Emergent Design of Dynamical Behavior
As a mechanical system has larger number of degree-of freedom (DOF) of motion in order to generate diverse behavior, it becomes more difficult to design the control scheme for its motion to achieve a specific function required for the system. This paper proposes a novel design methodology for the co...
| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
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The Japan Society of Mechanical Engineers
2012-03-01
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| Series: | Journal of Advanced Mechanical Design, Systems, and Manufacturing |
| Subjects: | |
| Online Access: | https://www.jstage.jst.go.jp/article/jamdsm/6/2/6_2_274/_pdf/-char/en |
| _version_ | 1818532036246241280 |
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| author | Toru NAGATA Kenjiro TAKEMURA Koichiro SATO Yoshiyuki MATSUOKA |
| author_facet | Toru NAGATA Kenjiro TAKEMURA Koichiro SATO Yoshiyuki MATSUOKA |
| author_sort | Toru NAGATA |
| collection | DOAJ |
| description | As a mechanical system has larger number of degree-of freedom (DOF) of motion in order to generate diverse behavior, it becomes more difficult to design the control scheme for its motion to achieve a specific function required for the system. This paper proposes a novel design methodology for the control scheme in order to deal with the above-mentioned difficulty. The design methodology proposed is inspired from the concept of emergence observed in living organisms, that is, diverse behavior is emerged to an ultra multi-DOF dynamic system only with a single set of local rules using local information between neighboring subsystems. This study simplifies the ultra multi-DOF system as an 11×11 lattice mass system, neighboring masses are connected with a linear actuator, and aims to prevent a target mass point (control subsystem) from moving even if any external forces are input to the system, which we call this function “displacement controllability.” Hence the P/D gains of the actuators are turned ON/OFF by the proposed local rule for displacement controllability. As a result of computation, the displacement controllability was successfully emerged to the mass system under the various environments, i.e., diverse external force inputs. That means, the diverse behavior dealing with various environments was generated to the system only using the single local rule. Consequently, the effectiveness of the proposed behavior design methodology for an ultra-multi-DOF system was confirmed. |
| first_indexed | 2024-12-11T17:40:16Z |
| format | Article |
| id | doaj.art-8e3406a9288748c2bcdc1950626f5173 |
| institution | Directory Open Access Journal |
| issn | 1881-3054 |
| language | English |
| last_indexed | 2024-12-11T17:40:16Z |
| publishDate | 2012-03-01 |
| publisher | The Japan Society of Mechanical Engineers |
| record_format | Article |
| series | Journal of Advanced Mechanical Design, Systems, and Manufacturing |
| spelling | doaj.art-8e3406a9288748c2bcdc1950626f51732022-12-22T00:56:33ZengThe Japan Society of Mechanical EngineersJournal of Advanced Mechanical Design, Systems, and Manufacturing1881-30542012-03-016227428610.1299/jamdsm.6.274jamdsmEmergent Design of Dynamical BehaviorToru NAGATA0Kenjiro TAKEMURA1Koichiro SATO2Yoshiyuki MATSUOKA3Department of Mechanical Engineering, Keio UniversityDepartment of Mechanical Engineering, Keio UniversityDepartment of Mechanical Engineering, Keio UniversityDepartment of Mechanical Engineering, Keio UniversityAs a mechanical system has larger number of degree-of freedom (DOF) of motion in order to generate diverse behavior, it becomes more difficult to design the control scheme for its motion to achieve a specific function required for the system. This paper proposes a novel design methodology for the control scheme in order to deal with the above-mentioned difficulty. The design methodology proposed is inspired from the concept of emergence observed in living organisms, that is, diverse behavior is emerged to an ultra multi-DOF dynamic system only with a single set of local rules using local information between neighboring subsystems. This study simplifies the ultra multi-DOF system as an 11×11 lattice mass system, neighboring masses are connected with a linear actuator, and aims to prevent a target mass point (control subsystem) from moving even if any external forces are input to the system, which we call this function “displacement controllability.” Hence the P/D gains of the actuators are turned ON/OFF by the proposed local rule for displacement controllability. As a result of computation, the displacement controllability was successfully emerged to the mass system under the various environments, i.e., diverse external force inputs. That means, the diverse behavior dealing with various environments was generated to the system only using the single local rule. Consequently, the effectiveness of the proposed behavior design methodology for an ultra-multi-DOF system was confirmed.https://www.jstage.jst.go.jp/article/jamdsm/6/2/6_2_274/_pdf/-char/enemergent designmultibody dynamicsmotion controldistributed coordinationultra multi-dof systemlocal rule |
| spellingShingle | Toru NAGATA Kenjiro TAKEMURA Koichiro SATO Yoshiyuki MATSUOKA Emergent Design of Dynamical Behavior Journal of Advanced Mechanical Design, Systems, and Manufacturing emergent design multibody dynamics motion control distributed coordination ultra multi-dof system local rule |
| title | Emergent Design of Dynamical Behavior |
| title_full | Emergent Design of Dynamical Behavior |
| title_fullStr | Emergent Design of Dynamical Behavior |
| title_full_unstemmed | Emergent Design of Dynamical Behavior |
| title_short | Emergent Design of Dynamical Behavior |
| title_sort | emergent design of dynamical behavior |
| topic | emergent design multibody dynamics motion control distributed coordination ultra multi-dof system local rule |
| url | https://www.jstage.jst.go.jp/article/jamdsm/6/2/6_2_274/_pdf/-char/en |
| work_keys_str_mv | AT torunagata emergentdesignofdynamicalbehavior AT kenjirotakemura emergentdesignofdynamicalbehavior AT koichirosato emergentdesignofdynamicalbehavior AT yoshiyukimatsuoka emergentdesignofdynamicalbehavior |