Design and construction of a SMA controlled artificial face.

Thomas Kin Fong Lei.Thesis (M.Phil.)--Chinese University of Hong Kong, 2000.Includes bibliographical references (leaves 64-66).Abstracts in English and Chinese.LIST OF FIGURES --- p.IVChapter 1 --- Introduction --- p.1Chapter 2 --- Model-based Control of SMA Wires --- p.3Chapter 2.1 --- Model Identification of SMA Wires --- p.3Chapter 2.1.1 --- Temperature-Current Relationship --- p.3Chapter 2.1.2 --- Stress-Strain Relationship --- p.5Chapter 2.1.3 --- Martensite Fraction-Temperature Relationship --- p.8Chapter 2.2 --- Model-based Position Control of Two Linking SMA Wires --- p.9Chapter 2.3 --- Summary --- p.12Chapter 3 --- Neural-fuzzy-based Control of SMA Wires --- p.13Chapter 3.1 --- Adaptive Neuro-fuzzy Inference System (ANFIS) --- p.13Chapter 3.1.1 --- ANFIS Architecture --- p.13Chapter 3.1.2 --- Hybrid Learning Algorithm --- p.16Chapter 3.2 --- Generalized Neural Network (GNN) --- p.20Chapter 3.2.1 --- GNN Architecture --- p.20Chapter 3.2.2 --- Approximation of the GNN --- p.22Chapter 3.2.3 --- Backpropagation Training Algorithm --- p.24Chapter 3.2.4 --- Complexity Reduction of the GNN --- p.25Chapter 3.2.5 --- Error Bound of In-exact Reduction of the GNN --- p.29Chapter 3.3 --- Neural-fuzzy-based Position Control of Four Linking SMA Wires --- p.32Chapter 3.3.1 --- ANFIS-based Position Control of Four Linking SMA Wires --- p.32Chapter 3.3.2 --- GNN-based Position Control of Four Linking SMA Wires --- p.35Chapter 3.3.3 --- Performance Comparison of ANFIS and GNN Algorithms --- p.37Chapter 3.4 --- Summary --- p.39Chapter 4 --- SMA Actuated Artificial Face --- p.40Chapter 4.1 --- Muscles of the Human Face --- p.40Chapter 4.2 --- The Software Part: facial model --- p.41Chapter 4.3 --- The Hardware Part: artificial face and peripheral interface --- p.43Chapter 4.3.1 --- SMA Actuated Artificial Face --- p.43Chapter 4.3.2 --- Peripheral Interface --- p.45Chapter 4.4 --- Position Control on the Artificial Face --- p.47Chapter 4.4.1 --- Model-based Position Control on Artificial Face --- p.48Chapter 4.4.2 --- Neural-fuzzy-based Position Control on Artificial Face --- p.49Chapter 4.4.3 --- Comparison of the Model-based and Reduced GNN Control of Artificial Face --- p.49Chapter 4.5 --- Experimental Result --- p.50Chapter 5 --- Conclusion --- p.52Appendix1 --- p.53Appendix2 --- p.55Appendix3 --- p.56Appendix4 --- p.58Bibliography --- p.6