一个二维的水力动力学预测框架,用于使用多个正确的直角分解和长短期记忆神经网络的地幔波动推进机器人
Zixiang Ying1, Haozhi Zhang1, Linxiang Wang1
1State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, 310027 Hangzhou, People's Republic of China.
Bioinspiration & biomimetics
|November 17, 2023
概括
一个新的深度学习框架准确地预测了地幔波浪推进机器人 (MUPRo) 的水力动力. 该方法使用多个正确直角分解 (MPOD),与传统方法相比,提供可靠和经济的预测.
科学领域:
- 机器人技术 机器人技术 机器人技术
- 流体动力学 流体动力学
- 人工智能的人工智能
背景情况:
- 预测水力动力学力量对于设计高效的水下机器人至关重要.
- 传统的方法经常与波浪推进的复杂流体动力学作斗争.
研究的目的:
- 开发一种深度学习框架,用于预测地幔波浪推进机器人的水力动力学力 (MUPRo).
- 为流体特征识别引入一个高效的多重正正直角分解算法 (MPOD).
主要方法:
- 开发了一个深度学习框架,集成了一个新的MPOD算法.
- 利用长期短期记忆神经网络来预测MPOD空间模式的时间系数.
- 对模拟和实验数据进行验证的预测.
主要成果:
- 该MPOD算法证明L2误差的近线性收接近波浪边界附近的0.2%.
- 开发的框架实现了水力动力学力预测,比经典的POD方法更准确一到两个数量级.
- 该框架被证明是MUPRo应用程序的经济性和可靠性.
结论:
- 拟议的基于MPOD的深度学习框架在预测水力动力学力方面提供了显著的改进.
- 这个模型支持水生灵感机器人的离线参数规划.
- 该方法为推进MUPRo设计和控制提供了可靠的工具.
相关概念视频
Two-Dimensional Force System
916
A two-dimensional system in mechanical engineering involves the analysis of motion and forces in a plane. A two-dimensional force vector can be resolved into its components as:
916
Two-Dimensional Force System: Problem Solving
585
Solving problems related to two-dimensional force systems is an essential aspect of mechanics and engineering. By applying the principles of vector analysis and force equilibrium, one can determine the effect of multiple forces acting on an object in a two-dimensional space.
The first step to solving a two-dimensional force system problem is to draw a free-body diagram of the object under consideration. This diagram helps identify all the external forces acting on the object, including their...
The first step to solving a two-dimensional force system problem is to draw a free-body diagram of the object under consideration. This diagram helps identify all the external forces acting on the object, including their...
585
Three-Dimensional Force System:Problem Solving
672
A three-dimensional force system refers to a scenario in which three forces act simultaneously in three different directions. This type of problem is commonly encountered in physics and engineering, where it is necessary to calculate the resultant force on the system, which can then be used to predict or analyze the behavior of the object or structure under consideration.
To solve a three-dimensional force system, first resolve each force into its respective scalar components. Do this using...
To solve a three-dimensional force system, first resolve each force into its respective scalar components. Do this using...
672
Three-Dimensional Force System
2.0K
In mechanical engineering, a three-dimensional force system is a system of forces acting in three dimensions, with forces applied along the x, y, and z coordinate axes. The three-dimensional force system is an important concept in mechanical engineering, as it allows engineers to understand and analyze the behavior of objects and structures in three dimensions. By understanding the forces acting on a system, engineers can design more efficient and effective mechanical systems that can withstand...
2.0K
Navier–Stokes Equations
518
For incompressible Newtonian fluids, where density remains constant, stresses show a linear relationship with the deformation rate, defined by normal and shear stresses. Normal stresses depend on the pressure exerted on the fluid and the rate of deformation in specific directions, which determines how fluid flows under varying pressures. Shear stresses, on the other hand, act tangentially across fluid layers. They explain how adjacent fluid layers slide relative to one another, connecting...
518
Newtonian Fluid: Problem Solving
231
Newtonian fluids exhibit a constant viscosity, meaning their shear stress and shear strain rate are directly proportional. This property ensures a predictable and stable response to applied forces, maintaining a linear relationship between force and flow. Examples include water, air, and light oils, consistently demonstrating this proportional behavior regardless of external conditions.
A velocity gradient forms within the fluid when a Newtonian fluid is placed between two parallel plates, with...
A velocity gradient forms within the fluid when a Newtonian fluid is placed between two parallel plates, with...
231


