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Author: Brent Komer
Publisher:
ISBN:
Category : Adaptive control systems
Languages : en
Pages : 53
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Book Description
This thesis explores the application of a biologically inspired adaptive controller to quadcopter flight control. This begins with an introduction to modelling the dynamics of a quadcopter, followed by an overview of control theory and neural simulation in Nengo. The Virtual Robotics Experimentation Platform (V-REP) is used to simulate the quadcopter in a physical environment. Iterative design improvements leading to the final controller are discussed. The controller model is run on a series of benchmark tasks and its performance is compared to conventional controllers. The results show that the neural adaptive controller performs on par with conventional controllers on simple tasks but exceeds far beyond these controllers on tasks involving unexpected external forces in the environment.
Author: Brent Komer
Publisher:
ISBN:
Category : Adaptive control systems
Languages : en
Pages : 53
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Book Description
This thesis explores the application of a biologically inspired adaptive controller to quadcopter flight control. This begins with an introduction to modelling the dynamics of a quadcopter, followed by an overview of control theory and neural simulation in Nengo. The Virtual Robotics Experimentation Platform (V-REP) is used to simulate the quadcopter in a physical environment. Iterative design improvements leading to the final controller are discussed. The controller model is run on a series of benchmark tasks and its performance is compared to conventional controllers. The results show that the neural adaptive controller performs on par with conventional controllers on simple tasks but exceeds far beyond these controllers on tasks involving unexpected external forces in the environment.
Author:
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ISBN:
Category : Jewish women
Languages : en
Pages :
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Author: Huanqing Wang
Publisher: Frontiers Media SA
ISBN: 2889456978
Category :
Languages : en
Pages : 135
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Book Description
This Research Topic presents bio-inspired and neurological insights for the development of intelligent robotic control algorithms. This aims to bridge the inter-disciplinary gaps between neuroscience and robotics to accelerate the pace of research and development.
Author: Jean-Christophe Zufferey
Publisher: CRC Press
ISBN: 1439808112
Category : Science
Languages : en
Pages : 222
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Book Description
This book demonstrates how bio-inspiration can lead to fully autonomous flying robots without relying on external aids. Most existing aerial robots fly in open skies, far from obstacles, and rely on external beacons, mainly GPS, to localise and navigate. However, these robots are not able to fly at low altitude or in confined environments, and
Author:
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ISBN:
Category :
Languages : en
Pages : 49
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Book Description
The work at Cornell centered on developing experimental methods to characterize flesh fly pursuit evasions, and resulted in the maturation of effective means to capture the 3-D trajectory, as well as body and head orientation. The data was processed at first by hand, and later using image processing algorithms to develop 3-D visualizations at the track, including the head orientation, and ultimately to map the location of the target on the eye during the pursuit. The results provided a means to compare the guidance strategy of the fly with traditional proportional navigation, and to look for inspiration in the development of new guidance laws. Work was also completed to introduce clutter into the encounter. While a much greater understanding of the tracking and guidance strategy of the flesh fly was developed and documented, the work has not yet resulted in the discovery of a better alternative to traditional engineered guidance laws.
Author: Wenxing Fu
Publisher: Springer Nature
ISBN: 981990479X
Category : Technology & Engineering
Languages : en
Pages : 3985
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Book Description
This book includes original, peer-reviewed research papers from the ICAUS 2022, which offers a unique and interesting platform for scientists, engineers and practitioners throughout the world to present and share their most recent research and innovative ideas. The aim of the ICAUS 2022 is to stimulate researchers active in the areas pertinent to intelligent unmanned systems. The topics covered include but are not limited to Unmanned Aerial/Ground/Surface/Underwater Systems, Robotic, Autonomous Control/Navigation and Positioning/ Architecture, Energy and Task Planning and Effectiveness Evaluation Technologies, Artificial Intelligence Algorithm/Bionic Technology and Its Application in Unmanned Systems. The papers showcased here share the latest findings on Unmanned Systems, Robotics, Automation, Intelligent Systems, Control Systems, Integrated Networks, Modeling and Simulation. It makes the book a valuable asset for researchers, engineers, and university students alike.
