臺灣博碩士論文加值系統

文獻裡、實驗已經證明在二維非熱的粉粒體介質中一快速移動物體的前方存在一力學滯塞 (jamming) 的區域。利用此一發現、我們設計一搭載二輪轉向機構、能在由大量乒乓球組成的準二維密集粉粒體介質中自由移動的車輛。此轉向機構能夠局部破壞車輛前方力學滯塞的區域、讓車輛能夠更容易地在粉粒體介質中運動及控制其行進方向。此外、我們並介紹在三維的實驗環境中、車輛在重力阻礙下運動的初步研究成果。

Experimentally, it has been shown that there is a jammed area in front of a fast-moving object in 2D athermal granular media. Utilizing this fact, we design a vehicle, equipped with a dual-wheel steering system, moving in a dense quasi-2D granular medium of ping-pong balls. The steering system is able to disturb the jammed area and allows the vehicle to move easier and alter its moving direction freely. We also present preliminary results of the vehicle moving against gravity in a 3D environment.

口試委員會審定書 #
誌謝 i
中文摘要 ii
ABSTRACT iii
CONTENTS iv
LIST OF FIGURES vii
LIST OF TABLES ix
LIST OF SYMBOLS x
Chapter 1 緒論 1
1.1 前言 1
1.2 研究動機 2
1.3 文獻回顧 3
1.4 設計概念與研究內容 7
Chapter 2 實驗設置 9
2.1 車輛的設計 9
2.1.1 移動部件 9
2.1.2 轉向機構部件 10
2.1.3 車輛尺寸與其它細節 11
2.2 實驗模型 12
2.2.1 水平面實驗 13
2.2.2 水平面實驗的起始設置 14
2.2.3 傾斜面實驗 14
2.2.4 傾斜面實驗的起始設置 15
2.3 實驗方法 16
2.3.1 攝影設置 17
2.3.2 移動平面角度之誤差 19
2.3.3 水平面實驗 20
2.3.4 傾斜面實驗 23
2.4 量化數據 25
Chapter 3 結果與討論 27
3.1 水平面實驗 27
3.1.1 堆積密度對於轉向機構效益之影響 27
3.1.2 轉向機構對於力學滯塞現象之影響 28
3.1.3 設定轉向機構轉向之效益 29
3.1.4 轉輪形狀對於轉向機構之效益 31
3.2 傾斜面實驗 32
3.2.1 轉向機構對於力學滯塞現象之影響 33
3.2.2 設定轉向機構轉向之效益 34
3.2.3 轉輪形狀對於轉向機構之效益 35
3.2.4 傾斜移動平面對於車輛操作性之影響 36
Chapter 4 結論 38
4.1 未來展望 39
4.2 研究建議 40
附錄A 41
REFERENCE 44

[1]T. Shimada, D. Kadau, T. Shinbrot and H. J. Herrmann, “Swimming in granular media,” Phys. Rev. E, 80, 020301, pp. 1-4, 2009.
[2]R.D. Maladen, Y. Ding, C. Li and D. I. Goldman, “Undulatory swimming in sand: subsurface locomotion of the sandfish lizard,” Science, vol. 325, pp. 314-318, 2009.
[3]C. Li, P. B. Umbanhowar, H. Komsuoglu, D. E. Koditschek and D. I. Goldman, “Sensitive dependence of the motion of a legged robot on granular media,” PNAS, vol. 106, no. 9, pp. 3029-3034, 2009.
[4]A. G. Winter, V, R. L. H. Deits, D. S. Dorsch, A. H. Slocum and A. E. Hosoi, “Razor clam to RoboClam: burrowing drag reduction mechanisms and their robotic adaptation,” IOP Science, Bioinspiration & Biomimetics, Location, vol. 9, 036009, pp. 1-11, 2014.
[5]T. Shimada, D. Kadau, T. Shinbrot and H. J. Herrmann, “Beneath Our Feet: Strategies for Locomotion in Granular Media,” Annu. Rev. Fluid Mech., vol. 47, pp. 431-453, 2015.
[6]Y. Takehara, S. Fujimoto and K. Okumura, “High-velocity drag friction in dense granular media,” EPL, vol. 92, 44003, pp. 1-6, 2010.
[7]BBC News, “Nasa accepts Spirit Mars rover ''stuck for good'',” January 2010
http://news.bbc.co.uk/2/hi/science/nature/8481798.stm
[8]Jet Propulsion Laboratory, California Institute of Technology, “Missions for Mars Exploration Rover - Spirit,”
http://www.jpl.nasa.gov/missions/details.php?id=5917
[9]Space.com, Spaceflight, “Spirit Rover Stuck in Martian Dirt,” May 2009
http://www.space.com/6678-spirit-rover-stuck-martian-dirt.html
[10]Space.com, Spaceflight, “Spirit Stuck in ‘Insidious Invisible Rover Trap’ on Mars,” May 2009
http://www.space.com/6740-spirit-stuck-insidious-invisible-rover-trap-mars.html
[11]Jet Propulsion Laboratory, California Institute of Technology, Mars Science Laboratory, Curiosity Rover, “Rover – Mars Science Laboratory,”
http://mars.nasa.gov/msl/mission/rover/
[12]S. P. Sane, “Bioinspiration and Biomimicry: What Can Engineers Learn from Biologists?” Journal of Applied Science and Engineering, vol. 19, pp. 1-6, 2016.
[13]V. Buchholtz and T. Poschel, “Interaction of a granular stream with an obstacle,” Granular Matter, vol. 1, pp. 33-41, 1998.
[14]Y. Takehara and K. Okumura, “High-velocity drag friction in granular media near the jamming point,” Phys Rev Lett, vol. 112, 148001, pp. 1-5, 2014.
[15]A. Donev, S. Torquato, F. H. Stillinger and R. Connelly, “Jamming in hard sphere and disk packings,” J. Appl. Phys, vol. 95, no. 3, pp. 989-999, 2004.
[16]P. Y. Lee, M. C. Tsai, I. T. Hsieh, P. J. Zeng, F. L. Yang and G. J. J. Gao, “Vehicle with a dual-wheel steering system in shallow dense granular media,” in preparation, 2016.