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http://tdr.lib.ntu.edu.tw/jspui/handle/123456789/80377完整後設資料紀錄
| DC 欄位 | 值 | 語言 |
|---|---|---|
| dc.contributor.advisor | 郭振華(JenHwa Guo) | |
| dc.contributor.author | Chia-Ching Tseng | en |
| dc.contributor.author | 曾嘉慶 | zh_TW |
| dc.date.accessioned | 2022-11-24T03:05:25Z | - |
| dc.date.available | 2021-07-08 | |
| dc.date.available | 2022-11-24T03:05:25Z | - |
| dc.date.copyright | 2021-07-08 | |
| dc.date.issued | 2021 | |
| dc.date.submitted | 2021-06-23 | |
| dc.identifier.citation | [1] 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. [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] 郭振華，吳泉興，'仿生型自主式水下載具胸鰭與尾鰭之協調循跡控制設計'，國立臺灣大學工程科學及海洋工程研究所碩士論文，2004。 [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, 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. [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] J. Guo and Y. J. Joeng, 'Guidance and control of a biomimetic autonomous underwater vehicle using body- fin propulsion,' Engineering for the Maritime Environment - Part M, vol. 218, pp. 93-111, 2004. [8] D. Xia, Y. Cao, W. Chen and J. Liu, 'Numerical study of the hydrodynamics of robotic fish jumping out-of-water in vertical manner,' 2014 IEEE International Conference on Mechatronics and Automation, Tianjin, 2014, pp. 162-167 [9] 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. [10] Shih AM, Mendelson L, Techet AH, 'Archer fish jumping prey capture: kinematics and hydrodynamics,' in The Journal of Experimental Biology. 2017 Apr;220(Pt 8):1411-1422. [11] R.W. Yang, J.S. Xu, and Q. Zhou, 'Study on moving mass system for ship anti-rolling application, ' in The Journal of Ship Mechanics. 2021,25(3):321-327. [12] F. Fish, T. Williams, E. Sherman, Y. Moon, V. Wu, and T. Wei, 'Experimental Measurement of Dolphin Thrust Generated during a Tail Stand Using DPIV,' Fluids, vol. 3, no. 2, p. 33, May 2018. [13] Najafi, Saeed Abbaspour, Madjid. (2016), 'Numerical study of propulsion performance in swimming fish using boundary element method,' Journal of the Brazilian Society of Mechanical Sciences and Engineering. 39. 10.1007/s40430-016-0613-8. | |
| dc.identifier.uri | http://tdr.lib.ntu.edu.tw/jspui/handle/123456789/80377 | - |
| dc.description.abstract | 本文設計及驗證仿生型自主式水下載具(簡稱BAUV)在垂直泳立於水上運動時之質心位置變動控制器。BAUV在出水站立游泳時會受到其擺尾慣性影響而傾斜，本文提出一種移動重塊式質心位置變動控制系統，可以使BAUV調整頭部質心位置，利用質心位置變動影響BAUV在垂直方向運動之穩定性，使載具能在垂直方向站立游泳，以及保持其穩定出水之高度。本文所提出之質心位置變動控制系統是以艏向角為回授的為相位控制系統，探討質心位置變動對BAUV艏向運動造成的影響，並以回授控制移動質心位置，達成BAUV頭部出水直立於水上游泳的目的。本文使用所提出的BAUV垂直運動數學模型測試垂直方向上的艏向追踨系統，並以BAUV在水槽中實驗，以證實此垂直運動的追蹤控制系統之可行性。 | zh_TW |
| dc.description.provenance | Made available in DSpace on 2022-11-24T03:05:25Z (GMT). No. of bitstreams: 1 U0001-0206202118353400.pdf: 7548065 bytes, checksum: 3fae926865f8da07c654f741bad87437 (MD5) Previous issue date: 2021 | en |
| dc.description.tableofcontents | " 致謝 2 摘要 3 Abstract 4 Table of Contents 5 List of Figures 8 List of Tables 15 List of Symbols 16 Chapter1 Introduction 19 1.1 Motivation 19 1.2 Literature Review 20 1.3 Thesis Overview 22 Chapter2 Hardware 23 2.1 System architecture 24 2.2 The Hardware 25 Chapter3 The Kinematics and Dynamics Modeling 34 3.1 Assumptions 34 3.2 Dynamics model of BAUV 35 3.3 Hydrodynamics of Body, Tail, Caudal Fin and Buoyancy of BAUV 42 3.3.1 Forces of the Body/Tail/Caudal Fin 43 3.3.2 Force of the Buoyancy 46 3.4 A State Space Model for BAUV 56 3.5 BAUV Inverse Kinematics Design 57 Chapter4 Controller Design 60 4.1 Floating body stability 60 4.2 Guidance of the BAUV 62 4.3 Design of Variable Center of Mass Controller 63 4.4 Simulation 65 Chapter5 Experiments 74 5.1 Description of Experimental Hardware 74 5.2 Experimental Results 77 5.3 Discussion 101 Chapter6 Conclusion 103 References 105 " | |
| dc.language.iso | en | |
| dc.subject | 振動推進 | zh_TW |
| dc.subject | 自主式水下載具 | zh_TW |
| dc.subject | 移動重心 | zh_TW |
| dc.subject | 浮體 | zh_TW |
| dc.subject | 艏向角控制 | zh_TW |
| dc.subject | moving mass center | en |
| dc.subject | oscillation propulsion | en |
| dc.subject | heading control | en |
| dc.subject | floating body | en |
| dc.subject | autonomous underwater vehicles | en |
| dc.title | 仿生型自主式水下載具尾鰭行走之穩定性研究 | zh_TW |
| dc.title | Tail-Walking Stability of a Biomimetic Autonomous Underwater Vehicle | en |
| dc.date.schoolyear | 109-2 | |
| dc.description.degree | 碩士 | |
| dc.contributor.oralexamcommittee | 黃千芬(Hsin-Tsai Liu),黃盛煒(Chih-Yang Tseng),嚴惟果,李佳翰 | |
| dc.subject.keyword | 自主式水下載具,移動重心,浮體,艏向角控制,振動推進, | zh_TW |
| dc.subject.keyword | autonomous underwater vehicles,moving mass center,floating body,heading control,oscillation propulsion, | en |
| dc.relation.page | 107 | |
| dc.identifier.doi | 10.6342/NTU202100946 | |
| dc.rights.note | 同意授權(限校園內公開) | |
| dc.date.accepted | 2021-06-23 | |
| 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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