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完整後設資料紀錄
DC 欄位 | 值 | 語言 |
---|---|---|
dc.contributor.advisor | 郭振華 | |
dc.contributor.author | Chien-Ju Chen | en |
dc.contributor.author | 陳建汝 | zh_TW |
dc.date.accessioned | 2021-06-16T03:59:04Z | - |
dc.date.available | 2020-02-04 | |
dc.date.copyright | 2015-02-04 | |
dc.date.issued | 2014 | |
dc.date.submitted | 2014-11-25 | |
dc.identifier.citation | 1. Coombs, S., Smart skins: Information processing by lateral line fow sensors. Autonomous Robots 2001. vol. 11: p. 255-261.
2. A.G.P. Kottapalli, M.A., J.M. Miao, C.W. Tan, G. Barbastathis, M. Triantafyllou, Polymer MEMS pressure sensor arrays for fish-like underwater sensing applications. The Institution of Engineering and Technology, Micro & Nano Letters, 2012. Vol. 7(12): p. 1189-1192. 3. V. I. Fernandez, A.M., F. M. Yaul, J. Dahl, J. H. Lang, and M. S. Triantafyllou, Lateral-Line-Inspired Sensor Arrays for Navigation and Object Identification. Marine Technology Society Journal, 2011. vol. 45: p. 130-146. 4. Mu, L.-J., Measurement of environmental features by an artificial lateral line system for biomimetic underwater vehicles. Master, Department of Engineering Science and Ocean Engineering, National Taiwan University, 2009. 5. C. S. Wardle, J.J.V.a.J.D.A., Tuning in to fish swimming waves: body form, swimmng mode and muscle function. The Journal of Experimental Biology, 1995. Vol. 198: p. 1629-1636. 6. Shaw, E., Schooling Fishes: The school, a truly egalitarian form of organization in which all members of the group are alike in influence, offers substantial benefits to its participants. American Scientist, 1978. vol. 66: p. 166-175. 7. Andreas Huth, C.W., The simulation of fish scholls in comparision with experimental data. Ecological Modelling, 1994. vol. 75: p. 135-145. 8. T. Pitcher, B.P., and C. Wardle, A blind fish can school. Science, 1976. vol. 194: p. pp. 963-965. 9. Weihs, D., Hydromechanics of Fish Schooling. Nature, 1973. vol. 241: p. 290-291. 10. B. L. Partridge, a.T.J.P., Evidence against a hydrodynamic function for fish schools. Nature, 1979. vol. 279: p. 418-419. 11. Yi-Chun Wang , C.-H.H., Yung-Chun Lee, Ho-Hsun Tsai, Development of a PVDF sensor array for measurement of the impulsive pressure generated by cavitation bubble collapse. Experiments in Fluids, 2006. vol.41: p. 365-373. 12. Wang, J.-Y., Design of a PVDF Sensor for Measuring Hydro Pressure of a Biomimetic Master, Department of Engineering Science and Ocean Engineering, National Taiwan University, 2013. 13. Boyle, C., et al., Dynamic modeling of compliant constant-force compression mechanisms. Mechanism and Machine Theory, 2003. 38(12): p. 1469-1487. 14. Guo, J. and Y.-J. Joeng, Guidance and control of a biomimetic autonomous underwater vehicle using body-fin propulsion. Proceedings of the Institution of Mechanical Engineers, Part M: Journal of Engineering for the Maritime Environment, 2004. 218(2): p. 93-111. 15. Weisstein, E.W., Encyclopedia of Mathematics. 2009. 16. Morse, P.M., Vibrating and sound. McGRAW-HILL Book Company, 1948. 17. Tan, A.T.A.a.X., Underwater tracking of a moving dipole source using an artificial lateral line: algorithm and experimental validation with ionic polymer-metal composite flow sensors. IOP SCIENCE. Smart Materials and Structures, 2013. vol. 22. 18. Elliot Saltzman, D.B., Task-dynamics of gestural timing: Phase windows and multifrequency rhythms. Human Movement Science, 2000: p. 499-526. 19. Hayes, M.H., Statistical Digital Signal Processing and Modeling. John Wiley & Sons, Inc., 1996. | |
dc.identifier.uri | http://tdr.lib.ntu.edu.tw/jspui/handle/123456789/55373 | - |
dc.description.abstract | 魚類利用側線系統感測身體周遭的流場變化,藉由此神經系統可以使魚類達到躲避獵食者、追餌、魚群互動等效果。本研究利用壓電材料(PVDF)製作出仿生型側線系統,進行水中壓力訊號的擷取,並運用此壓力訊號,達到仿生型水下載具(BAUV)與偶極源間的相位同步運動。本文首先介紹仿生型側線系統的製作,由於PVDF所產生的電荷變化相當微弱,透過電路的設計增加訊號強度,最後與商用壓力感測器進行壓力與電壓之間的校正。接著介紹仿生型水下載具的運動模型以及偶極源在水中所產生的壓力,以模擬訊號同步仿生型水下載具的尾鰭與偶極源間的相位,驗證其可行性。隨後利用振動小球偶極源,以仿生型水下載具結合壓電感測器量測振動小球所產生的壓力,並同步仿生型水下載具的尾鰭與振動小球間的相位,以模仿魚類群體間的追隨動作。接著討論移動中的振動小球對於相位同步的影響。本文所提出之相位追隨控制可結合仿生側線系統輔助水下載具進行群體運動的控制。 | zh_TW |
