This README.txt file was generated on <2021-11-26> by <WANG Jiao> 
General information regarding the dataset submitted:

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GENERAL INFORMATION
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1. Title of the thesis: 

Design and Motion Control of Multi-segment Continuum Robots

2. Author information:

Author: WANG Jiao
Faculty: Faculty of Engineering
Department: Department of Industrial and Manufacturing Systems Engineering
Email: jiaowang@connect.hku.hk

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DATA & FILE OVERVIEW
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1. Folder 1:  

<Simulation Data for Design Optimization> in <MATLAB> 
   
The detailed description of the simulation experiment refers to the following paper:

J. Wang, Y. K. Lau, " Dexterity Analysis based on Jacobian and Performance Optimization for Multi-segment Continuum Robots," ASME Journal of Mechanisms and Robotics, vol.13, no. 6, pp. 061012, December 2021.

  
  A. CR_Dexterity_Analysis: 
     The dexterity results of the two groups of continuum robots
   
  B. CR_Workspace_MonteCarlo
     The reachable workspace results of the two groups of continuum robots

  C. Partical Swarm Optimization
     The optimization process for two-segment continuum robots and three-segment continuum robots


2. Folder 2:

<Simulation Experiments for Motion Control based on DRL> in <MATLAB> 
The detailed description of the simulation experiment refers to the Chapter 4 in my thesis:

  A. Matlab_DDPG_TD3
     The training process of DDPG algorithm and TD3 algorithm for the motion control of a two-segment continuum robot

  B. Matlab_DQN
     The training process of DQN algorithm for the motion control of a two-segment continuum robot


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DESCRIPTION FOR FILES
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.m file is the Matlab file to run the relevant simulation experiment.
.mat file is the simulation dataset collection.
.fig file is the display of simulation result in the form of figure.


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DESCRIPTION FOR DATA 
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The specific data description is given as annotations in each .m file.


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METHODOLOGICAL INFORMATION
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1. Software-specific information:

Name: MATLAB
Version: MATLAB R2019b
System Requirements:64-bit


2. Equipment-specific information:

N/A