Đăng nhập
Hoặc tiếp tục với email
Nhớ mật khẩu
Đang tải... (xem toàn văn)
Tài liệu hạn chế xem trước, để xem đầy đủ mời bạn chọn Tải xuống
THÔNG TIN TÀI LIỆU
Cấu trúc
LIST OF FIGURES
LIST OF ABBREVIATIONS
CHAPTER 1 INTRODUCTION
1.1 General information
1.2 Motivation
1.3 Aim and scope
1.4 Methods and results
1.5 Organization of dissertation
CHAPTER 2 BACKGROUND
2.1 Literature review
2.1.1 Morphology and anatomy in the bio-inspired design of pectoral fin
2.1.2 Kinematic and experiment
2.1.3 Fish robot with pectoral fin ray
2.1.4 Modeling based numerical simulation
2.1.5 Application of smart materials in the design of pectoral fin
2.1.6 Experiment technique and data capturing
2.1.7 Control issue of fish robot driven by pectoral fins
2.1.8 Dynamic modeling
2.1.9 Transformation fin
2.2 Summary
2.3 Theoretical Foundations
CHAPTER 3 DYNAMIC ANALYSIS AND MOTION CONTROL
3.1 Fish robot with uniform fin flexible pectoral fins
3.1.1 The proposed model of fish robot with uniform flexible pectoral fin
3.1.2 Dynamic model of uniform flexible fins
3.1.3 Hydrodynamics of the robot body
3.1.4 Trajectory tracking control for robot motion
3.2 Fish robot propelled non-uniform pectoral fins
3.2.1 Geometric design of non-uniform pectoral fin
3.2.2 Dynamic model of the robotic fish with non-uniform pectoral fins
3.2.3 Motion control of the non-uniform pectoral fins
3.3 Fish robot with folding pectoral fins
3.3.1 Mechanical design of folding fins
3.3.2 Dynamic model fish robot with folding fins
3.3.3 Motion control of the folding pectoral fins
CHAPTER 4 EXPERIMENTS
4.1 Experimental works concerning the fish robot with the non-uniform pectoral fins
4.1.1 Experimental measurement of robot motion
4.1.2 Estimation of natural frequencies and mode shape functions of non-uniform fins
4.1.3 Estimation of the internal damping of flexible non-uniform fins
4.1.4 Measurement of thrust coefficient
4.1.5 Other dynamic coefficients of the robot with non-uniform fins
4.2 Experimental setup and the parameters determination of the fish robot with folding fin
4.2.1 Experimental setup of the motion measurement of the robotic fish
4.2.2 Estimation of stiffness and damping coefficients of flexible joint
4.2.3 Determination of stroke ratio and amplitude ratio of stimulating moment
4.2.4 Determination of other coefficients
CHAPTER 5 RESULTS AND DISCUSSION
5.1 Performance of fish robot with uniform pectoral fin
5.2 Performance of fish robot with non-uniform fins
5.3 Performance of fish robot with folding pectoral fins
5.3.1 Influence of the fin joint flexibility on the swimming behavior of the robot
5.3.2 Swimming performance of the robot in the transient state
5.3.3 Swimming performance of the robot in the steady-state
5.3.4 Expenditure power, cost of transport, propulsive efficiency and Strouhal number
CHAPTER 6 CONCLUSION
6.1 Dissertation contributions
6.2 Future works
LIST OF PUBLICATIONS
REFERENCES
APPENDIX A
APPENDIX B
APPENDIX C
APPENDIX D
APPENDIX E
Nội dung
Ngày đăng: 02/07/2021, 09:55
TÀI LIỆU CÙNG NGƯỜI DÙNG
TÀI LIỆU LIÊN QUAN