Nonlinear Dynamic Analysis and Control of a Small-Scale Magnetoactive Soft Robot
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Bibliographic record
Abstract
View Video Presentation: https://doi.org/10.2514/6.2022-0164.vid In this study, a finite element model has been developed to analyze the nonlinear response characteristics of a magnetoactive soft robotic cantilever beam under varied external magnetic field. The validity of the model is demonstrated by comparing the simulation results with the available experimental data. The deflection of the soft robotic beam increased linearly with the magnetic field under low magnetic flux density and approached saturation under a higher magnetic field. Owing to the highly nonlinear response of the robot, an optimal Fuzzy-PID controller is designed to make the magnetic soft robot track the predefined path. Simulation results show superior tracking performance of the proposed optimal Fuzzy-PID controller when compared to the optimal PID control method.
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Full frame distilled prediction
Teacher imitationNot calibrated prevalence, not ground truth. Human validation pending. Learned from the 10,348 direct Codex labels and 10,348 direct Gemma labels. Candidate is the union of thresholded teacher heads; consensus is their intersection. These outputs are machine_predicted_unvalidated and are not human labels or direct frontier model labels.
Codex and Gemma teacher scores by category
| Category | Codex | Gemma |
|---|---|---|
| Metaresearch | 0.000 | 0.000 |
| Meta-epidemiology (narrow) | 0.000 | 0.000 |
| Meta-epidemiology (broad) | 0.000 | 0.000 |
| Bibliometrics | 0.000 | 0.001 |
| Science and technology studies | 0.000 | 0.000 |
| Scholarly communication | 0.000 | 0.000 |
| Open science | 0.000 | 0.000 |
| Research integrity | 0.000 | 0.000 |
| Insufficient payload (model declined to judge) | 0.000 | 0.000 |
Machine scores (provisional)
The two teacher heads of the student model, read on this work. A score orders the frame for review; it never asserts a category, and the validation status ships verbatim with every row.
Baseline scores from an immature model (maturity gate not passed, 7 training rounds). Scores rank; they never assert a category.
score_only:v0-immature-baseline · verbatim from the scoring run: score_only means the number may rank works, and no category label ships from it