Towards a Conceptual Design Explorer Using Metamodeling Approaches and Constraint Programming

Author(s):  
Bernard Yannou ◽  
Timothy W. Simpson ◽  
Russell R. Barton

Constraint Programming (CP) is a promising technique for managing uncertainty in conceptual design. It provides efficient algorithms for reducing, as quickly as possible, the domains of the design and performance variables while complying to the engineering and performance constraints linking them. In addition, CP techniques are suitable to graphically represent 3D projections of the complete design space. This is a useful capability for a better understanding of the product concept’s degrees of freedom and a valuable alternative to optimization based upon the construction of an arbitrary preference aggregation function. Unfortunately, one of the main impediments for using Constraint Programming on industrial problems of practical interest is that constraints must be represented by analytical equations, which is not the case of hard mechanical performances — such as meshing and finite element computations — that are usually obtained after lengthy simulations. We propose to use metamodeling techniques (MM) to generate approximated mathematical models of these analyses which can be employed directly within a CP environment, expanding the scope of CP to applications that previously could not be solved by CP due to the unavailability of analytical equations. We show that there is a tradeoff between the metamodel fidelity and the resulting CP constraint tractability. A strategy to find this compromise is presented. The case study of a combustion chamber design shows amazingly that the compromise is to favor the simplest and the coarsest first-order response surface model.


Author(s):  
Valerio Viero ◽  
Tamara Triossi ◽  
Daniele Bianchi ◽  
Alessandro Campagna ◽  
Giovanni Melchiorri


2021 ◽  
Vol 11 (13) ◽  
pp. 5865
Author(s):  
Muhammad Ahsan Gull ◽  
Mikkel Thoegersen ◽  
Stefan Hein Bengtson ◽  
Mostafa Mohammadi ◽  
Lotte N. S. Andreasen Struijk ◽  
...  

Wheelchair mounted upper limb exoskeletons offer an alternative way to support disabled individuals in their activities of daily living (ADL). Key challenges in exoskeleton technology include innovative mechanical design and implementation of a control method that can assure a safe and comfortable interaction between the human upper limb and exoskeleton. In this article, we present a mechanical design of a four degrees of freedom (DOF) wheelchair mounted upper limb exoskeleton. The design takes advantage of non-backdrivable mechanism that can hold the output position without energy consumption and provide assistance to the completely paralyzed users. Moreover, a PD-based trajectory tracking control is implemented to enhance the performance of human exoskeleton system for two different tasks. Preliminary results are provided to show the effectiveness and reliability of using the proposed design for physically disabled people.



Author(s):  
Afef Hfaiedh ◽  
Ahmed Chemori ◽  
Afef Abdelkrim

In this paper, the control problem of a class I of underactuated mechanical systems (UMSs) is addressed. The considered class includes nonlinear UMSs with two degrees of freedom and one control input. Firstly, we propose the design of a robust integral of the sign of the error (RISE) control law, adequate for this special class. Based on a change of coordinates, the dynamics is transformed into a strict-feedback (SF) form. A Lyapunov-based technique is then employed to prove the asymptotic stability of the resulting closed-loop system. Numerical simulation results show the robustness and performance of the original RISE toward parametric uncertainties and disturbance rejection. A comparative study with a conventional sliding mode control reveals a significant robustness improvement with the proposed original RISE controller. However, in real-time experiments, the amplification of the measurement noise is a major problem. It has an impact on the behaviour of the motor and reduces the performance of the system. To deal with this issue, we propose to estimate the velocity using the robust Levant differentiator instead of the numerical derivative. Real-time experiments were performed on the testbed of the inertia wheel inverted pendulum to demonstrate the relevance of the proposed observer-based RISE control scheme. The obtained real-time experimental results and the obtained evaluation indices show clearly a better performance of the proposed observer-based RISE approach compared to the sliding mode and the original RISE controllers.