dc.description.abstract | Fish uses the lateral line system to detect the difference of pressure field around the body. The lateral line system allows fish to avoid predators, localize prey, interact with fish school, etc. In this study, a piezoelectric material PVDF sensor is used to measure dynamic pressure surrounding the fish body, mimicking as a lateral line sensor. Then the lateral line measurements is used on a biomimetic autonomous underwater vehicle (BAUV) to track the motion of a periodically oscillating source by following the source’s phase. This article firstly mention the production of the lateral line sensor, the design of the charge amplification circuit for PVDF, and the calibration of the sensor sensitivity using a commercial pressure sensor. Secondly, mechanics and motion control of the BAUV is derived. The BAUV’s tail fin can be controlled to be an oscillator like mechanism. A dipole model is used to predict the dynamic pressure around the tail fin using the potential flow theory. A moving dipole source is then considered as an external source that is oscillating with constant amplitude and frequency. Relative phase between the tail fin and the dipole source are estimated using measurement from the PVDF sensor attached on the fish body. Coupling forces based on the phase angle between the tail and the oscillating source are derived to drive the tail fin. Tank experiments employing a captured BAUV beside a moving dipole mechanism are conducted to observe the phase following. Effects of the relative velocity between the BAUV and the oscillating source on the phase following performance is discussed. | en |
dc.description.provenance | Made available in DSpace on 2021-06-16T03:59:04Z (GMT). No. of bitstreams: 1 ntu-103-R01525073-1.pdf: 2839780 bytes, checksum: 857fc908c63478fab16e2d8ae10018c6 (MD5) Previous issue date: 2014 | en |
dc.description.tableofcontents | 摘要 i
Abstract iii CONTENTS iv LIST OF FIGURES vi LIST OF TABLES xiii LIST OF SYMBOLS xiv Chapter 1 Introduction 1 1.1 Motivation 1 1.2 Literature Review 2 1.3 Thesis Organization 4 Chapter 2 Artificial Lateral Line 5 2.1 PVDF piezoelectric sensor 5 2.2 The Equivalent Circuit of PVDF 7 2.2.1 Piezoelectric Effect 7 2.2.2 Charge Amplifier 9 2.3 Waterproof and installation 12 2.4 Calibration of the PVDF film 13 Chapter 3 Phase Following Control 18 3.1 Mechanics and Motion Control of the BAUV 18 3.2 Hydrodynamic Pressure of the Oscillating Sphere 23 3.3 Phase control design 30 3.4 Simulation 36 Chapter 4 Experiments 49 4.1 Hardware 49 4.1.1 Shaker 49 4.1.2 Biomimetic Autonomous Underwater Vehicle 50 4.2 Experiment Setup 51 4.2.1 Phase delay caused by circuit and structure 51 4.2.2 FIR filter 52 4.2.3 Basic parameters 54 4.2.4 Experiment Setup 55 4.3 Phase following with different frequencies 58 4.3.1 Phase following the tail motion with the same frequency 60 4.3.2 Phase following the tail motion with its double-frequency 65 4.3.3 Phase following the tail motion with high-frequency 70 4.4 Experiment Result of Phase Following with a Moving Dipole 76 4.4.1 Phase following the tail motion at different position 76 4.4.2 Phase difference of moving dipole 79 4.4.3 The influence of phase following with moving dipole 87 Chapter 5 Conclusion 93 Reference 95 | |
dc.language.iso | en | |
dc.title | 仿生型水下載具追隨週期振動源相位之研究 | zh_TW |
dc.title | Biomimetic Underwater Vehicle Phase Following to a Periodically Oscillating Source | en |
dc.type | Thesis | |
dc.date.schoolyear | 103-1 | |
dc.description.degree | 碩士 | |
dc.contributor.oralexamcommittee | 吳文榕,江茂雄 | |
dc.subject.keyword | 仿生型水下載具,壓電材料,側線,偶極源,相位追隨, | zh_TW |
dc.subject.keyword | Biomimetic autonomous underwater vehicle,Piezoelectric film,Lateral line,Dipole,Phase following, | en |
dc.relation.page | 97 | |
dc.rights.note | 有償授權 | |
dc.date.accepted | 2014-11-25 | |
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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