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.
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Abstract
##
Pdlq# sxusrvh# ri# wklv# uhvhdufk# lv# wr# plplf# wkh# xqgxodwru|#
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xvhg#dv#wkh#duwlilfldo#pxvfoh#iru#frqwuroolqj#wkh#prusklqj#ehkdylru#ri#
vriw#ilq#phpeudqh1#Wkh#duwlilfldo#xqgxodwlqj#ilqv#zhuh#fdwhjrul}hg#lqwr#
wzr# w|shv# dffruglqj# wr# wkh# zdyh# jhqhudwlqj# phfkdqlvp=# vlqjoh#
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#
h{shulphqwv1# Dv# iru# wkh# vlqjoh# dfwxdwru# gulyhq# sursxovru/# hiihfw# ri#
xqgxodwlqj#prwlrq#rq#vzlpplqj#hiilflhqf|#dffruglqj#wr#wkh#ilq#ehdw#
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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#
sursxovlyh# hiilflhqf|1# Edvhg# rq# wkh# h{shulphqwdo# uhvxowv# ri# wkh#
sursxovruv/#xqwhwkhuhg#urerwv#iru#hdfk#w|sh#zhuh#ideulfdwhg#zlwk#kljk#
vzlpplqj# hiilflhqf|# dqg# pdqhxyhudelolw|1# Wkh# ideulfdwhg# vlqjoh#
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dfwxdwru#gulyhq#ud|#urerw#zdv#deoh#wr#vzlp#dv#idvw#dv#3169#erg|#ohqjwk#
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gulyhq#urerw/#lw#zdv#fdsdeoh#ri#vzlp#lq#3158#erg|#ohqjwk#shu#vhfrqg#
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fdsdeoh#ri#vzlpplqj#lq#ydulrxv#vzlpplqj#prghv#rwkhu#wkdq#vlpsoh#
iruzdug#vzlpplqj/#vxfk#dv#iruzdug/#edfnzdug/#urwdwlrq#lq#sodfh#dqg#
wxuqlqj# zlwk# frqwuroodeoh# udglxv1# Ilqdoo|/# xvlqj# wkh# ghyhorshg# urerw#
v|vwhp/# xqghuzdwhu# h{sorudwlrq# lq# dq# duwlilfldo# hqylurqphqw# zdv#
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Devwudfw#1111111111111111111111111111111111111111111111111111111111111111111111111111111111#倢#
Fkdswhu#41#Lqwurgxfwlrq#11111111111111111111111111111111111111111111111111111111111#倪 4141#Elrplphwlf#vzlpplqj#urerwv#iru#xqghuzdwhu#h{sorudwlrq#倪 4151#Elrorjlfdo#edfnjurxqg#111111111111111111111111111111111111111111111111111111#倢倢 4161#Suholplqdu|#uhvhdufk#1111111111111111111111111111111111111111111111111111111#倢倧 4171#Dfwxdwlrq#vrxufh#11111111111111111111111111111111111111111111111111111111111111#倢倪
Fkdswhu#51#Vlqjoh#dfwxdwru#gulyhq#dfwxdwlrq#111111111111111111111111#倣値 5141#H{shulphqwdo#sursxovru#111111111111111111111111111111111111111111111111111#倣値 5151#Ilq#prusklqj#ehkdylru#11111111111111111111111111111111111111111111111111111#値倥 5161#Wkuxvw#hiilflhqf|#ri#xqgxodwlqj#ilq#111111111111111111111111111111111#倥倡 5171#Hiihfw#ri#ilq#prgxoxv#rq#wkuxvw#hiilflhqf|#1111111111111111111111#倥倩 5181#G|qdplf#prgho#iru#xqgxodwlqj#sursxovru#11111111111111111111111#倦倣
