FIGURE 6.

Predicted rollout trajectories over 10 min of actuation using θ(t = 15s) as initial value, for unidirectional (A) or bidirectional (B) motions. Test ${\tilde{\theta }}_1$ depicts a rollout from the model trained only on PWM input data on a single SMA. Test ${\tilde{\theta }}_2$ also depicts a unidirectional rollout, but uses the model trained on both PWM and temperature. Tests ${\tilde{\theta }}_4$ and ${\tilde{\theta }}_4$ show the rollouts for the bidirectional models trained on PWM and on PWM with temperature, respectively. All tests show extremely little drift over arbitrarily long time scales.