Magnetic soft robots (MSRs) have attracted growing interest due to their unique advantages in untethered actuation and excellent controllability. However, actuation strategies of these robots have long been designed out of heuristics. Herein, it is aimed to develop an intelligent method to solve the inverse problem of finding workable magnetic fields for the actuation of strip‐like soft robots entirely based on deep reinforcement learning algorithms. Magnetic torques and a dissipation force to the Cosserat rod model are introduced, and the developed model to simulate the dynamics of MSRs is utilized. Meanwhile, under the reinforcement learning framework, soft robots to move forward without human guidance are successfully trained, and the results intelligently adapt to different magnetization patterns and magnetic field restrictions. The learned actuation strategies by directly applying simulated magnetic fields to real MSRs in an open loop way are validated. The experimental results show good accordance with simulations. By presenting the first case of using strategies entirely generated by reinforcement learning to control real MSRs, the potential of using reinforcement learning to achieve autonomous actuation of MSRs is demonstrated, which can be used to establish a route for the creation of highly adaptive design framework.
As the reservoir and its attribute distribution are obviously controlled by sedimentary facies, the facies modeling is one of the important bases for delineating the area of high-quality reservoir and characterizing the attribute parameter distribution. There are a large number of continental sedimentary reservoirs with strong heterogeneity in China, the geometry and distribution of various sedimentary microfacies are relatively complex. The traditional geostatistics methods which have shortage in characterization of the complex and non-stationary geological patterns, have limitation in facies modeling of continental sedimentary reservoirs. The generative adversarial network (GANs) is a recent state-of-the-art deep learning method, which has capabilities of pattern learning and generation, and is widely used in the domain of image generation. Because of the similarity in content and structure between facies models and specific images (such as fluvial facies and the images of modern rivers), and the various images generated by GANs are often more complex than reservoir facies models, GANs has potential to be used in reservoir facies modeling. Therefore, this paper proposes a reservoir facies modeling method based on GANs: (1) for unconditional modeling, select training images (TIs) based on priori geological knowledge, and use GANs to learn priori geological patterns in TIs, then generate the reservoir facies model by GANs; (2) for conditional modeling, a training method of “unconditional-conditional simulation cooperation” (UCSC) is used to realize the constraint of hard data while learning the priori geological patterns. Testing the method using both synthetic data and actual data from oil field, the results meet perfectly the priori geological patterns and honor the well point hard data, and show that this method can overcome the limitation that traditional geostatistics are difficult to deal with the complex non-stationary patterns and improve the conditional constraint effect of GANs based methods. Given its good performance in facies modeling, the method has a good prospect in practical application.
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