Fkdswhu#61#Vlqjoh#dfwxdwru#gulyhq#ud|#urerw#111111111111111111111111#倧倦 6141#Ghvljq#dqg#vshflilfdwlrqv#111111111111111111111111111111111111111111111111#倧倦 6151#Shuirupdqfh#hydoxdwlrq#111111111111111111111111111111111111111111111111111#倧倨 6161#Glvfxvvlrqv#1111111111111111111111111111111111111111111111111111111111111111111111#倧倪
Fkdswhu#71#Pxowlsoh#dfwxdwru#gulyhq#xqgxodwlrq#11111111111111111111#倨倢 7141#H{shulphqwdo#sursxovru#111111111111111111111111111111111111111111111111111#倨倢 7151#Ilq#prusklqj#ehkdylru#11111111111111111111111111111111111111111111111111111#倨倦 7161#Wkuxvw#rswlpl}dwlrq#iru#xqgxodwlrq#vhtxhqfh#11111111111111111#倨倪
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Fkdswhu#81#Pxowlsoh#dfwxdwru#gulyhq#ud|#urerw#111111111111111111111#倩倥 8141#Ghvljq#dqg#vshflilfdwlrqv#111111111111111111111111111111111111111111111111#倩倥 8151#Shuirupdqfh#hydoxdwlrq#111111111111111111111111111111111111111111111111111#倩倪 8161#Dssolfdwlrqv#111111111111111111111111111111111111111111111111111111111111111111111#倪値
Fkdswhu#91#Frqfoxvlrq#dqg#ixwxuh#zrunv#11111111111111111111111111111#倪倦
Eleolrjudsk|#1111111111111111111111111111111111111111111111111111111111111111111111111#倪倩
Devwudfw#111111111111111111111111111111111111111111111111111111111111111111111111111#倢倡倧 G
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#Iljxuh#4#Erqh#vwuxfwxuh#dqg#fduwlodjh#ilq#ri#d#ud|#11111111111111111111111111111111#倢倣#
Iljxuh#5#Gliihuhqw#vzlpplqj#prwlrqv#ri#ud|v=#rvfloodwru/#lqwhuphgldwh/#dqg#
xqgxodwru# ^<`# dqg# vfkhpdwlf# ri# yruwh{# dqg# irufh# jhqhudwlrq# yld#
xqgxodwlqj#prwlrq#^55`#111111111111111111111111111111111111111111111111111111111111111111#倢倦#
Iljxuh# 6# Vxppdu|# ri# wkh# vshflilfdwlrqv# dqg# wkhlu# shuirupdqfhv# ri#
uhsuhvhqwdwlyh#urerwv#iru#ydulrxv#gulylqj#phfkdqlvp1111111111111111111111#倢倩#
Iljxuh#7#Srzhu#ghqvlw|#frpsdulvrq#dprqj#dfwxdwruv#lqfoxglqj#VPD#+ohiw,#
dqg#eorfnhg#vwuhvv#frpsdulvrq#dprqj#vpduw#dfwxdwruv#+uljkw,#11111111#倣倡#
Iljxuh# 8# Vzlpplqj# vshhg# frpsdulvrq# ri# VPD# gulyhq# ud|# urerwv# dprqj#
ydulrxv#VPD#gulyhq#xqghuzdwhu#urerwv#111111111111111111111111111111111111111111#倣倣#
Iljxuh#9#Ghvljq#dqg#glphqvlrq#ri#wkh#vlqjoh#dfwxdwru#gulyhq#sursxovru#1#倣倥#
Iljxuh# :# Frpsrvlwlrq# ri# wkh# VVF# dfwxdwru# dqg# wkh# ixqgdphqwdov# ri# lwv#
dfwxdwlrq#111111111111111111111111111111111111111111111111111111111111111111111111111111111111111#倣倨#
Iljxuh#;#VVF#Dfwxdwlrq#frpsdulvrq#dw#gliihuhqw#vxuurxqglqj#frqglwlrqv倣倪#
Iljxuh#<#Ideulfdwlrq#surfhvvhv#dqg#vfkhpdwlfv#ri#wkh#VVF#dfwxdwru#11111#値倡#
Iljxuh#43#Vfkhpdwlf#gldjudp#ri#wkh#frqwuro#surfhvv#ri#wkh#vlqjoh#dfwxdwru#
gulyhq#sursxovru#1111111111111111111111111111111111111111111111111111111111111111111111111111#値倣#