Author(s):  
Gaurav Chaurasia ◽  
Arthur Nieuwoudt ◽  
Alexandru-Eugen Ichim ◽  
Richard Szeliski ◽  
Alexander Sorkine-Hornung

We present an end-to-end system for real-time environment capture, 3D reconstruction, and stereoscopic view synthesis on a mobile VR headset. Our solution allows the user to use the cameras on their VR headset as their eyes to see and interact with the real world while still wearing their headset, a feature often referred to as Passthrough. The central challenge when building such a system is the choice and implementation of algorithms under the strict compute, power, and performance constraints imposed by the target user experience and mobile platform. A key contribution of this paper is a complete description of a corresponding system that performs temporally stable passthrough rendering at 72 Hz with only 200 mW power consumption on a mobile Snapdragon 835 platform. Our algorithmic contributions for enabling this performance include the computation of a coarse 3D scene proxy on the embedded video encoding hardware, followed by a depth densification and filtering step, and finally stereoscopic texturing and spatio-temporal up-sampling. We provide a detailed discussion and evaluation of the challenges we encountered, as well as algorithm and performance trade-offs in terms of compute and resulting passthrough quality.;AB@The described system is available to users as the Passthrough+ feature on Oculus Quest. We believe that by publishing the underlying system and methods, we provide valuable insights to the community on how to design and implement real-time environment sensing and rendering on heavily resource constrained hardware.



Author(s):  
Lee-Huang Chen ◽  
Kyunam Kim ◽  
Ellande Tang ◽  
Kevin Li ◽  
Richard House ◽  
...  

This paper presents the design, analysis and testing of a fully actuated modular spherical tensegrity robot for co-robotic and space exploration applications. Robots built from tensegrity structures (composed of pure tensile and compression elements) have many potential benefits including high robustness through redundancy, many degrees of freedom in movement and flexible design. However to fully take advantage of these properties a significant fraction of the tensile elements should be active, leading to a potential increase in complexity, messy cable and power routing systems and increased design difficulty. Here we describe an elegant solution to a fully actuated tensegrity robot: The TT-3 (version 3) tensegrity robot, developed at UC Berkeley, in collaboration with NASA Ames, is a lightweight, low cost, modular, and rapidly prototyped spherical tensegrity robot. This robot is based on a ball-shaped six-bar tensegrity structure and features a unique modular rod-centered distributed actuation and control architecture. This paper presents the novel mechanism design, architecture and simulations of TT-3, the first untethered, fully actuated cable-driven six-bar tensegrity spherical robot ever built and tested for mobility. Furthermore, this paper discusses the controls and preliminary testing performed to observe the system’s behavior and performance.



2021 ◽  
Vol 99 (Supplement_3) ◽  
pp. 298-299
Author(s):  
Bailey L Basiel ◽  
Chad D Dechow ◽  
Tara L Felix

Abstract Objectives were to compare feedlot performance and carcass traits of F1 beef × Holstein steers and Holstein steers. Angus or Limousin × Holstein crossbred [n = 27; age = 12 ± 3 months; body weight (BW) = 435 ± 8 kg] and Holstein (n = 20; age = 11 ± 2 months; BW = 400 ± 9 kg) steers were fed at the Pennsylvania Department of Agriculture Livestock Evaluation Center for 111 days. Feed intake was recorded using the GrowSafe Feed Intake Monitoring System (Model 4000E, GrowSafe Systems Ltd., Calgary AB, Canada). The diet contained corn silage, dried distillers grains, soybean meal, and cracked corn and was formulated to meet or exceed the requirements of beef cattle (NASEM, 2016). Growth performance variables of interest and carcass measurements were analyzed with the Mixed procedure of SAS (SAS 9.4; SAS Institute Inc., Cary, NC). USDA assigned quality grades (QG) and yield grades (YG) were analyzed the with GLIMMIX procedure of SAS. Breed was a fixed effect in all models. There were no differences (P > 0.05) between breeds in average daily gain or feed efficiency. Crossbreds exceeded Holsteins in initial (P < 0.01) and final BW (P = 0.01), dry matter intake (P = 0.03), hot carcass weight (P < 0.01), backfat (P = 0.03), and ribeye area (REA; P < 0.01). Thirty-five percent (35%) of the Holsteins received a QG of Choice or above while 74% of crossbreds graded USDA Choice or above (P = 0.01). However, 75% of Holsteins were YG 2 or lower while only 45% of crossbreds achieved YG 2 or less (P = 0.05). There was no improvement in efficiency when crossbreds were compared to Holsteins; however, carcasses from crossbreds were more likely to grade USDA Choice or above while yielding greater REA and backfat than Holsteins.



