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.ambox{display:none!important}}</style><table class="box-Unreferenced plainlinks metadata ambox ambox-content ambox-Unreferenced" role="presentation"><tbody><tr><td class="mbox-image"><div class="mbox-image-div"><span typeof="mw:File"><a href="/wiki/File:Question_book-new.svg" class="mw-file-description"><img alt="" src="//upload.wikimedia.org/wikipedia/en/thumb/9/99/Question_book-new.svg/50px-Question_book-new.svg.png" decoding="async" width="50" height="39" class="mw-file-element" srcset="//upload.wikimedia.org/wikipedia/en/thumb/9/99/Question_book-new.svg/75px-Question_book-new.svg.png 1.5x, //upload.wikimedia.org/wikipedia/en/thumb/9/99/Question_book-new.svg/100px-Question_book-new.svg.png 2x" data-file-width="512" data-file-height="399" /></a></span></div></td><td class="mbox-text"><div class="mbox-text-span">This article <b>does not <a href="/wiki/Wikipedia:Citing_sources" title="Wikipedia:Citing sources">cite</a> any <a href="/wiki/Wikipedia:Verifiability" title="Wikipedia:Verifiability">sources</a></b>.<span class="hide-when-compact"> Please help <a href="/wiki/Special:EditPage/Nv_network" title="Special:EditPage/Nv network">improve this article</a> by <a href="/wiki/Help:Referencing_for_beginners" title="Help:Referencing for beginners">adding citations to reliable sources</a>. Unsourced material may be challenged and <a href="/wiki/Wikipedia:Verifiability#Burden_of_evidence" title="Wikipedia:Verifiability">removed</a>.<br /><small><span class="plainlinks"><i>Find sources:</i> <a rel="nofollow" class="external text" href="https://www.google.com/search?as_eq=wikipedia&q=%22Nv+network%22">"Nv network"</a> – <a rel="nofollow" class="external text" href="https://www.google.com/search?tbm=nws&q=%22Nv+network%22+-wikipedia&tbs=ar:1">news</a> <b>·</b> <a rel="nofollow" class="external text" href="https://www.google.com/search?&q=%22Nv+network%22&tbs=bkt:s&tbm=bks">newspapers</a> <b>·</b> <a rel="nofollow" class="external text" href="https://www.google.com/search?tbs=bks:1&q=%22Nv+network%22+-wikipedia">books</a> <b>·</b> <a rel="nofollow" class="external text" href="https://scholar.google.com/scholar?q=%22Nv+network%22">scholar</a> <b>·</b> <a rel="nofollow" class="external text" href="https://www.jstor.org/action/doBasicSearch?Query=%22Nv+network%22&acc=on&wc=on">JSTOR</a></span></small></span> <span class="date-container"><i>(<span class="date">November 2022</span>)</i></span><span class="hide-when-compact"><i> (<small><a href="/wiki/Help:Maintenance_template_removal" title="Help:Maintenance template removal">Learn how and when to remove this message</a></small>)</i></span></div></td></tr></tbody></table> <p>A <b>Nv network</b> is a term used in <a href="/wiki/BEAM_robotics" title="BEAM robotics">BEAM robotics</a> referring to the small electrical Neural Networks that make up the bulk of BEAM-based robot control mechanisms. </p> <meta property="mw:PageProp/toc" /> <div class="mw-heading mw-heading2"><h2 id="Building_blocks">Building blocks</h2><span class="mw-editsection"><span class="mw-editsection-bracket">[</span><a href="/w/index.php?title=Nv_network&action=edit&section=1" title="Edit section: Building blocks"><span>edit</span></a><span class="mw-editsection-bracket">]</span></span></div> <p>The most basic component included in Nv Networks is the <a href="/wiki/Nv_neuron" class="mw-redirect" title="Nv neuron">Nv neuron</a>. The purpose of a Nv neuron is simply to take an input, do something with it, and give an output. The most common action of Nv neurons is to give a delay. </p> <div class="mw-heading mw-heading3"><h3 id="BEAM_Nv_Neurons">BEAM Nv Neurons</h3><span class="mw-editsection"><span class="mw-editsection-bracket">[</span><a href="/w/index.php?title=Nv_network&action=edit&section=2" title="Edit section: BEAM Nv Neurons"><span>edit</span></a><span