在一个柔软的生物灵感游泳者身上计算物理水库.
1Department of Mechanical and Aerospace Engineering, University of Florida, Gainesville, USA.
概括
软机器人中的物理储水器计算 (PRC) 能够对状态进行估计,以便更好地控制. 这种生物灵感的方法利用了机器人.
科学领域:
- 机器人和控制系统 机器人和控制系统
- 计算神经科学是一种神经科学.
- 流体动力学 流体动力学
背景情况:
- 软的生物灵感水下车辆提供了优势,但由于其低估的性质,很难控制.
- 状态估计对于控制这些灵活的机器人至关重要,但传统方法具有挑战性.
- 物理储库计算 (PRC) 通过将反复的神经网络嵌入到物理系统中,提供了一种新的方法.
研究的目的:
- 调查PRC在软生物灵感自主水下车辆的状态估计中的应用.
- 探索中国信息化状态估计的潜力,以加强车辆控制.
- 为了评估PRC的计算效率和预测准确度,使用软推进器作为物理储存器.
主要方法:
- 一个柔软的生物灵感推进器被设计并用作物理储.
- 推进器的非线性流体结构动力学作为储,动力反作为读数.
- 该系统能够预测水力动力学力和基准计算任务的能力是基于应用强迫的评估.
主要成果:
- 软推进器证明了在特定输入频率下精确预测水力动力推力和基准任务.
- 谱分析显示,系统的动态响应和非线性是处理信息和改进预测的关键.
- 非线性将输入信号转换为更广泛的频谱在读数,对于准确的目标信号重建至关重要.
结论:
- PRC可以有效地嵌入软生物灵感游泳者的物理结构中,以有效地估计状态.
- 物理水库的动态响应和非线性特性对于准确的预测性能至关重要.
- 这项研究代表了将计算直接集成到软机器人系统中进行先进控制的基本步骤.
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