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#
Iljxuh#46#Vqdsvkrwv#dqg#wls#glvsodfhphqw#ri#wkh#sursxovru#+rvfloodwru,#値倩#
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Iljxuh# 47# Vqdsvkrwv# dqg# wls# glvsodfhphqw# ri# wkh# sursxovru# +Xqgxodwru,
#11111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111#値倪#
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dqg#31;#K}#1111111111111111111111111111111111111111111111111111111111111111111111111111111111111#倥倢#
Iljxuh#49#Uhvxow#ri#+d,#wkuxvw#frhiilflhqw#dqg#+e,#sursxovlyh#hiilflhqf|#倥倧#
Iljxuh#4:#Vfkhpdwlf#ri#wkh#prgho#iru#wkuxvw#h{shulphqw#iru#ydulrxv#prgxoxv#
frpelqdwlrqv#111111111111111111111111111111111111111111111111111111111111111111111111111111111#倥倪#
Iljxuh#4;#Uhvxow#ri#wkh#wkuxvw#hiilflhqf|#ri#ydulrxv#ilq#prgxoxv#frpelqdwlrq
#11111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111#倦倢#
Iljxuh#4<#H{dpsoh#ri#lpdjh#surfhvvhg#vqdsvkrw#ri#wkh#zdyh#jhqhudwlrq#rq#
xqgxodwlqj#ilq111111111111111111111111111111111111111111111111111111111111111111111111111111111#倦倣#
Iljxuh#53#Vlpsolilhg#prgho#ri#d#sxovh#jhqhudwlrq#dqg#wkh#sursdjdwlrq#11#倦倥#
Iljxuh# 54# Vlpsolilhg# prgho# ri# d# sxovh# jhqhudwlqj# sduw’v# glvsodfhphqw#
dffruglqj#wr#wkh#VVF#glvsodfhphqw1111111111111111111111111111111111111111111111111#倦倧#
Iljxuh#55#Vlpsolilhg#prgho#ri#d#zdyh#dpsolwxgh#ghfuhphqw#111111111111111111#倦倩#
Iljxuh# 56# H{dpsoh# ri# wkh# dpsolwxgh# ghfuhphqw# ilwwhg# lq# d# vlqjoh# gdpslqj#
prgho#11111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111#倦倪#
Iljxuh#57#Sorwwhg#gdwd#ri#wkh#prgho#dqg#wkh#dfwxdo#phdvxuhg#gdwd#ri#wkh#ilq#
dpsolwxgh#ghfuhphqw#lq#ydulrxv#iuhtxhqflhv#11111111111111111111111111111111111#倧倡#
Iljxuh# 58# Vlpsolilhg# phfkdqlvp# ri# wkh# wkuxvw# jhqhudwlrq# gxulqj# d# zdyh#
wudyho#11111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111#倧倢#
Iljxuh# 59# Vlpsolilhg# vfkhpdwlf# ri# wkh# srzhu# frpsxwdwlrq# iru# ilq#
glvsodfhphqw#111111111111111111111111111111111111111111111111111111111111111111111111111111111#倧倣#
G G
Iljxuh#5:#Sorwwhg#uhvxowv#ri#wkh#prghoolqj#dqg#wkh#dfwxdo#phdvxuhphqw#iru#
frhiilflhqwv#dqg#wkh#sursxovlyh#hiilflhqf|#111111111111111111111111111111111111111#倧倥#
Iljxuh#5;#Surwrw|sh#ri#vlqjoh#dfwxdwru#gulyhq#ud|#urerw#dqg#vshflilfdwlrqv#
ri#frpsrqhqwv#1111111111111111111111111111111111111111111111111111111111111111111111111111111#倧倧#
Iljxuh#5<#Vqdsvkrwv#ri#iuhh#vzlpplqj#ri#vlqjoh#dfwxdwru#gulyhq#ud|#urerw
#11111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111#倧倩#
Iljxuh#63#Frpsdulvrq#ehwzhhq#ghyhorshg#vlqjoh#dfwxdwru#gulyhq#elrplphwlf#
ud|#urerw#111111111111111111111111111111111111111111111111111111111111111111111111111111111111111#倧倪#
