In this paper, we theoretically predict and experimentally measure the thrust efficiency of a biomimetic robotic fish, which is propelled by an ionic polymer-metal composite (IPMC) actuator. A physics-based model that...In this paper, we theoretically predict and experimentally measure the thrust efficiency of a biomimetic robotic fish, which is propelled by an ionic polymer-metal composite (IPMC) actuator. A physics-based model that consists of IPMC dynamics and hydrodynamics was proposed, and simulation was conducted. In order to test the thrust performance of the robotic fish, a novel experimental apparatus was developed for hydrodynamic experiments. Under a servo towing system, the IPMC fish swam at a self-propelled speed where external force is averagely zero. Experimental results demonstrated that the theoretical model can well predict the thrust efficiency of the robotic fish. A maximum thrust efficiency of 2.3×10 3 at 1 Hz was recorded experimentally, the maximum thrust force was 0.0253 N, recorded at 1.2 Hz, while the maximum speed was 0.021 m/s, recorded at 1.5 Hz, and a peak power of 0.36 W was recorded at 2.6 Hz. Additionally, the optimal actuation frequency for the thrust efficiency was also recorded at the maximum self-propelled speed. The present method of examining the thrust efficiency may also be applied to the studies of other types of smart material actuated underwater robots.展开更多
Web Service是目前研究界和产业界广泛关注的技术之一.随着Web Service的广泛应用,研究者们普遍认识到,服务的非功能属性,即服务质量(Quality of Service,QoS)是面向服务的应用能否成功的关键因素之一.因此,研究者们尝试从多个角度对Qo...Web Service是目前研究界和产业界广泛关注的技术之一.随着Web Service的广泛应用,研究者们普遍认识到,服务的非功能属性,即服务质量(Quality of Service,QoS)是面向服务的应用能否成功的关键因素之一.因此,研究者们尝试从多个角度对QoS相关问题展开了研究.然而,现有工作普遍关注基于QoS的动态服务选择和组装等上层应用技术,而对于如何获取、存储、度量QoS等基础支持技术研究较少,而这些基础性工作对QoS相关的研究工作具有显著的重要性.此外,不同应用领域对Web Service QoS的需求不尽相同,因此,需要有一套灵活的机制支持在QoS模型定义、QoS度量方法、QoS信息采集等方面体现出的领域特性.针对这个问题,文中提出了一个可扩展的Web Service QoS信息管理框架,详细分析了该框架涉及到的重要方法与核心技术,并给出了该框架在北京大学软件构件库系统中的设计决策和方案.最后,介绍了文中框架在一个863计划项目中的应用实例,该实例展示了用户根据其应用的领域需求对本框架进行扩展并进行Web Service QoS管理的方法,从而验证了本管理框架的可扩展性及实用性.展开更多
基金supported by the National Natural Science Foundation of China (Grant No. 61075100)
文摘In this paper, we theoretically predict and experimentally measure the thrust efficiency of a biomimetic robotic fish, which is propelled by an ionic polymer-metal composite (IPMC) actuator. A physics-based model that consists of IPMC dynamics and hydrodynamics was proposed, and simulation was conducted. In order to test the thrust performance of the robotic fish, a novel experimental apparatus was developed for hydrodynamic experiments. Under a servo towing system, the IPMC fish swam at a self-propelled speed where external force is averagely zero. Experimental results demonstrated that the theoretical model can well predict the thrust efficiency of the robotic fish. A maximum thrust efficiency of 2.3×10 3 at 1 Hz was recorded experimentally, the maximum thrust force was 0.0253 N, recorded at 1.2 Hz, while the maximum speed was 0.021 m/s, recorded at 1.5 Hz, and a peak power of 0.36 W was recorded at 2.6 Hz. Additionally, the optimal actuation frequency for the thrust efficiency was also recorded at the maximum self-propelled speed. The present method of examining the thrust efficiency may also be applied to the studies of other types of smart material actuated underwater robots.
文摘Web Service是目前研究界和产业界广泛关注的技术之一.随着Web Service的广泛应用,研究者们普遍认识到,服务的非功能属性,即服务质量(Quality of Service,QoS)是面向服务的应用能否成功的关键因素之一.因此,研究者们尝试从多个角度对QoS相关问题展开了研究.然而,现有工作普遍关注基于QoS的动态服务选择和组装等上层应用技术,而对于如何获取、存储、度量QoS等基础支持技术研究较少,而这些基础性工作对QoS相关的研究工作具有显著的重要性.此外,不同应用领域对Web Service QoS的需求不尽相同,因此,需要有一套灵活的机制支持在QoS模型定义、QoS度量方法、QoS信息采集等方面体现出的领域特性.针对这个问题,文中提出了一个可扩展的Web Service QoS信息管理框架,详细分析了该框架涉及到的重要方法与核心技术,并给出了该框架在北京大学软件构件库系统中的设计决策和方案.最后,介绍了文中框架在一个863计划项目中的应用实例,该实例展示了用户根据其应用的领域需求对本框架进行扩展并进行Web Service QoS管理的方法,从而验证了本管理框架的可扩展性及实用性.
