Modeling and Control of a Carangiform Fish Robot with Experimental Validation of the Forces Obtained by Large Amplitude Elongated Body Theory of Lighthill, M.Sc. Thesis Sharif University of Technology ; Vossoughi, Gholamreza (Supervisor)
Abstract
Modeling and Control are fundamental issues for fish robots, which can play basic roles in design, optimization, fabrication, and eventually utilization of them. A review on the literature reveals the shortage of an analytical closed form model with little simplifications and high precision, and also control works based on such models. Studying LAEBT theory, it is shown that this theory is suitable for determining the forces produced due to the tail movements considered in the present work, and then it is used to determine the forces. Experimental investigations by means of the setup made for this purpose showed that the obtained equations for the forces have got acceptable precision....
Cataloging briefModeling and Control of a Carangiform Fish Robot with Experimental Validation of the Forces Obtained by Large Amplitude Elongated Body Theory of Lighthill, M.Sc. Thesis Sharif University of Technology ; Vossoughi, Gholamreza (Supervisor)
Abstract
Modeling and Control are fundamental issues for fish robots, which can play basic roles in design, optimization, fabrication, and eventually utilization of them. A review on the literature reveals the shortage of an analytical closed form model with little simplifications and high precision, and also control works based on such models. Studying LAEBT theory, it is shown that this theory is suitable for determining the forces produced due to the tail movements considered in the present work, and then it is used to determine the forces. Experimental investigations by means of the setup made for this purpose showed that the obtained equations for the forces have got acceptable precision....
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