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Physical Origin of Biological Propul...

Jia, Xinghua.

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Physical Origin of Biological Propulsion and Inspiration for Underwater Robotic Applications.

紀錄類型:	書目-電子資源 : Monograph/item
正題名/作者:	Physical Origin of Biological Propulsion and Inspiration for Underwater Robotic Applications./
作者:	Jia, Xinghua.
出版者:	Ann Arbor : ProQuest Dissertations & Theses, : 2017,
面頁冊數:	219 p.
附註:	Source: Dissertation Abstracts International, Volume: 78-10(E), Section: B.
Contained By:	Dissertation Abstracts International78-10B(E).
標題:	Robotics. -
電子資源:	http://pqdd.sinica.edu.tw/twdaoapp/servlet/advanced?query=10610181
ISBN:	9781369839142

Physical Origin of Biological Propulsion and Inspiration for Underwater Robotic Applications.
Jia, Xinghua.

Physical Origin of Biological Propulsion and Inspiration for Underwater Robotic Applications. - Ann Arbor : ProQuest Dissertations & Theses, 2017 - 219 p.

Source: Dissertation Abstracts International, Volume: 78-10(E), Section: B.

Thesis (Ph.D.)--The Ohio State University, 2017.

In this dissertation, we first review the current stages and challenges of design of underwater robots. Afterwards, we provided a methodology for the design of efficient underwater robots from a biological perspective at multiple scales. To achieve this goal, we introduced the unique propulsion features of aquatic species in terms of locomotion mechanism as the swimmer increased in size from the micro/nanoscale to the macro-scale. Then, we discussed the biological propulsion principles for aquatic robotic design, including design of propeller, body, propulsion appendages, locomotion control and auxiliary system. In addition, we introduced the method for the implementation of bioinspired robots, including mechanical design, electronic engineering and system integration (Chapter 1). The following chapters show that four aquatic robots from the micro/nanoscale to the macro-scale were designed by learning unique features from biology and providing specific investigation of propulsion principle for robotic design at each scale. We validated and demonstrated the design of each robot using both mathematical model based simulation and hardware implemented robot experiments.

ISBN: 9781369839142Subjects--Topical Terms:

519753
Robotics.

Physical Origin of Biological Propulsion and Inspiration for Underwater Robotic Applications.
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245 1 0 $a Physical Origin of Biological Propulsion and Inspiration for Underwater Robotic Applications.
260 1 $a Ann Arbor : $b ProQuest Dissertations & Theses, $c 2017
300 $a 219 p.
500 $a Source: Dissertation Abstracts International, Volume: 78-10(E), Section: B.
500 $a Adviser: Mingjun Zhang.
502 $a Thesis (Ph.D.)--The Ohio State University, 2017.
520 $a In this dissertation, we first review the current stages and challenges of design of underwater robots. Afterwards, we provided a methodology for the design of efficient underwater robots from a biological perspective at multiple scales. To achieve this goal, we introduced the unique propulsion features of aquatic species in terms of locomotion mechanism as the swimmer increased in size from the micro/nanoscale to the macro-scale. Then, we discussed the biological propulsion principles for aquatic robotic design, including design of propeller, body, propulsion appendages, locomotion control and auxiliary system. In addition, we introduced the method for the implementation of bioinspired robots, including mechanical design, electronic engineering and system integration (Chapter 1). The following chapters show that four aquatic robots from the micro/nanoscale to the macro-scale were designed by learning unique features from biology and providing specific investigation of propulsion principle for robotic design at each scale. We validated and demonstrated the design of each robot using both mathematical model based simulation and hardware implemented robot experiments.
520 $a In chapter 2, propulsion was investigated at micro/nanoscale (body length<10-2m). It was found that the optimal flexural rigidity of the nanorobot propeller was 5.8 x 10-19 N·m2, within the range of sperm flagellum, 0.7 x 10-19 -74.0 x 10 -19 N·m2. Further, simulations of multiples BFRs demonstrated that multipoint actuation of the nanopropeller was more efficient at BFRs of less than 1.0, while single actuation was only effective for nanorobots with a BFR > 0.2. The results from this study provide useful insight for the design of nanorobotic propulsive systems, in terms of energy efficiency and trajectory tracking accuracy.
520 $a In chapter 3, propulsion was investigated at transition scale by using example of whirligig beetle inspired robot. A propeller-body-fluid interaction dynamics model is proposed and based on this model, the propeller flexural rigidity and beating patterns are optimized in order to achieve energy-efficient linear swimming and turning. Both simulation and experimental studies were conducted and the results illustrate that decreasing flexural rigidity along the propeller length, an oscillating body motion, and an S-shaped trajectory are critical for energy-efficient propulsion of the robot.
520 $a In chapter 4, a generic propulsion method, undulatory locomotion was investigated by comparing the propulsion principles across scale, expecting to come out a guidance for the robot design at multiple scales. Here, we investigated the natural propulsion principles driving anguilliform and carangiform undulation using spermatozoa, eels, alligators, and trout fish as a means to identify universal aquatic propulsion principles and enhance underwater robotic design. Through biological observations of these species, we identified that as propulsion area stiffness increased, wave number decreases and mass center shifts away from the propulsion area, indicating a conserved biological trend for undulation based swimming that could be applied to designing bio-inspired swimming robotics. Experimental results validated our simulation and biological findings; as well as, demonstrated a conserved aquatic propulsion principle for underwater swimming that could be translated to the design of future autonomous underwater vehicles with optimal propulsion mechanisms.
520 $a In chapter 5, an autonomous underwater vehicle was designed by integrating several propulsion mechanism to allow efficient swimming. In this study, propulsion features from four aquatic animals, including batoidea fish, diving beetle, alligator and box fish, were used to inspire an autonomous under vehicle (AUV). A 1.3 meter long robot was built to implement the AUV locomotion. Modular design method was employed. Five propulsion modules and one central control module with independent power, communication and control system were integrated to the AUV body. Finally, simulation and experiments were conducted, and the results show the effectiveness of the proposed AUV design. This insights dawn from this paper provided a guidance for the next generation of AUV using flexible propellers.
520 $a To conclude, we proposed and demonstrated a design methodology for aquatic robotics from biological perspective. We identified and extracted biological principles for efficient propulsion and derived the robotic design after theoretical optimization. Experiment results from four types of robotic platform demonstrated the effectiveness of the proposed aquatic robotic design at multiple scales.
590 $a School code: 0168.
650 4 $a Robotics. $3 519753
650 4 $a Ocean engineering. $3 660731
650 4 $a Biomedical engineering. $3 535387
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710 2 $a The Ohio State University. $b Biomedical Engineering. $3 3178875
773 0 $t Dissertation Abstracts International $g 78-10B(E).
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792 $a 2017
793 $a English
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