Author: Wael Salem
Publisher:
ISBN:
Category :
Languages : en
Pages : 0
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Book Description
Flying animals can maintain stable flight after sustaining significant wing damage and experiencing large fluctuations in weight. This robustness is achieved by modulating wing and body kinematics during flight. For instance, the effectiveness of these strategies can enable flies to sustain flight after losing half of one wing, or after gaining two times their own weight. In contrast, man-made drones and flying robots often struggle when dealing with uncertainties. Even small amounts of wing damage and change in weight can have a detrimental impact on the stability of drones during flight. Therefore, animal flight can serve as an inspiration to advance the state-of-the-art in flying robots. In this dissertation, I used an engineering framework to understand the underlying neuromechanical control strategies that enable flies to maintain stable flight in the presence of distinct perturbations. Specifically, I developed a high-speed imaging system and virtual reality arena to study how flies modulate wing kinematics to compensate for wing injury and changes in inertia. In Chapter 2, using a control theoretic framework, I investigate how flies respond to wing damage. Physical injury often impairs mobility, which can have dire consequences for survival in animals. Revealing mechanisms of robust biological intelligence to prevent system failure can provide critical insights into how complex brains generate adaptive movement and inspiration to design fault-tolerant robots. For flying animals, physical injury to a wing can have severe consequences, as flight is inherently unstable. Using a virtual reality flight arena, we studied how flying fruit flies compensate for damage to one wing. By combining experimental and mathematical methods, we show that flies compensate for wing damage by corrective wing movement modulated by closed-loop sensing and robust mechanics. Injured flies actively increase damping and, in doing so, modestly decrease gaze stabilization performance but fly as stably as uninjured flies. Quantifying responses to injury can uncover the flexibility and robustness of biological systems while informing the development of bio-inspired fault-tolerant strategies. In Chapter 3, by combining experimental and theoretical approaches, I investigate how added inertia influences flight control. Like injuries, changes in weight or inertia can also have a detrimental impact on locomotion. Animals experience significant fluctuations in weight throughout their lifetime due to growth, feeding, gravidity, etc. Changes in weight require compensatory strategies to maintain stable locomotion and avoid injury. These strategies are particularly crucial to animals that rely on flight for survival. To uncover the nature of these strategies, I developed a control theory framework whereby the yaw inertia of fruit flies was artificially increased. Flies with added inertia were placed inside a virtual reality arena which enabled free rotation about the vertical (yaw) axis. Adding inertia increased the fly's response time but did not alter gaze stabilization performance. Flies maintained stability following the addition of inertia by adaptively modulating both visuomotor gain and damping. In contrast, mathematical modeling predicted a significant decrease in flight stability and performance. Adding inertia also altered saccades dynamics. However, flies increased yaw production to compensate for the added inertia. This hints that flies may be able to sense the change in loading. Estimating flight aerodynamic forces revealed that changes in yaw damping are driven by mechanosensory feedback from the halteres. In short, flies sacrificed response time to maintain the gaze stabilization performance following changes in inertia. In Chapter 4, I use a custom virtual reality arena to study 3D wing kinematics in response to wing damage and added inertia. How flying animals modulate 3D wing kinematics to compensate for different perturbations in a closed-loop task remains poorly understood. To perform smooth rotational movement, damaged flies subtly modulated wing kinematics to generate a net yaw torque. Flies with damaged wings and added inertia exhibited a more noticeable change in wing kinematics. To compensate for damage, flies modulated the amplitudes of both wings. Furthermore, damaged flies also modulated the relative timing of the stroke's angles of both wings. On the other hand, flies with added inertia modulated the amplitude of the wing angles and distorted the waveform of the stroke angle to perform smooth movement. Estimating the net yaw torque using an aerodynamic model revealed no significant changes in torque production following wing damage and an increase in inertia. Finally, in Chapter 5, I developed a custom laser ablation paradigm to damage the wings of flies in flight. Previous studies have investigated how flying animals compensate for wing damage, however the process by which insects adapt wing kinematics in real-time after sudden damage is unknown. In this study, I built a laser system that damaged one wing of a fruit fly free to pivot about the yaw axis. The laser ablated 5--60 % of the overall area of one wing within a single stroke cycle (5--6 ms). Using a high-speed 3D imaging system, I measured how instantaneous wing damage influences yaw stability and compensatory wing kinematics right after damage. Flies exhibited novel wing kinematics almost instantly after wing damage, suggesting a role of passive mechanics. All flies rapidly rotated in the direction of the damaged wing following damage but quickly applied a counter torque which stabilized their heading within ~400 ms. Flies reached peaked peak velocity within ~40 ms, implicating mechanosensory feedback in stabilizing flight. Following wing damage, flies exhibited significant variability in wing kinematics as they adapted wing motion to stabilize gaze. Specifically, flies modulated the phase between the intact and damaged wing, with the damaged wing leading in each stroke cycle. Investigating the means by which insects adapt to wing damage can inspire the design of algorithms that enable adaptive flapping-wing robots that can learn to compensate for damage.
Author: Zhang Ren
Publisher: Springer Nature
ISBN: 9811939985
Category : Technology & Engineering
Languages : en
Pages : 1902
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Book Description
This book includes original, peer-reviewed research papers from the 2021 5th Chinese Conference on Swarm Intelligence and Cooperative Control (CCSICC2021), held in Shenzhen, China on January 19-22, 2022. The topics covered include but are not limited to: reviews and discussions of swarm intelligence, basic theories on swarm intelligence, swarm communication and networking, swarm perception, awareness and location, swarm decision and planning, cooperative control, cooperative guidance, swarm simulation and assessment. The papers showcased here share the latest findings on theories, algorithms and applications in swarm intelligence and cooperative control, making the book a valuable asset for researchers, engineers, and university students alike.
Author: Michael Mangan
Publisher: Springer
ISBN: 3319635379
Category : Computers
Languages : en
Pages : 663
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Book Description
This book constitutes the proceedings of the 6th International Conference on Biomimetic and Biohybrid Systems, Living Machines 2017, held in Stanford, CA, USA, in July 2017.The 42 full and 19 short papers presented in this volume were carefully reviewed and selected from 63 submissions. The theme of the conference encompasses biomimetic methods for manufacture, repair and recycling inspired by natural processes such as reproduction, digestion, morphogenesis and metamorphosis.
Author: James Sean Humbert
Publisher:
ISBN:
Category : Electronic dissertations
Languages : en
Pages : 184
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Book Description
