本文研究綠繡眼懸停飛行機制及高效率拍撲方式，並將此概念運用到仿生拍撲機構設計，實現並驗證高效率拍撲作動。利用粒子影像測速儀進行流場分析，本文揭示「翼前緣渦流」在綠繡眼非對稱懸停過程是重要的升力來源，證實綠繡眼懸停下拍階段，翅膀作動會在尾流區產生非穩態流場結構－翼前緣渦流（leading edge vortex）及翼尾緣渦流（trailing edge vortex），翼前緣渦流以往都主要被認為出現在昆蟲及蝙蝠飛行過程中，這是第一次被清楚記錄於鳥類非對稱懸停拍撲上。
綠繡眼懸停下拍階段，會出現升力產生機制轉變過程－由「翼前緣渦流升力機制」轉變為「拍合升力機制」。下拍前期，翼前緣渦流主導提供升力，下拍中期翼前緣渦流升力轉弱之際，拍合升力機制出現延緩升力衰減趨勢，此升力機制轉變讓整個下拍階段有足夠升力支持鳥體重。
本文利用仿翅機構模擬綠繡眼翅膀上拍階段的翼摺曲動作，流場分析結果表明：翼摺曲動作對於懸停飛行模式而言，具有減小上拍阻力之重要功能。本文定義上、下拍翼展比（span ratio）為一個表徵翼摺曲程度的無因次參數，並分析此參數之大小對巡航飛行之影響。實驗結果表明，span ratio會影響尾流區射流之作用方向，span ratio越大則射流之作用方向越貼近水平，表示產生大量推進力、少量升力；而span ratio越小則射流之作用方向越貼近垂直，表示產生大量升力、少量推進力，證實翼摺曲作動在巡航飛行亦有助於推進力之產生。
本文提出以下重要結論：綠繡眼拍撲作動，下拍前期升力主要來源為翼前緣渦流升力，中後期出現升力機制之轉變，改由拍合升力機制主導提供升力，此升力機制轉變讓整個下拍階段有足夠升力支持鳥體重；上拍階段翼摺曲作動在懸停模式有助於翅膀阻力減小、在巡航模式亦有助於推進力之產生，此謂高效率拍撲作動。

There are two objectives in this thesis: investigate the asymmetrical hovering mechanism of Zosterops japonica; create biomimetic flapping machine to verify high-efficiency flapping mode. Using digital particle velocimetry, we demonstrated that Zosterops japonica was able to increase lift by using attached LEVs during hovering. Unsteady vortex structure- leading edge vortices (LEVs) and trailing edge vortices (TEVs) were created by flapping motion in the downstroke period during hovering. The use of unsteady aerodynamic mechanisms was limited to insects and bats in the past researches. It was the first time that LEVs appeared in bird’s asymmetrical hovering.
Lift mechanism transition enhance lift production in the downstroke period during hovering. It transferred from “leading edge vortex lift mechanism” to “clap lift mechanism”. LEVs dominated lift production in the beginning of downstroke. When LEVs were absent in the end of downstroke, clap lift mechanism would then appear to enhance lift. LEV lift mechanism and clap lift mechanism alternately provided sufficient lift during dowstroke period.
Flapping apparatus was created to imitate wing flexion of Zosterops japonica. The experimental results indicated that wing flexion would avoid excessive drag in hovering. Define span ratio R as one parameter that characterizes flexible geometry of bird wings and analyse the relationship between span ratio and cruising speed. From flow visualization data, increasing R would affect vortex jet inclined to horizontal axis. While jet inclined more horizontally, the resultant force was divided into greatly amount of thrust and limited amount of lift. While jet inclined more vertically, the resultant force was divided into greatly amount of lift and limited amount of thrust. With the experiment designed and analysis mentioned above, we illustrated that wing flexion could enhance thrust production during cruising flight.
To conclude, LEVs lift mechanism and clap lift mechanism alternately provide sufficient lift in the downstroke period during hovering. Wing flexion would avoid excessive drag in hovering and enhance thrust production in cruising flight. Zosterops japonica can maneuver the flight highly-efficient.

摘 要 i
Abstract iii
誌 謝 v
符號說明 xv
第一章 前言 1
第二章 文獻回顧 4
2-1鳥類飛行方式 5
2-1.1滑翔飛行（gliding flight） 6
2-1.2翱翔（soar flight） 6
2-1.3撲翼飛行（flapping flight） 8
2-1.4懸停（hover） 8
2-2鳥類翅膀的研究 9
2-2.1 鳥類翅膀翼型 10
2-2.2鳥類翅膀的結構學 11
2-2.3鳥類翅膀可行之動作 13
2-2.4 鳥類運動學 15
2-2.4.1鳥類撲翅動作分析.......................................................................15
2-2.4.2 葉片理論......................................................................................16
2-3 尾流區分析 18
2-3.1 非穩態空氣動力學 19
2-3.2 尾流區理論 21
2-3.3 渦流動力學 23
2-3.4 蜂鳥的懸停機制 24
2-3.5鳥類前飛機制 25
第三章 研究方法 27
3-1 參數分析 28
3-2 動作分析 32
3-3 流場可視化實驗觀測平台 34
3-4 流場可視化 35
3-5 仿生可摺曲翼面拍撲機構設計 37
3-5.1 拍撲機構翅膀設計 38
3-5.2 拍撲機構控制介面設計 44
3-6 鳥體參數介紹 48
3-7 實驗設備系統 51
3-7.1 高速攝影機 51
3-7.2 雷射系統 52
3-7.3 粒子影像測速儀 (particle image velocimetry, PIV) 53
3-7.4 進行實驗之鳥種 55
第四章 結果與討論 56
4-1 綠繡眼非對稱懸停動作記錄 57
4-1.1 非對稱懸停動作歸納 59
4-1.2 非對稱懸停翼尖軌跡定量分析 60
4-1.3 非對稱懸停撲翅速度分析 63
4-1.4 綠繡眼非對稱懸停相位分析 65
4-1.5 綠繡眼非對稱懸停運動學分析 66
4-2 綠繡眼非對稱懸停飛行流場可視化 70
4-2.1懸停下拍階段產生連續升力，升力最大值出現在下拍中期 74
4-2.1.1 懸停飛行產生立體渦流結構…………………………………..78
4-2.1.2 渦流升力機制在不同相位下的轉變情形……………………..78
4-2.1.3 非對稱懸停週期升力變化情形………………………………..90
4-2.2 綠繡眼懸停飛行拍合升力機制 96
4-2.2.1 渦流結構的改變………………………………………………..97
4-2.2.2 拍合升力機制對懸停下拍階段的影響………………………100
4-3 綠繡眼上拍動作與仿生可摺曲翼展拍撲機構設計 102
4-3.1 仿生可摺曲翼展機構拍撲作動 103
4-3.2 可摺曲翼展機構作動流場可視化 105
4-3.3 可摺曲翼機構流場分析 107
4-3.4 綠繡眼前飛速度與內外翼展關係 110
4-3.5可摺曲翼展機構流場可視化與結果分析 112
4-4 鳥類飛行參數記錄 118
第五章 結論與未來展望 119
5-1 結論 119
5-2 未來展望 122
第六章 碩士論文進度甘梯圖(Gantt Chart) 123
第七章 參考文獻 124
個 人 簡 歷 131

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