This paper presents a decentralized algorithm for the coordinated assembly of 3D objects that consist of multiple types of parts, using a networked team of robots. We describe the algorithm and analyzed its stability and adaptation properties. We instantiate the algorithm to building truss-like objects using rods and connectors. We implement the algorithm in simulation and show results for cons...

Distributed Genetic Algorithm (DGA) is one of optimization methods and very suitable to parallel computers. Therefore, DGA is a very effective tool in high performance computing. In this paper, we discussed DGAs for designing truss structures. Most of the real world problems in optimization problems have constraints. Since DGA is an algorithm for problems without constraints, the fitness functi...

A rotational joint is introduced for use in shape morphing or deployable space truss structures. The joint is a chain mechanism comprising up to six pivoted linkages that provide a compact mechanism for the connection of up to six structures at a node. The total number of degrees of freedom for a constrained joint mechanism with six links is found. A closed chain model is then used to determine...

Many real-world engineering design problems are naturally cast in the form of optimization programs with uncertainty-contaminated data. In this context, a reliable design must be able to cope in some way with the presence of uncertainty. In this paper, we consider two standard philosophies for finding optimal solutions for uncertain convex optimization problems. In the first approach, classical...

Recent developments in the area of smart structures indicate that variable geometry / stiffness truss network is of fundamental importance in designing smart transformable structures and systems for space applications. This paper presents the conceptual design and dynamic modeling of a cooperative re-configurabel dual-arm robotic structure called Dual-Arm Cam-Lock Manipulator. The Manipulator i...

One of the primary objectives truss structure design optimization is to minimize total weight by determining optimal sizes members while ensuring structural stability and integrity against external loads. Trusses consist pin joints connected straight members, analogous vertices edges in a mathematical graph. This characteristic motivates idea representing as graph edges. In this study, Graph Ne...

Linear systems whose coefficients have large uncertainties arise routinely in finite element calculations for structures with uncertain geometry, material properties, or loads. However, a true worst case analysis of the influence of such uncertainties was previously possible only for very small systems and uncertainties, or in special cases where the coefficients do not exhibit dependence. This...

The k-truss is a type of cohesive subgraphs proposed recently for the study of networks. While the problem of computing most cohesive subgraphs is NP-hard, there exists a polynomial time algorithm for computing k-truss. Compared with k-core which is also efficient to compute, k-truss represents the “core” of a k-core that keeps the key information of, while filtering out less important informat...

Truss lattices are common in a wide variety of engineering applications, due to their high ratio strength versus relative density. They used both as the interior support for other structures, and structures on own. Using 3D sphere packing, we propose set methods generating truss that fill B-rep models, polygonal or (trimmed) NURBS based, arbitrary shape. Once packing spheres has been establishe...