In this paper, a non-uniform flexible tail of a fish robot was presented and the dynamic model was developed. In this model, the non-uniform flexible tail was modeled by a rotary slender beam. The hydrodynamics forces...In this paper, a non-uniform flexible tail of a fish robot was presented and the dynamic model was developed. In this model, the non-uniform flexible tail was modeled by a rotary slender beam. The hydrodynamics forces, including the reactive force and resistive force, were analyzed in order to derive the governing equation. This equation is a fourth-order in space and second-order in time Partial Differential Equation （PDE） of the lateral movement function. The coefficients of this PDE were not constants because of the non-uniform beams, so they were approximated by exponential functions in order to obtain an analytical solution. This solution describes the lateral movement of the flexible tail as a function of material, geometrical and actuator properties. Experiments were then carried out and compared to simulations. It was proved that the proposed model is suitable for predicting the real behavior of fish robots.展开更多
This paper presents the dynamic modeling of a flexible tail for a robotic fish. For this purpose firstly, the flexible tail was simplified as a slewing beam actuated by a driving moment. The governing equation of the ...This paper presents the dynamic modeling of a flexible tail for a robotic fish. For this purpose firstly, the flexible tail was simplified as a slewing beam actuated by a driving moment. The governing equation of the flexible tail was derived by using the Euler-Bernoulli theory. In this equation, the resistive forces were estimated as a term analogous to viscous damping. Then, the modal analysis method was applied in order to derive an analytical solution of the governing equation, by which the relationship between the driving moment and the lateral movement of the flexible tail was described. Finally, simulations and experiments were carried out and the results were compared to verify the accuracy of the dynamic model. It was proved that the dynamic model of a fish robot with a flexible tail fin well explains the real behavior of robotic fish in underwater environment.展开更多
深基坑挡土墙是工程实践中常用的支护结构,对限制深基坑变形和预防工程事故起着重要的作用。深基坑工程往往会布置多个不同深度的测点,然而现有研究大多只预测了单个测点的未来侧移,浪费了其余测点的监测数据。以杭州市某深基坑工程为背...深基坑挡土墙是工程实践中常用的支护结构,对限制深基坑变形和预防工程事故起着重要的作用。深基坑工程往往会布置多个不同深度的测点,然而现有研究大多只预测了单个测点的未来侧移,浪费了其余测点的监测数据。以杭州市某深基坑工程为背景,建立基于贝叶斯优化的多输出长短期记忆(Long short term memory,LSTM)神经网络模型,在保证模型最优性能的情况下,采用历史监测数据输入对深基坑的多个测点进行预测,并单独提取墙体每日最大侧移预测值进行分析。研究结果表明:结合贝叶斯优化的多输出LSTM神经网络模型在深基坑墙体多测点侧移预测方面展现出理想的预测效果,模型R^(2)达到了0.94,每日最大侧移预测值的模型R^(2)为0.91,略低于整体预测。展开更多
文摘In this paper, a non-uniform flexible tail of a fish robot was presented and the dynamic model was developed. In this model, the non-uniform flexible tail was modeled by a rotary slender beam. The hydrodynamics forces, including the reactive force and resistive force, were analyzed in order to derive the governing equation. This equation is a fourth-order in space and second-order in time Partial Differential Equation （PDE） of the lateral movement function. The coefficients of this PDE were not constants because of the non-uniform beams, so they were approximated by exponential functions in order to obtain an analytical solution. This solution describes the lateral movement of the flexible tail as a function of material, geometrical and actuator properties. Experiments were then carried out and compared to simulations. It was proved that the proposed model is suitable for predicting the real behavior of fish robots.
文摘This paper presents the dynamic modeling of a flexible tail for a robotic fish. For this purpose firstly, the flexible tail was simplified as a slewing beam actuated by a driving moment. The governing equation of the flexible tail was derived by using the Euler-Bernoulli theory. In this equation, the resistive forces were estimated as a term analogous to viscous damping. Then, the modal analysis method was applied in order to derive an analytical solution of the governing equation, by which the relationship between the driving moment and the lateral movement of the flexible tail was described. Finally, simulations and experiments were carried out and the results were compared to verify the accuracy of the dynamic model. It was proved that the dynamic model of a fish robot with a flexible tail fin well explains the real behavior of robotic fish in underwater environment.
文摘深基坑挡土墙是工程实践中常用的支护结构,对限制深基坑变形和预防工程事故起着重要的作用。深基坑工程往往会布置多个不同深度的测点,然而现有研究大多只预测了单个测点的未来侧移,浪费了其余测点的监测数据。以杭州市某深基坑工程为背景,建立基于贝叶斯优化的多输出长短期记忆(Long short term memory,LSTM)神经网络模型,在保证模型最优性能的情况下,采用历史监测数据输入对深基坑的多个测点进行预测,并单独提取墙体每日最大侧移预测值进行分析。研究结果表明:结合贝叶斯优化的多输出LSTM神经网络模型在深基坑墙体多测点侧移预测方面展现出理想的预测效果,模型R^(2)达到了0.94,每日最大侧移预测值的模型R^(2)为0.91,略低于整体预测。
