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Active structures integrated with wireless sensor and actuator networks： a bio-inspired control framework

Journal of Zhejiang University-Science A(Applied Physics & Engineering) 2016年第4期17卷 253-272页

作者： Peng-cheng YANG Yan-bin SHEN Yao-zhi LUO Zhejiang Provincial Key Laboratory of Space Structures Zhejiang University Hangzhou 310058 China

One of the main problems in controlling the shape of active structures （AS） is to determine the actuations that drive the structure from the current state to the target state. Model-based methods such as stochastic search require a known type of load and relatively long computational time, which limits the practical use of AS in civil engineering. Moreover, additive errors may be produced because of the discrepancy between analytic models and real structures. To overcome these limitations, this paper presents a compound system called WAS, which combines AS with a wireless sensor and actuator network （WSAN）. A bio-inspired control framework imitating the activity of the nervous systems of animals is proposed for WAS. A typical example is tested for verification. In the example, a triangular tensegrity prism that aims to maintain its original height is integrated with a WSAN that consists of a central controller, three actuators, and three sensors. The result demonstrates the feasibility of the proposed concept and control framework in cases of unknown loads that include different types, distributions, magnitudes, and directions. The proposed control framework can also act as a supplementary means to improve the efficiency and accuracy of control frameworks based on a common stochastic search.

关键词： Active structures (AS) Wireless sensor and actuator networks (WSAN) Shape control bio-inspired control

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Analysis of Motor Synergies Utilization for Optimal Movement Generation for a Human-like Robotic Arm

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International Journal of Automation and computing 2013年第6期10卷 515-524页

作者： Kin Chung Denny Fu Yutaka Nakamura Tomoyuki Yamamoto Hiroshi Ishiguro Graduate School of Engineering Science Osaka University

controlling human-like robots with musculoskeletal structure has been a challenging problem in engineering. In biological studies, motor synergy hypothesis has been proposed as a solution in order to control high degree-of-freedom and complex human body. In this paper, we focus on exploring the applicability of motor synergies in generating goal-directed movements by optimal control in a human-like robotic arm. We focus on three problems： 1） Can motor synergies facilitate the solving of optimal control problem？ 2） What properties should motor synergies have in order to achieve tasks？ 3） How should motor synergies be utilized better？ For the first problem we show that goal-directed movements can be achieved by utilizing motor synergies which have properties of achieving the goals. For the second problem, we testify motor synergies which have different properties and discover that energy efficiency is an important aspect in motor synergies which can also be utilized to achieve goal-directed movements. This discovery also implies that we can obtain motor synergies by other ways rather than from goal-directed optimal control signals. For the third problem, we show that the control complexity can be further reduced by utilizing a subset of motor synergies which are effective to achieve goals.

关键词： Motor synergies optimal control dimension reduction bio-inspired control biomimetics.

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