Iljxuh# 64# Suhglfwlrq# ri# wkh# wkuxvw# dqg# hiilflhqf|# lqfuhphqw# yld# dfwlyh#
xqgxodwlrq#frqwuro#11111111111111111111111111111111111111111111111111111111111111111111111111#倨倡#
Iljxuh# 65# Ghvljq# ri# wkh# h{shulphqwdo# sursxovru# dqg# vhwxs# iru# wkuxvw#
h{shulphqw#111111111111111111111111111111111111111111111111111111111111111111111111111111111111#倨倣#
Iljxuh#66#H{dpsoh#ri#wkh#fxuuhqw#suriloh#dqg#iroorzlqj#dfwxdwru’v#ehkdylru=#
skdvh#gliihuhqfh@#π/#dpsolwxgh@frqvwdqw#111111111111111111111111111111111111111#倨倥#
Iljxuh# 67# Ilq# wls# glvsodfhphqw# phdvxuhphqw# uhvxow# ri# gliihuhqw# skdvh#
gliihuhqfh#dprqj#wkh#dfwxdwruv#111111111111111111111111111111111111111111111111111111#倨倧#
Iljxuh#68#Vfkhpdwlf#iljxuh#ri#hdfk#ehkdylru#dqg#vlpsoh#iuhh#erg|#gldjudp#
iru#wkuxvw#11111111111111111111111111111111111111111111111111111111111111111111111111111111111111#倨倩#
Iljxuh# 69# Vfkhpdwlfv# ri# wkh# d{lv# iru# wkuxvw# gluhfwlrq# dqg# lwv# surmhfwhg#
zdyhirup#11111111111111111111111111111111111111111111111111111111111111111111111111111111111111#倨倪#
Iljxuh#6:#Uhvxow#ri#wkh#frhiilflhqw#frpsxwdwlrq#dqg#wkh#sursxovlyh#hiilflhqf|
#11111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111#倩値#
Iljxuh#6;#Ghvljq#vfkhpdwlf#ri#wkh#xqwhwkhuhg#pxowlsoh#dfwxdwru#urerw#11#倩倦#
G G
Iljxuh#6<#Ideulfdwhg#urerw#dqg#edvlf#vshflilfdwlrqv#ri#wkh#pxowlsoh#dfwxdwru#
gulyhq#ud|#urerw#1111111111111111111111111111111111111111111111111111111111111111111111111111#倩倦#
Iljxuh#73#Ryhudoo#v|vwhp#frqiljxudwlrq#ri#wkh#vwdqg0dorqh#urerw#111111111#倩倨#
Iljxuh#74#Frqwuro#ri#wkh#dfwxdwlrq#vhtxhqfh#dqg#dfwxdo#xqgxodwlrq#1111111#倩倩#
Iljxuh# 75# Vqdsvkrwv# ri# wkh# urerw# dqg# dfwxdwlrq# vhtxhqfh# lq# yduldeoh#
vzlpplqj#prghv#+iruzdug#vzlpplqj,#1111111111111111111111111111111111111111111#倪倡#
Iljxuh# 76# Vqdsvkrwv# ri# wkh# urerw# dqg# dfwxdwlrq# vhtxhqfh# lq# yduldeoh#
vzlpplqj#prghv#+edfnzdug#vzlpplqj,##111111111111111111111111111111111111111#倪倡#
Iljxuh# 77# Vqdsvkrwv# ri# wkh# urerw# dqg# dfwxdwlrq# vhtxhqfh# lq# yduldeoh#
vzlpplqj#prghv#+urwdwlrq#lq#sodfh,#11111111111111111111111111111111111111111111111#倪倢#
Iljxuh#78#Frpsdulvrq#ehwzhhq#ghyhorshg#vlqjoh#dfwxdwru#gulyhq#elrplphwlf#
ud|#urerw#111111111111111111111111111111111111111111111111111111111111111111111111111111111111111#倪倣#
Iljxuh#79#Yduldeoh#wxuqlqj#udglxv#yld#fkdqjlqj#dfwxdwlrq#prgh#1111111111111#倪値#
Iljxuh#7:#Xqghuzdwhu#h{sorudwlrq#ri#wkh#surwrw|sh#ud|#urerw#11111111111111#倪倥#
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#11111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111#倢倡#
Wdeoh#5#Whfkqlfdo#ryhuylhz#ri#sro|phuv#111111111111111111111111111111111111111111111111111#値倦#
