東華大學圖書館 |

語系: 繁體中文

說明(常見問題)

回圖書館首頁

手機版館藏查詢

登入

回首頁

切換: 標籤 | MARC模式 | ISBD

Biologically-Inspired Neural-Based C...

Carryon, Gabriel Nat.

FindBook

Google Book

Amazon

博客來

Biologically-Inspired Neural-Based Control of Compliant Fish-Like Fins Using Sensory-Mediated Nonlinear Oscillators With Applications for Swimming Vehicles.

紀錄類型:	書目-電子資源 : Monograph/item
正題名/作者:	Biologically-Inspired Neural-Based Control of Compliant Fish-Like Fins Using Sensory-Mediated Nonlinear Oscillators With Applications for Swimming Vehicles./
作者:	Carryon, Gabriel Nat.
出版者:	Ann Arbor : ProQuest Dissertations & Theses, : 2023,
面頁冊數:	111 p.
附註:	Source: Dissertations Abstracts International, Volume: 85-04, Section: B.
Contained By:	Dissertations Abstracts International85-04B.
標題:	Robotics. -
電子資源:	https://pqdd.sinica.edu.tw/twdaoapp/servlet/advanced?query=30688155
ISBN:	9798380584104

Biologically-Inspired Neural-Based Control of Compliant Fish-Like Fins Using Sensory-Mediated Nonlinear Oscillators With Applications for Swimming Vehicles.
Carryon, Gabriel Nat.

Biologically-Inspired Neural-Based Control of Compliant Fish-Like Fins Using Sensory-Mediated Nonlinear Oscillators With Applications for Swimming Vehicles. - Ann Arbor : ProQuest Dissertations & Theses, 2023 - 111 p.

Source: Dissertations Abstracts International, Volume: 85-04, Section: B.

Thesis (Ph.D.)--Drexel University, 2023.

The sensorimotor system of fish endows them with remarkable swimming performance that is unmatched by current underwater robotic vehicles. To close the gap between the capabilities of fish and the capabilities of underwater vehicles engineers are investigating how fish swim. In particular, engineers are exploring the sensorimotor systems of fish that control the motion of fins. It is generally accepted that specialized neural circuits (known as central pattern generators) within the sensorimotor system produce the periodic drive signal that is used to control the motion of fins. An important aspect of these circuits is that their output signal can be modified by sensory feedback. Specifically, the way in which sensory feedback signals are applied to a CPG (i.e. the sensory feedback topology) affects the CPG's entrainment characteristics. This has been shown in simulation but has not been investigated in a robot interacting in the real-world. Furthermore, CPG-based control has only limitedly been applied to fish like robots and many questions remain as to how it should be applied to these types of systems. In this thesis the following topics are investigated: the effect of sensory feedback topology on the entrainment characteristics of a CPG-based neural oscillator driving fins with spatially varying mechanical properties (i.e., the closed-loop system), the effect of sensory feedback location on the entrainment characteristics of the closed-loop system, and how the stability of the closed-loop system is affected by parameter variation, sensory feedback location, and sensory feedback topology.

ISBN: 9798380584104Subjects--Topical Terms:

519753
Robotics.
Subjects--Index Terms:

Underwater vehicle

Biologically-Inspired Neural-Based Control of Compliant Fish-Like Fins Using Sensory-Mediated Nonlinear Oscillators With Applications for Swimming Vehicles.
LDR:02876nmm a2200397 4500 001 2402040
005 20241028114738.5
006 m o d
007 cr#unu||||||||
008 251215s2023 ||||||||||||||||| ||eng d
020 $a 9798380584104
035 $a (MiAaPQ)AAI30688155
035 $a AAI30688155
035 $a 2402040
040 $a MiAaPQ $c MiAaPQ
100 1 $a Carryon, Gabriel Nat. $3 3772257
245 1 0 $a Biologically-Inspired Neural-Based Control of Compliant Fish-Like Fins Using Sensory-Mediated Nonlinear Oscillators With Applications for Swimming Vehicles.
260 1 $a Ann Arbor : $b ProQuest Dissertations & Theses, $c 2023
300 $a 111 p.
500 $a Source: Dissertations Abstracts International, Volume: 85-04, Section: B.
500 $a Advisor: Tangorra, James.
502 $a Thesis (Ph.D.)--Drexel University, 2023.
520 $a The sensorimotor system of fish endows them with remarkable swimming performance that is unmatched by current underwater robotic vehicles. To close the gap between the capabilities of fish and the capabilities of underwater vehicles engineers are investigating how fish swim. In particular, engineers are exploring the sensorimotor systems of fish that control the motion of fins. It is generally accepted that specialized neural circuits (known as central pattern generators) within the sensorimotor system produce the periodic drive signal that is used to control the motion of fins. An important aspect of these circuits is that their output signal can be modified by sensory feedback. Specifically, the way in which sensory feedback signals are applied to a CPG (i.e. the sensory feedback topology) affects the CPG's entrainment characteristics. This has been shown in simulation but has not been investigated in a robot interacting in the real-world. Furthermore, CPG-based control has only limitedly been applied to fish like robots and many questions remain as to how it should be applied to these types of systems. In this thesis the following topics are investigated: the effect of sensory feedback topology on the entrainment characteristics of a CPG-based neural oscillator driving fins with spatially varying mechanical properties (i.e., the closed-loop system), the effect of sensory feedback location on the entrainment characteristics of the closed-loop system, and how the stability of the closed-loop system is affected by parameter variation, sensory feedback location, and sensory feedback topology.
590 $a School code: 0065.
650 4 $a Robotics. $3 519753
650 4 $a Ocean engineering. $3 660731
650 4 $a Automotive engineering. $3 2181195
653 $a Underwater vehicle
653 $a Sensorimotor system
653 $a Neural circuits
653 $a Robotic vehicles
653 $a Swimming performance
690 $a 0771
690 $a 0547
690 $a 0540
710 2 $a Drexel University. $b Electrical Engineering (College of Engineering). $3 3183679
773 0 $t Dissertations Abstracts International $g 85-04B.
790 $a 0065
791 $a Ph.D.
792 $a 2023
793 $a English
856 4 0 $u https://pqdd.sinica.edu.tw/twdaoapp/servlet/advanced?query=30688155