碩士 / 國立臺北科技大學 / 電機工程系所 / 103 / This thesis develops a biomimetic robotic fish which is inspired from the carangiform locomotion of fish. In particular, the proposed robotic fish consists of 3 degree of freedoms (DOFs), whereby 2 DOFs are planned on the body part of fish and the remaining 1 DOF is contributed by the Gravity Hammer. In this research, the genetic algorithm is first employed to learn the locomotion of a real fish by approximating the associated hydrodynamic traveling function and C-shaped turning function into a discrete function. A hybrid control method is subsequently developed based on the previously obtained discrete function to control the movements of robotic fish. Finally, a comprehensive analytical study is also performed in this thesis to evaluate the capability of the robotic fish to perform the underwater depth tracking task. Extensive experimental studies reveal that both of the mechanical principles of Gravity Hammer and the sensor readings given by the depth detection sensor are useful to guarantee the excellent performance of the proposed robotic fish in tracking different depths of water level.
| Identifer | oai:union.ndltd.org:TW/103TIT05442076 |
| Creators | Po-Ming, Shiu, 徐伯銘 |
| Contributors | Leehter Yao, 姚立德 |
| Source Sets | National Digital Library of Theses and Dissertations in Taiwan |
| Language | zh-TW |
| Detected Language | English |
| Type | 學位論文 ; thesis |
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