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(1)

저작자표시-비영리-변경금지 2.0 대한민국 이용자는 아래의 조건을 따르는 경우에 한하여 자유롭게

l 이 저작물을 복제, 배포, 전송, 전시, 공연 및 방송할 수 있습니다. 다음과 같은 조건을 따라야 합니다:

l 귀하는, 이 저작물의 재이용이나 배포의 경우, 이 저작물에 적용된 이용허락조건 을 명확하게 나타내어야 합니다.

l 저작권자로부터 별도의 허가를 받으면 이러한 조건들은 적용되지 않습니다.

저작권법에 따른 이용자의 권리는 위의 내용에 의하여 영향을 받지 않습니다. 이것은 이용허락규약(Legal Code)을 이해하기 쉽게 요약한 것입니다.

Disclaimer

저작자표시. 귀하는 원저작자를 표시하여야 합니다.

비영리. 귀하는 이 저작물을 영리 목적으로 이용할 수 없습니다.

변경금지. 귀하는 이 저작물을 개작, 변형 또는 가공할 수 없습니다.

(2)

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(3)

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Abstract

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vriw#ilq#phpeudqh1#Wkh#duwlilfldo#xqgxodwlqj#ilqv#zhuh#fdwhjrul}hg#lqwr#

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dfwxdwru#gulyhq#dqg#pxowlsoh#dfwxdwru#gulyhq1#Iru#hpslulfdo#vwxg|#rq#

prusklqj#ehkdylru#dqg#wkuxvw#ehkdylru#ri#hdfk#w|sh#ri#ilqv/#whwkhuhg#

sursxovruv#zhuh#ghvljqhg#dqg#ideulfdwhg/#plplfnlqj#dfwxdo#dqlpdo#iru#

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ri#wkh#ilq#zdv#dovr#whvwhg#e|#frpsdulqj#ydulrxv#frpelqdwlrqv#ri#wkh#

sro|phuv# zlwk# gliihuhqw# hodvwlf# prgxoxv1# Lq# fdvh# ri# wkh# pxowlsoh#

dfwxdwru# gulyhq# sursxovru/# hiihfw# ri# zdyh# dpsolwxgh# frqwuro# dqg#

dfwxdwru# vhtxhqfh# zdv# vwxglhg# iru# rswlpl}lqj# wkh# wkuxvw# dqg#

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vzlpplqj# hiilflhqf|# dqg# pdqhxyhudelolw|1# Wkh# ideulfdwhg# vlqjoh#

(4)

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dqg#lw#zdv#5;(#idvwhu#wkdq#wkh#h{lvwlqj#ud|#urerw1#Dovr#wkh#urerw#zdv#

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(5)

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(6)

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(7)

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Iljxuh#44#H{shulphqwdo#vhw0xsv#iru#wkuxvw#phdvxuhphqwv#1111111111111111111#値値#

Iljxuh#45#Vfkhpdwlf#ri#wkh#prgho#iru#prusklqj#frqwuro#whvw#dqg#wkh#wkuxvw#

h{shulphqw#111111111111111111111111111111111111111111111111111111111111111111111111111111111111#値倧#

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(8)

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Iljxuh#4:#Vfkhpdwlf#ri#wkh#prgho#iru#wkuxvw#h{shulphqw#iru#ydulrxv#prgxoxv#

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Iljxuh# 56# H{dpsoh# ri# wkh# dpsolwxgh# ghfuhphqw# ilwwhg# lq# d# vlqjoh# gdpslqj#

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(9)

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Iljxuh#5;#Surwrw|sh#ri#vlqjoh#dfwxdwru#gulyhq#ud|#urerw#dqg#vshflilfdwlrqv#

ri#frpsrqhqwv#1111111111111111111111111111111111111111111111111111111111111111111111111111111#倧倧#

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iru#wkuxvw#11111111111111111111111111111111111111111111111111111111111111111111111111111111111111#倨倩#

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Iljxuh#6;#Ghvljq#vfkhpdwlf#ri#wkh#xqwhwkhuhg#pxowlsoh#dfwxdwru#urerw#11#倩倦#

(10)

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gulyhq#ud|#urerw#1111111111111111111111111111111111111111111111111111111111111111111111111111#倩倦#

Iljxuh#73#Ryhudoo#v|vwhp#frqiljxudwlrq#ri#wkh#vwdqg0dorqh#urerw#111111111#倩倨#

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vzlpplqj#prghv#+iruzdug#vzlpplqj,#1111111111111111111111111111111111111111111#倪倡#

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Iljxuh#78#Frpsdulvrq#ehwzhhq#ghyhorshg#vlqjoh#dfwxdwru#gulyhq#elrplphwlf#

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Iljxuh#79#Yduldeoh#wxuqlqj#udglxv#yld#fkdqjlqj#dfwxdwlrq#prgh#1111111111111#倪値#

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Wdeoh#7#Dfwxdo#dpsolwxgh#gdwd#dqg#wkh#frpsxwhg#gdwd#111111111111111111111111111111#倧倡#

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(11)

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Chapter 1. Introduction

1.1.##Biomimetic swimming robots for underwater exploration

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1.2. Biological background

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1.3. Preliminary research

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1.4. Actuation source

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Chapter 2. Single actuator driven actuation

2.1.##Experimental propulsor

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(26)

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(27)

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(31)

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(33)

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(37)

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(38)

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(42)

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(46)

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(47)

G ୐୑G

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(48)

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(49)

G ୐୓G

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(50)

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(51)

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(52)

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(53)

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(54)

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(55)

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(56)

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(58)

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(59)

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(60)

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(61)

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(62)

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ʹߩܿͳ

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Chapter 3. Single actuator driven ray robot

3.1. Design and specifications

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3.2. Performance evaluation

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Chapter 4. Multiple actuator driven undulation

4.1. Experimental propulsor

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