class="mw-editsection-bracket">]</span></span></div> <p>The standard for BEAM-based neurons is a <a href="/wiki/Capacitor" title="Capacitor">capacitor</a> that has one lead as an input, and the other going into the input line of an <a href="/wiki/Inverter" class="mw-redirect" title="Inverter">inverter</a>. That inverter's output is the output of the neuron. The capacitor lead that is inputting into the inverter is pulled to ground with a <a href="/wiki/Resistor" title="Resistor">resistor</a>. The neuron functions because when an input is received (positive power on the input line), it charges the capacitor. Once the input is lost (negative power on the input line), the capacitor discharges into the inverter, causing the inverter to produce an output that is passed to the next neuron. The rate that the capacitor discharges is tied to the resistor that is pulling the input to the inverter to the negative. The larger the resistor, the longer it will take for the capacitor to fully discharge, and the longer it will take for that neuron to completely fire. </p> <div class="mw-heading mw-heading2"><h2 id="Types">Types</h2><span class="mw-editsection"><span class="mw-editsection-bracket">[</span><a href="/w/index.php?title=Nv_network&action=edit&section=3" title="Edit section: Types"><span>edit</span></a><span class="mw-editsection-bracket">]</span></span></div> <p>There are many common <a href="/wiki/Network_topologies" class="mw-redirect" title="Network topologies">network topologies</a> used in BEAM robots, the most common of which are listed here. </p> <div class="mw-heading mw-heading3"><h3 id="Bicore">Bicore</h3><span class="mw-editsection"><span class="mw-editsection-bracket">[</span><a href="/w/index.php?title=Nv_network&action=edit&section=4" title="Edit section: Bicore"><span>edit</span></a><span class="mw-editsection-bracket">]</span></span></div> <p>Probably the most utilized Nv Net topology in BEAM, the Bicore consists of two neurons placed in a loop that alternates current to the output. Input into the loop is given in the form of changing the resistance in each separate Neuron, which changes the rate at which the Neuron discharges, affecting the pace at which the loop oscillates. </p> <div class="mw-heading mw-heading3"><h3 id="Master/Slave_bicores"><span id="Master.2FSlave_bicores"></span>Master/Slave bicores</h3><span class="mw-editsection"><span class="mw-editsection-bracket">[</span><a href="/w/index.php?title=Nv_network&action=edit&section=5" title="Edit section: Master/Slave bicores"><span>edit</span></a><span class="mw-editsection-bracket">]</span></span></div> <p>Another common topology is using two bicores in a <a href="/wiki/Master/slave_(technology)" class="mw-redirect" title="Master/slave (technology)">master/slave</a> layout where the master bicore leads the slave and sets the pace, while the slave bicore follows at an offset pace. This layout is most commonly used for dual-motor walkers. </p> <div class="mw-heading mw-heading3"><h3 id="Larger_networks">Larger networks</h3><span class="mw-editsection"><span class="mw-editsection-bracket">[</span><a href="/w/index.php?title=Nv_network&action=edit&section=6" title="Edit section: Larger networks"><span>edit</span></a><span class="mw-editsection-bracket">]</span></span></div> <p>Other larger network topologies include the Tricore, and Quadcore which are laid out in a similar way the bicore is, except with more Neurons in the loop. More complex networks exist, but are not as common due to the simplistic nature of BEAM. </p> <div class="mw-heading mw-heading2"><h2 id="Structure">Structure</h2><span class="mw-editsection"><span class="mw-editsection-bracket">[</span><a href="/w/index.php?title=Nv_network&action=edit&section=7" title="Edit section: Structure"><span>edit</span></a><span class="mw-editsection-bracket">]</span></span></div> <p>A