仿生型水下載具游動時體表之動態水壓力估測

本研究建立魚游動之數學模型以探討仿生型水下載具於開闊場游動時周圍之壓力場，並藉由實驗來驗證此模型。此模型由勢流理論建立而成，推導出壓力場和仿生型載具的速度、角速度及尾巴擺動速度等運動參數之關係式，並利用實驗數據回歸以求得此模型之動力係數。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，用以感測游動時自身所產生之壓力。實驗中，控制仿生型載具尾巴之擺動頻率，以產生周期性之壓力場，藉由分析壓力，進而探討魚游動時所產生之影響。實驗結果顯示仿生型載具游動時，憑藉自身游動狀態參數估測之壓力場和實驗測量值相符，且近一步證實，游經障礙物時量測之壓力與藉運動狀態參數推估之開闊場壓力不同，此差異來自於障礙物所產生之流場變化。根據本文結論，仿生型載具能憑藉自身游動狀態參數估測自身形變所造成之壓力場變化，期許未來能達到水下偵測、群游、避障等目的。

關鍵字

側線系統；勢流理論；仿生型自主水下載具；游動運動學；環境偵測

並列摘要

In order to predict the pressure of a swimming fish-shaped Biomimetic Autonomous Underwater Vehicle (BAUV); a swimming fish is modeled to study the pressure profile around its body and verified further by data from experiments. The pressure model for the swimming fish is derived analytically from the potential flow theory as a function of the BAUV’s velocity, angular velocity and tail flapping speed. Then a regression model is established and the coefficients that determine the pressure are found from the body kinematics of the fish. A BAUV of 90cm length, 25cm width and 50cm high with pressure sensors on each body side and on its head was built, in order to study the self-induced pressure pattern while the BAUV is swimming. In experiments, the flapping frequency of the BAUV tail was controlled and the hydrodynamic pressure was measured to discuss the effects induced by the swimming kinematics. As a potential application, it is expected that a BAUV could use its own kinematic parameters to estimate the pressure field caused by its own body shape deformation, and then identify and obtain the pressure field caused by external stimuli.

並列關鍵字

Biomimetic Autonomous Underwater Vehicle ； lateral line system ； potential flow ； swimming kinematics ； environmental detection

參考文獻

[1] M. Sfakiotakis, D. M. Lane, and J. B. C. Davies, "Review of fish swimming modes for aquatic locomotion," IEEE Journal of Oceanic Engineering, vol. 24, pp. 237-252, Apr, 1999.

[2] D. S. Barrett, "Propulsive efficiency of a flexible hull underwater vehicle," Ph.D. dissertation, Massachusetts Institute of Technology, 1996.

[4] T. J. Pitcher, B. L. Partridge, and C. S. Wardle, "Blind Fish Can School," Science, vol. 194, pp. 963-965, 1976.

[5] D. Hoekstra and J. Janssen, "Non-Visual Feeding-Behavior of the Mottled Sculpin, Cottus-Bairdi, in Lake-Michigan," Environmental Biology of Fishes, vol. 12, pp. 111-117, 1985.

[6] C. Voncampenhausen, I. Riess, and R. Weissert, "Detection of Stationary Objects by the Blind Cave Fish Anoptichthys-Jordani (Characidae)," Journal of Comparative Physiology, vol. 143, pp. 369-374, 1981.

國際替代計量

仿生型水下載具游動時體表之動態水壓力估測

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