Multi-domain optimization of the eigenstructure of controlled underactuated vibrating systems

The paper proposes a multi-domain approach to the optimization of the dynamic response of an underactuated vibrating linear system through eigenstructure assignment, by exploiting the concurrent design of the mechanical properties, the regulator and state observers. The approach relies on handling simultaneously mechanical design and controller synthesis in order to enlarge the set of the achievable performances. The underlying novel idea is that structural properties of controlled mechanical systems should be designed considering the presence of the controller through a concurrent approach: this can considerably improve the optimization possibilities. The method is, first, developed theoretically. Starting from the definition of the set of feasible system responses, defined through the feasible mode shapes, an original formulation of the optimality criterion is proposed to properly shape the allowable subspace through the optimal modification of the design variables. A proper choice of the modifications of the elastic and inertial parameters, indeed, changes the space of the allowable eigenvectors that can be achieved through active control and allows obtaining the desired performances. The problem is then solved through a rank-minimization with constraints on the design variables: a convex optimization problem is formulated through the \u201csemidefinite embedding lemma\u201d and the \u201ctrace heuristics\u201d. Finally, experimental validation is provided through the assignment of a mode shape and of the related eigenfrequency to a cantilever beam controlled by a piezoelectric actuator, in order to obtain a region of the beam with negligible oscillations and the other one with large oscillations. The results prove the effectiveness of the proposed approach that outperforms active control and mechanical design when used alone

Kinematics and Robot Design IV, KaRD2021

This volume collects the papers published on the special issue “Kinematics and Robot Design IV, KaRD2021” (https://www.mdpi.com/journal/robotics/special_issues/KaRD2021), which is the forth edition of the KaRD special-issue series, hosted by the open-access journal “MDPI Robotics”. KaRD series is an open environment where researchers can present their works and discuss all the topics focused on the many aspects that involve kinematics in the design of robotic/automatic systems. Kinematics is so intimately related to the design of robotic/automatic systems that the admitted topics of the KaRD series practically cover all the subjects normally present in well-established international conferences on “mechanisms and robotics”. KaRD2021, after the peer-review process, accepted 12 papers. The accepted papers cover some theoretical and many design/applicative aspects

Dynamic Neuromechanical Sets for Locomotion

Most biological systems employ multiple redundant actuators, which is a complicated problem of controls and analysis. Unless assumptions about how the brain and body work together, and assumptions about how the body prioritizes tasks are applied, it is not possible to find the actuator controls. The purpose of this research is to develop computational tools for the analysis of arbitrary musculoskeletal models that employ redundant actuators. Instead of relying primarily on optimization frameworks and numerical methods or task prioritization schemes used typically in biomechanics to find a singular solution for actuator controls, tools for feasible sets analysis are instead developed to find the bounds of possible actuator controls. Previously in the literature, feasible sets analysis has been used in order analyze models assuming static poses. Here, tools that explore the feasible sets of actuator controls over the course of a dynamic task are developed. The cost-function agnostic methods of analysis developed in this work run parallel and in concert with other methods of analysis such as principle components analysis, muscle synergies theory and task prioritization. Researchers and healthcare professionals can gain greater insights into decision making during behavioral tasks by layering these other tools on top of feasible sets analysis

Energy-based monitoring and correction to enhance the accuracy and stability of explicit co-simulation

[Abstract] The simulation of complex engineering applications often requires the consideration of component-level dynamics whose nature and time-scale differ across the elements of which the system is composed. Co-simulation offers an effective approach to deal with the modelling and numerical integration of such assemblies by assigning adequate description and solution methods to each component. Explicit co-simulation, in particular, is frequently used when efficient code execution is a requirement, for instance in real-time setups. Using explicit schemes, however, can lead to the introduction of energy artifacts at the discrete-time interface between subsystems. The resulting energy errors deteriorate the accuracy of the co-simulation results and may in some cases develop into the instability of the numerical integration process. This paper discusses the factors that influence the severity of the energy errors generated at the interface in explicit co-simulation applications, and presents a monitoring and correction methodology to detect and remove them. The method uses only the information carried by the variables exchanged between the subsystems and the co-simulation manager. The performance of this energy-correction technique was evaluated in multi-rate co-simulation of mechanical and multiphysics benchmark examples.Xunta de Galicia; ED431B2016/031Xunta de Galicia; ED431F2021/04Ministerio de Economía, Industria y Competitividad; RYC-2016-20222Ministerio de Economía, Industria y Competitividad; TRA2017-86488-