| Application of Taguchi Method in the Optimization of Swimming Capability for Robotic Fish |
| Li L; Lv J ; Chen W; Wang W; Zhang X(张星); Xie GM; Li, L (reprint author), Peking Univ, Coll Engn, Intelligent Control Lab, Beijing 100871, Peoples R China.
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| 发表期刊 | INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS
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| 2016
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| 卷号 | 13页码:102 |
| ISSN | 1729-8806
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| 摘要 | In this paper, we applied the Taguchi method to evaluate the maximum swimming speed of a robotic fish under the limitation of the output of the motor. Four factors were considered in the optimization: the caudal-fin aspect ratio, the caudal fin stiffness, the oscillating frequency and the stiffness of the spring that transmits forces from the actuators to the foil. Because of the power limitations, the parameter's space was irregular. Since the Taguchi method requires a regular parameter space, we divided the parameter space into a regular space and the remaining irregular spaces. Within only 25 trials, the frequency and the spring stiffness were determined as the main factors in the regular space by the orthogonal design. Six more trials were carried out in the remaining irregular space with a higher frequency and spring stiffness. The fastest swimming speed of 870 mm/s, approximately 2.6 BL (Body Lengths)/s, was acquired, when the frequency reached 12Hz and with infinite spring stiffness. This method is efficient for exploring the maximum locomotor capabilities of robotic fish and may also be useful for other robots as no modelling is required. |
| 关键词 | Concrete
Sulfate Attack
Damage Evolution
Chemical Reaction
Ultrasonic Technique
|
| DOI | 10.5772/64039
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| URL | 查看原文
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| 收录类别 | SCI
; EI
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| 语种 | 英语
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| WOS记录号 | WOS:000377333100003
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| 关键词[WOS] | Concrete
; Sulfate attack
; Damage evolution
; Chemical reaction
; Ultrasonic technique
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| WOS研究方向 | Robotics
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| WOS类目 | Robotics
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| 课题组名称 | LNM湍流
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| 论文分区 | Q4
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| 力学所作者排名 | False
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| 引用统计 |
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| 文献类型 | 期刊论文
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| 条目标识符 | http://dspace.imech.ac.cn/handle/311007/59533
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| 专题 | 非线性力学国家重点实验室
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| 通讯作者 | Li, L (reprint author), Peking Univ, Coll Engn, Intelligent Control Lab, Beijing 100871, Peoples R China. |
推荐引用方式
GB/T 7714 |
Li L,Lv J,Chen W,et al. Application of Taguchi Method in the Optimization of Swimming Capability for Robotic Fish[J]. INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS,2016,13:102.
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| APA |
Li L.,Lv J.,Chen W.,Wang W.,张星.,...&Li, L .(2016).Application of Taguchi Method in the Optimization of Swimming Capability for Robotic Fish.INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS,13,102.
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| MLA |
Li L,et al."Application of Taguchi Method in the Optimization of Swimming Capability for Robotic Fish".INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS 13(2016):102.
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