請用此 Handle URI 來引用此文件:
http://tdr.lib.ntu.edu.tw/jspui/handle/123456789/7974
標題: | 仿生型水下載具使用動態壓力訊號分辨壁面之研究 Biomimetic Underwater Vehicle Wall Surface Recognition Using Dynamic Pressure |
作者: | Ying-Fu Wang 王膺富 |
指導教授: | 郭振華 |
關鍵字: | 仿生型自主水下載具,側線系統,游動運動學,環境偵測, Biomimetic Autonomous Underwater Vehicle,lateral line,swimming kinematics,environmental detection, |
出版年 : | 2016 |
學位: | 碩士 |
摘要: | 本研究利用機器學習與分類理論探討仿生型水下載具游動時周圍的壓力場變化,並藉由實驗來作驗證。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,共七顆壓力感測器,用以感測游動時所產生的周圍壓力變化。
此論文中我們提出一個架構,將壓力感測器所量測到的信號經由濾波器及統計理論的分析過程,抽取出待分類的特徵,再利用支持向量機針對特徵向量來作分類。首先將訊號濾波,將濾波後的訊號作均方根,接著挑選出數種信號特徵作為特徵向量,爾後我們利用一個特徵選擇的方法,從所挑選的數種特徵向量適應性地選取較具代表性的特徵向量,最後再利用支持向量機來對不同類別的特徵向量予以分類。根據本文結論,仿生型載具能在自身游動時,憑藉著裝載的壓力感測器偵測周圍的壓力場變化,予以達到周圍偵測的效果,期許未來能進一步達成群游、避障等目的。 關鍵詞: 仿生型自主水下載具、側線系統、游動運動學、環境偵測 Machine learning method is used to study the wall detection possibilities of a swimming Biomimetic Autonomous Underwater Vehicle (BAUV) by measuring the dynamic pressure surrounding the vehicle body. A BAUV of 90cm length, 25cm width and 50cm high with pressure sensors on body sides and on its head was built to sense the pressure around the BAUV. An architecture for the design of a two-class pressure signals classifier in an underwater environment is proposed. The classifier is based on a support vector machine, features vector are dynamic pressure signals processed by a band-pass filter and then their root-mean-square values are ensemble to represent the feature values. Feature vectors for classification are adaptively selected to form significant feature vectors by a feature selection method. Finally, the classifier is used for classifying the selected features. It is shown that a BAUV could use the dynamic pressure signals to estimate the presence of a solid wall beside it by the classifier. Keywords: Biomimetic Autonomous Underwater Vehicle, lateral line, swimming kinematics, environmental detection |
URI: | http://tdr.lib.ntu.edu.tw/jspui/handle/123456789/7974 |
全文授權: | 同意授權(全球公開) |
電子全文公開日期: | 2026-02-04 |
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-105-1.pdf 此日期後於網路公開 2026-02-04 | 5.93 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。