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

Record Type:	Language materials, manuscript : Monograph/item
Title/Author:	Biologically-Inspired Neural-Based Control of Compliant Fish-Like Fins Using Sensory-Mediated Nonlinear Oscillators With Applications for Swimming Vehicles./
Author:	Carryon, Gabriel Nat.
Description:	1 online resource (111 pages)
Notes:	Source: Dissertations Abstracts International, Volume: 85-04, Section: B.
Contained By:	Dissertations Abstracts International85-04B.
Subject:	Robotics. -
Online resource:	click for full text (PQDT)
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. - 1 online resource (111 pages)

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

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

Includes bibliographical references

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.

Electronic reproduction.
Ann Arbor, Mich. :
ProQuest,
2024

Mode of access: World Wide Web

ISBN: 9798380584104Subjects--Topical Terms:

561941
Robotics.
Subjects--Index Terms:

Underwater vehicleIndex Terms--Genre/Form:

554714
Electronic books.

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