basic Nv network is built upon several <a href="/wiki/Nv_neurons" class="mw-redirect" title="Nv neurons">Nv neurons</a> in a loop. The loop's timing is often varied by input sensors. This difference in timing is often meant to affect the output pattern of the Nv loop. An example of this can be seen in a simple BEAM <i>walker</i> robot utilizing a bicore network (2 neurons). The neural network is set up to alternate current going to the main motor in a way where under equal input from the main sensors, the neurons oscillate at an equal pace to each other, producing a steady walking gait. When input (e.g. from light sensors) is present, the timing of each neuron in the loop is varied based on the input from the sensors, affecting the pace at which the loop oscillates. This affected pace is often used to alter the walking gait of a robot in order to steer it based on the input from its sensors. </p> <div class="mw-heading mw-heading2"><h2 id="External_articles_and_other_references">External articles and other references</h2><span class="mw-editsection"><span class="mw-editsection-bracket">[</span><a href="/w/index.php?title=Nv_network&action=edit&section=8" title="Edit section: External articles and other references"><span>edit</span></a><span class="mw-editsection-bracket">]</span></span></div> <ul><li><a rel="nofollow" class="external text" href="http://www.beam-wiki.org/wiki/index.php?title=BEAM_NV_Networks">BEAM NV Articles</a> on the <a rel="nofollow" class="external text" href="https://web.archive.org/web/20081208031537/http://www.beam-wiki.org/wiki/Main_Page">BEAM Robotics Wiki</a></li> <li><a rel="nofollow" class="external text" href="http://www.beam-wiki.org/wiki/index.php?title=Bicores">On Bicores</a> on the <a rel="nofollow" class="external text" href="https://web.archive.org/web/20081208031537/http://www.beam-wiki.org/wiki/Main_Page">BEAM Robotics Wiki</a></li></ul>    </div><noscript><img src="https://login.wikimedia.org/wiki/Special:CentralAutoLogin/start?useformat=desktop&type=1x1&usesul3=0" alt="" width="1" height="1" style="border: none; position: absolute;"></noscript> <div class="printfooter" data-nosnippet="">Retrieved from "<a dir="ltr" href="https://en.wikipedia.org/w/index.php?title=Nv_network&oldid=1164692399">https://en.wikipedia.org/w/index.php?title=Nv_network&oldid=1164692399</a>"</div></div> <div id="catlinks" class="catlinks" data-mw="interface"><div id="mw-normal-catlinks" class="mw-normal-catlinks"><a href="/wiki/Help:Category" title="Help:Category">Categories</a>: <ul><li><a href="/wiki/Category:Electrical_circuits" title="Category:Electrical circuits">Electrical circuits</a></li><li><a href="/wiki/Category:BEAM_robotics" title="Category:BEAM robotics">BEAM robotics</a></li></ul></div><div id="mw-hidden-catlinks" class="mw-hidden-catlinks mw-hidden-cats-hidden">Hidden categories: <ul><li><a href="/wiki/Category:Articles_lacking_sources_from_November_2022" title="Category:Articles lacking sources from November 2022">Articles lacking sources from November 2022</a></li><li><a href="/wiki/Category:All_articles_lacking_sources" title="Category:All articles lacking sources">All articles lacking sources</a></li></ul></div></div> </div> </main> </div> <div class="mw-footer-container"> <footer id="footer" class="mw-footer" > <ul id="footer-info"> <li id="footer-info-lastmod"> This page was last edited on 10 July 2023, at 14:29<span class="anonymous-show"> (UTC)</span>.</li> <li id="footer-info-copyright">Text is available under the <a href="/wiki/Wikipedia:Text_of_the_Creative_Commons_Attribution-ShareAlike_4.0_International_License" title="Wikipedia:Text of the Creative Commons Attribution-ShareAlike 4.0 International License">Creative Commons Attribution-ShareAlike 4.0 License</a>; additional terms may apply. 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