A Branch and Bound approach for truss topology design problems with valid inequalities

One of the classical problems in the structural optimization field is the Truss Topology Design Problem (TTDP) which deals with the selection of optimal configuration for structural systems for applications in mechanical, civil, aerospace engineering, among others. In this paper we consider a TTDP where the goal is to find the stiffest truss, under a given load and with a bound on the total volume. The design variables are the cross-section areas of the truss bars that must be chosen from a given finite set. This results in a large-scale non-convex problem with discrete variables. This problem can be formulated as a Semidefinite Programming Problem (SDP problem) with binary variables. We propose a branch and bound algorithm to solve this problem. In this paper it is considered a binary formulation of the problem, to take advantage of its structure, which admits a Knapsack problem as subproblem. Thus, trying to improve the performance of the Branch and Bound, at each step, some valid inequalities for the Knapsack problem are included

Space Construction Experiment Definition Study (SCEDS), part 1. Volume 1: Executive summary

Definition was completed on a basic flight experiment which will provide data on the construction of large space systems from the orbiter which could not be practicably obtained from ground tests. Dynamic behavior of a representative large structure was predicted. On-orbit construction operations were studied. Orbiter control during and after construction was investigated. Evolutionary or supplemental flight experiments for the development of augmentation of a basic flight experiment were identified and defined

Automated sequence and motion planning for robotic spatial extrusion of 3D trusses

While robotic spatial extrusion has demonstrated a new and efficient means to fabricate 3D truss structures in architectural scale, a major challenge remains in automatically planning extrusion sequence and robotic motion for trusses with unconstrained topologies. This paper presents the first attempt in the field to rigorously formulate the extrusion sequence and motion planning (SAMP) problem, using a CSP encoding. Furthermore, this research proposes a new hierarchical planning framework to solve the extrusion SAMP problems that usually have a long planning horizon and 3D configuration complexity. By decoupling sequence and motion planning, the planning framework is able to efficiently solve the extrusion sequence, end-effector poses, joint configurations, and transition trajectories for spatial trusses with nonstandard topologies. This paper also presents the first detailed computation data to reveal the runtime bottleneck on solving SAMP problems, which provides insight and comparing baseline for future algorithmic development. Together with the algorithmic results, this paper also presents an open-source and modularized software implementation called Choreo that is machine-agnostic. To demonstrate the power of this algorithmic framework, three case studies, including real fabrication and simulation results, are presented.Comment: 24 pages, 16 figure

Experimental Path-Following of Equilibria Using Newton’s Method, Part I:Theory, Modelling, Experiments

Modern numerical path-following techniques provide a comprehensive suite of computational tools to study the bifurcation behaviour of engineering structures. In contrast, experimental testing of load-bearing nonlinear structures is still performed using simple force control (dead loading) or displacement control (rigid loading). This means that established experimental methods cannot trace equilibrium manifolds in their entirety because structures snap to alternative equilibria at limit points in the forcing parameter and because branch switching to alternative equilibria cannot be controlled and performed reliably. To extend current testing methods, in Part I of this paper, we implement an experimental path-following method that uses tangent quantities (stiffness and residual forces) and Newton's method to continue along stable and unstable equilibrium paths and traverse limit points. In addition to enforcing the displacement at primary load-introduction points, the overall shape of the structure is controlled via secondary actuators and sensors. Small perturbations of the structure using the secondary actuators allow an experimental tangent stiffness to be computed, which is then used in a control algorithm. As a pertinent test case, the experimental method is applied to a transversely loaded shallow {circular} arch. Due to the complexity of the test setup, the experiment is first designed using a virtual testing environment based on a surrogate finite element model. Experimental results demonstrate the robustness of the proposed experimental method and the usefulness of virtual testing as a surrogate, but also highlight that experimental efficiency and the effects of noise and sensor uncertainty is of particular concern. In Part II, we present perspectives on future research directions and novel testing capabilities that are enabled by extending the methodology to pinpointing of critical points, tracing of critical boundaries, and branch switching

Passive stabilization for large space systems

The optimal tuning of multiple tuned-mass dampers for the transient vibration damping of large space structures is investigated. A multidisciplinary approach is used. Structural dynamic techniques are applied to gain physical insight into absorber/structure interaction and to optimize specific cases. Modern control theory and parameter optimization techniques are applied to the general optimization problem. A design procedure for multi-absorber multi-DOF vibration damping problems is presented. Classical dynamic models are extended to investigate the effects of absorber placement, existing structural damping, and absorber cross-coupling on the optimal design synthesis. The control design process for the general optimization problem is formulated as a linear output feedback control problem via the development of a feedback control canonical form. The techniques are applied to sample micro-g and pointing problems on the NASA dual keel space station