A bionic neural network for fish-robot locomotion is presented. The bionic neural network inspired from fish neural net- work consists of one high level controller and one chain of central pattern generators （CPGs）....A bionic neural network for fish-robot locomotion is presented. The bionic neural network inspired from fish neural net- work consists of one high level controller and one chain of central pattern generators （CPGs）. Each CPG contains a nonlinear neural Zhang oscillator which shows properties similar to sine-cosine model. Simulation re, suits show that the bionic neural network presents a good performance in controlling the fish-robot to execute various motions such as startup, stop, forward swimming, backward swimming, turn right and turn left.展开更多
针对大型变压器内部缺陷难以直接观测的问题,采用巡检机器鱼来进行内部视觉检测。考虑到微型机器鱼需长时间巡检,电量补给成为完成巡检任务的核心问题,而无线电能传输(Wireless Power Transfer,WPT)技术为其提供了可行的充电解决方案。...针对大型变压器内部缺陷难以直接观测的问题,采用巡检机器鱼来进行内部视觉检测。考虑到微型机器鱼需长时间巡检,电量补给成为完成巡检任务的核心问题,而无线电能传输(Wireless Power Transfer,WPT)技术为其提供了可行的充电解决方案。然而,巡检过程中机器鱼能量发射线圈与接收线圈间的位置变化会显著影响系统的充电效率和功率,因此,如何有效识别无线充电系统线圈间互感值和等效负载值成为了提升系统效率的核心问题之一。为此,提出了一种基于中继线圈切换的变压器巡检机器鱼无线充电系统互感识别方法。该方法仅需检测中继线圈切入切出系统前后的系统输入阻抗向量,即可有效识别线圈间的互感值和负载值。通过实验证明了所提方法的高效性和准确性,当负载电阻在10~30Ω区间变化、负载线圈横向偏移在0~50 mm范围内变化时,线圈间互感误差约为1μH,负载电阻误差约为2Ω。展开更多
文摘A bionic neural network for fish-robot locomotion is presented. The bionic neural network inspired from fish neural net- work consists of one high level controller and one chain of central pattern generators （CPGs）. Each CPG contains a nonlinear neural Zhang oscillator which shows properties similar to sine-cosine model. Simulation re, suits show that the bionic neural network presents a good performance in controlling the fish-robot to execute various motions such as startup, stop, forward swimming, backward swimming, turn right and turn left.
文摘针对大型变压器内部缺陷难以直接观测的问题,采用巡检机器鱼来进行内部视觉检测。考虑到微型机器鱼需长时间巡检,电量补给成为完成巡检任务的核心问题,而无线电能传输(Wireless Power Transfer,WPT)技术为其提供了可行的充电解决方案。然而,巡检过程中机器鱼能量发射线圈与接收线圈间的位置变化会显著影响系统的充电效率和功率,因此,如何有效识别无线充电系统线圈间互感值和等效负载值成为了提升系统效率的核心问题之一。为此,提出了一种基于中继线圈切换的变压器巡检机器鱼无线充电系统互感识别方法。该方法仅需检测中继线圈切入切出系统前后的系统输入阻抗向量,即可有效识别线圈间的互感值和负载值。通过实验证明了所提方法的高效性和准确性,当负载电阻在10~30Ω区间变化、负载线圈横向偏移在0~50 mm范围内变化时,线圈间互感误差约为1μH,负载电阻误差约为2Ω。
