformation, and then identify and obtain the pressure field caused by external stimuli. | en |
dc.description.provenance | Made available in DSpace on 2021-06-16T03:58:58Z (GMT). No. of bitstreams: 1 ntu-103-R01525004-1.pdf: 8292886 bytes, checksum: 630c1d2077626c3738f5446ca0322294 (MD5) Previous issue date: 2014 | en |
dc.description.tableofcontents | 中文摘要 i
ABSTRACT ii CONTENTS iii LIST OF FIGURE v LIST OF TABLES xi LIST OF SYMBOLS xiii Chapter 1 Introduction 1 1.1 Motivation 1 1.2 Literature review 3 1.2.1 Biological swimming modes for development of BAUV 3 1.2.2 Biological inspiration of fish’s Lateral line system 3 1.2.3 Mathematical model 5 1.3 Thesis organization 6 Chapter 2 Mathematical Model 7 2.1 Potential Flow Theory 8 2.2 Joukowski Transformation 11 2.3 The Potential Flow Model of Swimming Robot Fish 16 2.4 Velocity and Pressure Field of Mathematical Model 24 2.5 Nearby pressure simulation of the swimming fish 26 Chapter 3 Materials and Methods 40 3.1 Sensing Platform 40 3.2 Laser Scanner Range Finder 43 3.3 Pressure Sensors 46 3.4 Experimental Setup 48 3.5 Experiments 49 Chapter 4 Experimental Results and Analysis 51 4.1 Experimental Results 52 4.2 Regression Model Analysis 66 4.3 Error Analysis 75 4.4 Environmental Detection 77 Chapter 5 Conclusions 91 REFERENCES 92 | |
dc.language.iso | en | |
dc.title | 仿生型水下載具游動時體表之動態水壓力估測 | zh_TW |
dc.title | Near-Body Pressure Estimation of a Robot Fish by Its Swimming Kinematics | en |
dc.type | Thesis | |
dc.date.schoolyear | 103-1 | |
dc.description.degree | 碩士 | |
dc.contributor.oralexamcommittee | 江茂雄(Mao-Hsiung Chiang),吳文榕(Wen-Rong Wu) | |
dc.subject.keyword | 側線系統,勢流理論,仿生型自主水下載具,游動運動學,環境偵測, | zh_TW |
dc.subject.keyword | Biomimetic Autonomous Underwater Vehicle,lateral line system,potential flow,swimming kinematics,environmental detection, | en |
dc.relation.page | 93 | |
dc.rights.note | 有償授權 | |
dc.date.accepted | 2014-11-26 | |
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 | |
---|---|---|---|
ntu-103-1.pdf 目前未授權公開取用 | 8.1 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。