Wdeoh#6#Fodvvlilfdwlrq#ri#wkh#ideulfdwhg#prgxoxv#frpelqdwlrqv#1111111111111111#倦倡#
Wdeoh#7#Dfwxdo#dpsolwxgh#gdwd#dqg#wkh#frpsxwhg#gdwd#111111111111111111111111111111#倧倡#
Wdeoh#8#Phdvxuhg#vshhg#ri#wkh#ideulfdwhg#surwrw|sh#1111111111111111111111111111111#倪倢#
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Chapter 1. Introduction
1.1.##Biomimetic swimming robots for underwater exploration
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Chapter 2. Single actuator driven actuation
2.1.##Experimental propulsor
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wkh#vkdsh#phpru|#door|#edvhg#dfwxdwru/#zklfk#vwdwhg#lq#wkh#iroorzlqj#
fkdswhu1#
#
G G
Iljxuh#9#Ghvljq#dqg#glphqvlrq#ri#wkh#vlqjoh#dfwxdwru#gulyhq#sursxovru#G #
# #
G G
Iru# wkh# dfwxdwlrq# ri# wkh# sursxovru/# VPD# kdv# ehhq# vhohfwhg# dv#
phqwlrqhg# lq# wkh# lqwurgxfwlrq# sduw1# Dprqj# wkh# qxphurxv# vpduw#
dfwxdwruv/# wkh# VPD# kdv# dgydqwdjhv# lq# jhqhudwlqj# d# uhodwlyho|# kljk#
vkruwhqlqj# irufh/# dqg# lv# hdv|# wr# wuhdw# dprqj# wkh# ydulrxv# vpduw#
dfwxdwruv1# Lw# kdv# wkhuprphfkdqlfdo# fkdudfwhulvwlfv/# uhodwhg# wr# wkh#
whpshudwxuh#dqg#lqwhuqdo#vwuhvv#ri#wkh#pdwhuldo/#wkdw#pdnh#lw#srvvleoh#
wr#dfwxdwh#dw#kljk#iuhtxhqflhv/#li#surylghg#zlwk#vxiilflhqw#frrolqj1#Lq#
dgglwlrq/# odujh# yroxphv# duh# qrw# uhtxluhg# uhodwlyh# wr# wkh# prwru# dqg#
olqndjh# prgxoh/# pdnlqj# lw# srvvleoh# wr# ideulfdwh# vpdoo0vfdoh# urerwv1#
Iru#wklv#uhdvrq/#pdq|#vwxglhv#xvlqj#VPD#zluhv#wr#surylgh#dfwxdwlqj#
irufhv#kdyh#ehhq#frqgxfwhg#lq#ydulrxv#duhdv1#Vrqj#hw#do1#ideulfdwhg#
dq#VPD0edvhg#dfwxdwru#wkdw#frxog#iods#dw#ryhu#43#K}1#Pxowlsoh#wklq#
VPDv#zhuh#hpehgghg#lq#vriw#sro|phu#vr#wkdw#wkh#frrolqj#wlph#frxog#
eh#uhgxfhg#^49`1#Lq#dgglwlrq/#Ohh#hw#do1#ideulfdwhg#d#qhfn#lpprelol}hu#
xvlqj#VPD#iru#wkh#gulylqj#irufh#^4:`/#dqg#Urguljxh#hw#do1#frqgxfwhg#
d#sdudphwhu#vwxg|#rq#d#wzlvwlqj#dfwxdwru/#zklfk#dovr#xvhg#VPD#dv#d#
irufh#jhqhudwru#^4;`1#Lq#wklv#uhvhdufk/#dq#VPD#zdv#dovr#xvhg#dv#d#
irufh#jhqhudwru#iru#dfwxdwlrq#ri#wkh#urerwv1#
# #
G G
Edvlf#pryhphqwv#ri#wkh#sursxovruv#duh#edvhg#rq#wkh#fdsdelolwlhv#ri#
wkh# vpduw# vriw# frpsrvlwh# +VVF,# dfwxdwru1# Iljxuh# :# vkrzv# wkh#
frpsrvlwlrq#ri#wkh#VVF#dfwxdwru#dqg#wkh#ixqgdphqwdov#ri#lwv#dfwxdwlrq1#
Wkh# VVF# dfwxdwru# frqvlvwv# ri# wkh# VPD/# vfdiirog# od|hu/# dqg# pdwul{#
pdwhuldo1# Wkh# edvlf# vkdsh# lv# wkh# ehdp# vkdsh/# zlwk# dfwlyh# od|huv#
lqfoxglqj# VPD# zluhv# dqg# dqlvrwurslf# vfdiirog# od|huv1# Dqlvrwurslf#
vfdiirog#od|huv#duh#orfdwhg#rq#wkh#qhxwudo#vxuidfh#ri#wkh#ehdp1#Lw#dfwv#
dv# d# ilup/# qhxwudo# vxuidfh# dqg# dovr# dv# ehqglqj# dqjoh# frqwuroohu1#
Dffruglqj# wr# wkh# vfdiirog’v# dqlvrwurs|# dqjoh/# wkh# zkroh# dfwxdwru’v#