2003 ◽  
Vol 125 (4) ◽  
pp. 234-241 ◽  
Author(s):  
Vincent Y. Blouin ◽  
Michael M. Bernitsas ◽  
Denby Morrison

In structural redesign (inverse design), selection of the number and type of performance constraints is a major challenge. This issue is directly related to the computational effort and, most importantly, to the success of the optimization solver in finding a solution. These issues are the focus of this paper, which provides and discusses techniques that can help designers formulate a well-posed integrated complex redesign problem. LargE Admissible Perturbations (LEAP) is a general methodology, which solves redesign problems of complex structures with, among others, free vibration, static deformation, and forced response amplitude constraints. The existing algorithm, referred to as the Incremental Method is improved in this paper for problems with static and forced response amplitude constraints. This new algorithm, referred to as the Direct Method, offers comparable level of accuracy for less computational time and provides robustness in solving large-scale redesign problems in the presence of damping, nonstructural mass, and fluid-structure interaction effects. Common redesign problems include several natural frequency constraints and forced response amplitude constraints at various frequencies of excitation. Several locations on the structure and degrees of freedom can be constrained simultaneously. The designer must exercise judgment and physical intuition to limit the number of constraints and consequently the computational time. Strategies and guidelines are discussed. Such techniques are presented and applied to a 2,694 degree of freedom offshore tower.



1996 ◽  
Vol 28 (5) ◽  
pp. 783-817 ◽  
Author(s):  
L Suarez-Villa ◽  
C Karlsson

Sweden's research-intensive electronics industries have thrived by developing export-market niches that rely greatly on continuous innovation and substantial expenditures in R&D. Over the past two decades, three R&D-intensive sectors (telecommunications equipment, electronic instruments, and computing-equipment manufacturing) have experienced a progressive territorial distribution, that has made them less reliant on the metropolitan concentration of the capital for their outsourcing and research arrangements. In this article we explore the relationship between R&D intensity, territorial distribution, subcontracting, and establishment performance in the R&D-intensive electronics industries. The export performance of these industries is considered first, along with its relationship with employment characteristics and territorial location. An analysis of the territorial distribution, and its relationship with establishment downsizing and subcontracting, provides insights on the significance of lower costs and higher R&D intensity for small-scale operations. Statistical analyses of R&D intensity and performance variables that include labour skills, plant size, production costs, fixed capital assets, and profitability, with establishment-level survey data, provide important insights on the effects of subcontracting and any spatial differences resulting thereof.



2018 ◽  
Vol 26 (3) ◽  
pp. 323-331 ◽  
Author(s):  
Guillermo Olcina ◽  
Rafael Timón ◽  
Javier Brazo-Sayavera ◽  
Ismael Martínez-Guardado ◽  
Marta Marcos-Serrano ◽  
...  


Author(s):  
Chao Xu ◽  
Lili Pan ◽  
Ming Li ◽  
Shuming Gao

Porous materials / structures have wide applications in industry, since the sizes, shapes and positions of their pores can be adjusted on various demands. However, the precise control and performance oriented design of porous structures are still urgent and challenging, especially when the manufacturing technology is well developed due to 3D printing. In this study, the control and design of anisotropic porous structures are studied with more degrees of freedom than isotropic structures, and can achieve more complex mechanical goals. The proposed approach introduces Super Formula to represent the structural cells, maps the design problem to an optimal problem using PGD, and solves the optimal problem using MMA to obtain the structure with desired performance. The proposed approach is also tested on the performance of the expansion of design space, the capture of the physical orientation and so on.



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