Transcript Variable Geometry Truss Design and Evolution

Variable Geometry Truss
Design and Evolution
Literature Review and Extension
By Ira Dunn
Computer Science 447
Advanced Topics in Artificial
Intelligence
Presentation Overview
•
•
•
•
•
Review of Variable Geometry Trusses
Current Research
Proposed Motion Methodology
Evolutionary Experiment
Results
Variable Geometry Truss
•
•
•
•
Space Frame Links
Serial interconnection
Lightweight
“Hollow” structure to
allow cabling
• Simple stress models
Current Research
• Estimation of Kinematics
• Simultaneous Optimization of
Actuator Placement
• Distributed Control
• Computational Issues
Proposed Motion Methodology
•
•
•
•
“Follow the Leader”
Obstacle-rich workspace
Transverse motion is avoided
Two paths needed to be obstacle free
Evolutionary Strategy
• Trial solutions tested over 2 variables:
– Retraction
– Deflection Angle transfer function factor
• Good solutions pooled
• Best solution selected after 75 generations
Results
• End goal found within .25 inches every
trial
• Simple Obstacle avoidance implemented
• ES operated and solution found within and
average of .29 seconds per generation