ehqglqj#dqg#wzlvwlqj#whqghqf|#ydulhv1#Lq#wklv#uhvhdufk/#wkh#dfwxdwru#
zdv#ghvljqhg#rqo|#iru#sxuh#ehqglqj1#Iru#wklv/#wkh#vfdiirog#od|hu#zdv#
dw#3°#rqo|1#Wkh#dfwlyh#od|huv#lqfoxghg#VPD#zluhv#wkdw#vkruwhq#zkhq#
fxuuhqw#lv#dssolhg1#Wkh#VPD#vkruwhqv#zlwk#khdw#jhqhudwlrq#ehfdxvh#
lw#dfwv#lq#uhvlvwdqfh#wr#wkh#fxuuhqw#dssolhg#wr#wkh#zluh1#VPD#zluhv#duh#
orfdwhg#hffhqwulfdoo|#iurp#wkh#qhxwudo#vxuidfh/#zklfk#ehqgv#wkh#zkroh#
vwuxfwxuh#zkhq#dfwxdwhg1#
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G G
G
Iljxuh#:#Frpsrvlwlrq#ri#wkh#VVF#dfwxdwru#dqg#wkh#ixqgdphqwdov#ri#lwv#
dfwxdwlrq#
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# #
G G
Vlqfh# wkh# VVF# dfwxdwru# xvhv# VPD# iru# irufh# jhqhudwlrq/# wkh#
vxuurxqglqj#whpshudwxuh#fdq#eh#nh|#wr#wkh#dfwxdwlrq#wlph1#Iljxuh#;#
frqfhuq#wkh#h{shulphqw#lq#zklfk#dfwxdwlrq#whvwv#zhuh#shuiruphg#lq#
dlu# dqg# zdwhu1# Iljxuh# ;# +xsshu,# vkrzv# wkh# ehqglqj# prwlrq# ri# wkh#
dfwxdwru# vshflphq1# Iru# frpsdulvrq/# wkh# fxuydwxuh# ri# hdfk# prphqw#
zdv# phdvxuhg1# Wkh# dlu# whpshudwxuh# zdv# 56°F# +l1h1/# urrp#
whpshudwxuh,/#dqg#wkh#zdwhu#whpshudwxuh#zdv#4;°F1#Iljxuh#;#+orzhu,#
vkrzv# wkh# uhvxowv# ri# wkh# h{shulphqw1# Lw# fdq# eh# vhhq# wkdw# li# wkh#
whpshudwxuh# lv# orz/# dv# lq# zdwhu/# wkh# dfwlqj# vshhg# lv# vorz/# exw# wkh#
uhwudfwlqj#vshhg#lv#pxfk#idvwhu#wkdq#lq#dlu1#Dovr/#wkh#ryhudoo#dfwlqj0 uhwudfwlqj#vshhg#lv#idvwhu#wkdq#lq#dlu1#Ehfdxvh#wkh#zdwhu#whpshudwxuh#
lv#xvxdoo|#pxfk#orzhu#wkdq#wkh#dlu#whpshudwxuh/#lw#fdq#eh#frqfoxghg#
wkdw#wkh#VVF#dfwxdwru#lv#dssursuldwh#iru#xvh#lq#xqghuzdwhu#urerwv1# #
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G ୕G
G Iljxuh#;#VVF#Dfwxdwlrq#frpsdulvrq#dw#gliihuhqw#vxuurxqglqj#frqglwlrqv#
G
#
#
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G ୌG
Wkh#ryhudoo#pdqxidfwxulqj#surfhvvhv#zhuh#edvhg#rq#proglqj1#Iluvw/#
wkh# sursxovru# zdv# ghvljqhg# zlwk# frpsxwhu0dlghg# ghvljq# +FDG,1#
Iroorzlqj# wklv# prgholqj/# d# erg|# prog# zdv# ghvljqhg# e|# qhjdwlyh#
prgholqj1#Wkh#uljlg#sduwv/#vxfk#dv#wkh#vfdiirog#lq#wkh#VVF#dfwxdwru/#
progv/# dqg# uljlg# erqhv/# zhuh# dovr# ghvljqhg1# Uljlg# sduwv# zhuh#
ideulfdwhg# e|# od|huhg# pdqxidfwxulqj# surfhvvhv# xvlqj# d# Glphqvlrq#
VVW#:9;#+Vwudwdv|v#Lqf1/#Hghq#Sudlulh/#PQ/#XVD,1#Vriw#sduwv/#vxfk#
dv#wkh#dfwxdwru/#erg|/#dqg#vriw#fduwlodjh#vwuxfwxuh/#zhuh#ideulfdwhg#e|#
fdvwlqj#surfhvvhv1#Sduwv#xvlqj#V|ojdug#4;7#+Grz#fruqlqj/#XV,#zhuh#
fxuhg#dw#93°F#iru#8#k1#HfrIoh{#3363#+Vprrwk0rq/#XV,#sduwv#zhuh#
fxuhg#xqghu#wkh#vdph#frqglwlrqv1# # GG
G Iljxuh#<#Ideulfdwlrq#surfhvvhv#dqg#vfkhpdwlfv#ri#wkh#VVF#dfwxdwru# G
# #
G ୍G
Xvlqj# wkh# sursxovru/# wkuxvw# phdvxuhphqwv# dw# ydulrxv# ilq# ehdw#
