Kinetic Structure Integrated With Wireless Sensor And Actuator Networks:Architecture And Shape Control

Compared to traditional static civil structures,Kinectic Structure(KS)can actively adapt to environment or human requirement by adjusting its configuration.As one of the important topics of KS research and application,shape control is aiming to determine the actuations that drive the structure from the current state to the target state.Model-based control(MBC)framework with stochastic search method is the mainstream approach to solve the main problem of shape control.However,MBC often brings a heavy computational burden and the additive error produced by the discrepancy between analytic models and real structures.MBC also requires a known type of load.Meanwhile,using wires to connect the devices usually limits the extension and the form of KS movement.By adopting bio-inspired idea and combining Wireless Sensor and Actuator Neworks(WSAN)technique,this dissertation proposed a concept of KS integrated with WSAN(WKS).The model,the architecture and the key issues of shape control were studied and discussed around WKS.The dissertation discussed the delimitation of KS concept.The definition and the classfication of KS were presented.Research status of KS shape control was summarized.The relevance between KS and WSAN was described to lead to the motivation and the goal of the dissertation.The concept of WKS was defined.The architectures of the physical layer and the information layer were described.The basic model of WKS was established,and the description method of the model was presented.For the requirement of control and analysis,the basic expression of WKS was derived.The dynamic transformation problem of WSAN(i.e.the carrier of WKS information layer)during WKS movement was studied.The customized WSAN was defined,and its criterion and basic protocol were presented.The basic module of WSAN node was developed.The network transforamtion methods of several types of WKS were described,and the practical design method was presented.The dynamic information layer of WKS was applied on a certain kinetic architecture,and the data was collected completely during the architecture revolving.The model-free bio-inspired control(MFBC)framework was established for WKS shape control.The hierarchical constitution and the features of MFBC were described,and the typical MFBC flowchart was presented.Being inspired by the finite element method(FEM),the dissertation proposed the concepts of function element and function structure in WKS bio-inspired control.The rhythmic locomotion of animals was brought in MFBC,and the mechanism of rhythmic pattern of function structure was described.The shape control problem was studied with MFBC.Though specific examples,the key problems of shape control were posed,including control performance and adaptability of intrinsic pattern,associative learning,interaction and nonlinearity of function element,efficiency of rhythm,path planning,shape control and adaptability under dynamic load,modular design of WKS,etc.The hardware of WKS and the construction of active members were studied.The modular design idea for WSAN node was proposed,and practical modules were designed and made.The electrical connection and the mechanical model of active members based on mechanical transimission,and actuator device was assembled.The control problem for accuracy of active member adjustment was discussed.A WKS prototype was designed and assembled,and a preliminary test was carried out.The work of the dissertation contains concept description,theoretical derivation,numerical simulation,hardware development,engineering field test and prototype design.It shows that the proposed WKS concept and MFBC framework are feasible and effective.It supplies new thoughts and methods for researchers and engineers to study shape control or design KS.Further research orientations were summarized at the end of the dissertation.