지원사업
학술연구/단체지원/교육 등 연구자 활동을 지속하도록 DBpia가 지원하고 있어요.
커뮤니티
연구자들이 자신의 연구와 전문성을 널리 알리고, 새로운 협력의 기회를 만들 수 있는 네트워킹 공간이에요.
논문 기본 정보
- 자료유형
- 학술저널
- 저자정보
- 발행연도
- 2011.9
- 수록면
- 274 - 283 (10page)
이용수
초록· 키워드
오류제보하기
A simplified linearized dynamic equation for the propulsion force generation of an Ostraciiform fish robot with elastically jointed double caudal fins is derived in this paper. The caudal fin is divided into two segments and connected using an elastic joint. The second part of the caudal fin is actuated passively via the elastic joint connection by the actuation of the first part of it. It is demonstrated that the derived equation can be utilized for the design of effective caudal fins because the equation is given as an explicit form with several physical parameters. A simple Ostraciiform fish robot was designed and fabricated using a microprocessor, a servo motor, and acrylic plastics. Through the experiment with the fish robot, it is demonstrated that the propulsion force generated in the experiment matches well with the proposed equation, and the propulsion speed can be greatly improved using the elastically jointed double fins, improving the average speed more than 80%. Through numerical simulation and frequency domain analysis of the derived dynamic equations, it is concluded that the main reason of the performance improvement is resonance between two parts of the caudal fins.
목차
Abstract
1. 서론
2. 탄성체로 연결된 이중 꼬리지느러미 구조 및 운동 방정식
3. 탄성체로 연결된 이중 꼬리지느러미 물고기 로봇의 제작
4. 물고기 로봇 추진 실험 및 이론과의 비교 분석
5. 결론
참고문헌
참고문헌 (32)
참고문헌 신청
1. [단행본] - Videler J. J. / 1993 / Fish Swimming / Chapman & Hall
2. [학술지(정기간행물)] - Gray J. / 1935 / Studies in Animal Locomotion VI. The Propulsive Powers of the Dolphin / Journal of Experimental Biology 13 : 192 ~ 199
3. [학술지(정기간행물)] - Sfakiotakis M. / 1999 / Review of Fish Swimming Modes for Aquatic Locomotion / Journal of Oceanic Engineering 24 (2) : 237 ~ 252
4. [학술지(정기간행물)] - Lighthill M.J. / 1970 / Aquatic animal propulsion of high hydromechanical efficiency / Journal of Fluid Mechanics 44 : 265 ~ 301
5. [학술대회논문] - Listak M. / 2005 / Design of a semiautonomous biomimetic underwater Vehicle for environmental monitoring / Proceedings of 2005 IEEE International Symposium on Computational Intelligence in Robotics and Automation : 9 ~ 14
2. [학술지(정기간행물)] - Gray J. / 1935 / Studies in Animal Locomotion VI. The Propulsive Powers of the Dolphin / Journal of Experimental Biology 13 : 192 ~ 199
3. [학술지(정기간행물)] - Sfakiotakis M. / 1999 / Review of Fish Swimming Modes for Aquatic Locomotion / Journal of Oceanic Engineering 24 (2) : 237 ~ 252
4. [학술지(정기간행물)] - Lighthill M.J. / 1970 / Aquatic animal propulsion of high hydromechanical efficiency / Journal of Fluid Mechanics 44 : 265 ~ 301
5. [학술대회논문] - Listak M. / 2005 / Design of a semiautonomous biomimetic underwater Vehicle for environmental monitoring / Proceedings of 2005 IEEE International Symposium on Computational Intelligence in Robotics and Automation : 9 ~ 14
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UCI(KEPA) : I410-ECN-0101-2020-559-001259221