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wkh# fxuuhqw# lqsxw1# Wkuxvw# zdv# phdvxuhg# xvlqj# d# g|qdprphwhu#
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urg1#Wkh#h{shulphqw#zdv#shuiruphg#dw#wkuhh#iuhtxhqflhv=#3158/#317/#
dqg#31;#K}1#Rzlqj#wr#wkh#iuhtxhqf|#dqg#irufh#olplw#ri#wkh#VVF#dfwxdwru#
xvhg/# wkh# ilq# ehdw# iuhtxhqf|# zdv# uhgxfhg# zlwk# uhihuhqfh# wr# rwkhu#
vshflhv1# Dffruglqj# wr# Urvhqehujhu# hw# do1/# J1# plfuxud’v# ilq# ehdw#
iuhtxhqf|#udqjhv#iurp#4139#wr#4183#K}1#Wkh#pd{lpxp#iuhtxhqf|#zdv#
ghvljqhg#wr#eh#wkh#pd{lpxp#iuhtxhqf|#zlwk#ydolg#wkuxvw#jhqhudwlrq1#
Wkh# plqlpxp# iuhtxhqf|# zdv# vhw# dffruglqj# wr# wkh# wlph# zkhq# wkh#
dfwxdwru’v#pd{lpxp#ghirupdwlrq#zdv#uhdfkhg1#
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lqsxw# fxuuhqw# zdv# sdwwhuqhg# xvlqj# Odeylhz# 5345# +Qdwlrqdo#
lqvwuxphqwv/#XV,/#dqg#wkh#fxuuhqwv#zhuh#uhjxodwhg#xvlqj#FrpsdfwULR#
<357#+Qdwlrqdo#lqvwuxphqwv/#XV,#dqg#QL#<597#+Qdwlrqdo#lqvwuxphqwv/#
XV,#prgxohv1#Wkh#lqsxw#fxuuhqw#lqfoxghg#wkh#pdjqlwxgh#ri#wkh#fxuuhqw#
dqg# wkh# ghod|# ehwzhhq# VPDv1# Ehfdxvh# wkh# sursxovru# uhtxluhv# wzr#
fkdqqhov# iru# xs# dqg# grzq# vwurnhv/# wkh# fxuuhqw# sdwwhuqv# zhuh#
ghvljqhg#frqvlghulqj#frrolqj#wlph1#
G G
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zdv# xvhg# iru# wdnlqj# ylghrv# ri# hdfk# prgho1# Wkh# yduldeohv# zhuh#
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G Iljxuh#44#H{shulphqwdo#vhw0xsv#iru#wkuxvw#phdvxuhphqwv#
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2.2. Fin morphing behavior
G
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dv#lq#Iljxuh#451#Wkh#pdwhuldov#rqo|#gliihu#lq#hodvwlf#prgxoxv#wr#frqwuro#
wkh# xqgxodwlrq# rffxuuhg# sdvvlyho|# gxh# wr# wkh# dfwxdwruv’# rvfloodwlrq1#
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surfhvv# iru#erwk#wkh#dfwxdwru#dqg#wkh# sursxovru# erg|1# V|ojdug#4;7#
kdv#kljkhu#hodvwlf#prgxoxv#wkdq#HfrIoh{#3363/#zklfk#lv#dssursuldwh#
iru# ideulfdwlqj# wkh# dfwxdwru# iru# dq# xqgxodwlrq0frqwuroohg# sursxovru#
+rvfloodwru#prgho,1#Krzhyhu/#HfrIoh{#3363#kdv#d#orz#hodvwlf#prgxoxv/#
zklfk# lv# dssursuldwh# iru# ideulfdwlqj# wkh# xqgxodwru# prgho1# Iru# uljlg#
erqh#vwuxfwxuh/#6G#sulqwhg#DEV#zdv#xvhg1# #
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#
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Wkh# uhvxowv# ri# wkh# vzlpplqj# ehkdylru# duh# vkrzq# lq# Iljxuh# 45/#
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dssolhg# dv# d# vwhs# ixqfwlrq1# Dv# lq# wkh# Iljxuh# 46# dqg# Iljxuh# 47/# wkh#
xqgxodwru#vkrzhg#pruh#wkdq#rqh#zdyh#lq#d#vwurnh/#zkloh#wkh#rvfloodwru#
vkrzhg# qr# zdyh# lq# lwv# vwurnh1# Glvsodfhphqw# dqg# yhorflw|# zhuh#
phdvxuhg#xvlqj#wkh#kljk0vshhg#fdphud1# Glvsodfhphqwv#ri#dfwxdwru#
wls# dqg# ilq# wls# zhuh# phdvxuhg# xvlqj# wkh# vlgh# ylhz# ylghr# dqg# wkh#
uhvxowv# duh# dovr# lq# Iljxuh# 46# dqg# Iljxuh# 471# Dffruglqj# wr# wkh#
glvsodfhphqw#uhvxow/#dfwxdwru’v#glvsodfhphqw#lq#rqh#f|foh#duh#vlplodu#
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2.3. Thrust efficiency of undulating fin
#
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iuhtxhqf|/#ilyh#phdvxuhphqwv#zhuh#pdgh#dqg#dyhudjh#ydoxhv#zhuh#
xvhg1#Iljxuh#48#vkrzv#wkh#wkuxvw#whqghqf|#lq#rqh#f|foh#dffruglqj#wr#
wkh#yduldeoh#ilq#ehdw#iuhtxhqf|1#Wkhvh#judskv#duh#edvhg#rq#udz#gdwd#
iurp#wkh#h{shulphqw/#zklfk#zdv#fxw#rqo|#wr#glvsod|#wkh#whqghqf|#ri#
wkuxvw1# Rqh# f|foh# zdv# ghilqhg# dv# qhxwudo# vwdwxv# 供# grzqvwurnh# 供#
xsvwurnh# 供# qhxwudo#vwdwxv1#
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uhvhdufk#grqh#e|#Uhdg/#hw#do1/#Vfkxow}/#hw#do#dqg#Sdun/#hw#do#^56`/#^57`/#
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frpsxwhg#dv#ehorz1#Wkuxvw#irufh#dqg#wlph#zdv#edvhg#rq#vlqjoh#vwurnh#
iru#hdfk#iuhtxhqf|1# #
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ܨ௫ ൌͳ
ܶන ܨ௫ሺݐሻ݀ݐ
#
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ilqv’# glphqvlrq1# Lq# fdvh# ri# wkh# vshhg# ܷ/# lw# zdv# frqvlghuhg# dv#
lpsxovlyh0vwduw# h{shulphqw/# zklfk# pd{lpxp# khdyh# yhorflw|# zdv#
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wlphv#hiilflhqw#lq#jhqhudwlqj#wkuxvw#zlwk#orz#ilq#ehdw#iuhtxhqf|1#Exw#
dv#iuhtxhqf|#jrhv#kljkhu/#wkh#wkuxvw#frhiilflhqw#vkrzv#vwhhs#ghfolqh#
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ghvfulehg#ehorz1#Lq#prvw#fdvhv/#hohfwulf#srzhu#whupv#duh#lqfoxghg1#
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wkh# vdph# rvfloodwlqj# prwlrq/# zklfk# lv# zk|# wkh# hohfwulf# srzhu# lqsxw#
whup# zdv# h{foxghg1# Lq# dgglwlrq/# ehfdxvh# wkh# dfwxdwlrq# zdv#
v|pphwulfdo/#wkuxvw#lq#wkh#|0d{lv#zdv#qhjoljleoh#yhuvxv#wkdw#lq#wkh#
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g|qdprphwhu#zlwk#wkh#krul}rqwdo#wkuxvw#irufh/#dqg#wkh#khdyh#yhorflw|/#
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gdwd/#wkh#srzhu#frhiilflhqw#ܥ/#zdv#frpsxwhg#lq#wkh#vdph#pdqqhu#dv#
wkh#wkuxvw#frhiilflhqw1# #
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ܲ ൌ ͳ
ܶන ܨ௭ሺݐሻ݄ሶሺݐሻ݀ݐ
ܥ ൌ ܲ ͳ ʹ ߩܿݏܷଷ
#
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Chapter 3. Single actuator driven ray robot
3.1. Design and specifications
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Chapter 4. Multiple actuator driven undulation
4.1. Experimental propulsor
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