Emergent design of dynamical behavior

T. Nagata, K. Takemura, K. Sato, Y. Matsuoka

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Citation (Scopus)

Abstract

In order to deal with ultra multi degree-of-freedom (DOF) dynamical systems, this paper proposes a design methodology for a control scheme inspired by the concept of emergence in living organisms. With this methodology, specific functions are found to appear in the system only using only local information available to the subcomponents of the system. In order to introduce the advantages of emergence to an ultra multi-DOF dynamical system, we designed the system as an autonomous decentralized system, and controlled its behavior using a bottom-up scheme, i.e., by setting local rules for each DOF. We considered a simplified 242-DOF mass system, with subsystems represented by point masses connected together by linear actuators. We analyzed the behavior of this dynamical system by computer simulation. We applied local rules to connect/disconnect the actuators to realize three kinds of functions: shape maintainability, displacement controllability and energy saving ability. These functions were found to successfully emerge in the numerical simulation results. Hence, the effectiveness of the proposed design methodology is confirmed.

Original languageEnglish
Title of host publication2010 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2010
Pages373-378
Number of pages6
DOIs
Publication statusPublished - 2010 Dec 1
Event2010 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2010 - Montreal, QC, Canada
Duration: 2010 Jul 62010 Jul 9

Publication series

NameIEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM

Other

Other2010 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2010
CountryCanada
CityMontreal, QC
Period10/7/610/7/9

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ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Science Applications
  • Electrical and Electronic Engineering

Cite this

Nagata, T., Takemura, K., Sato, K., & Matsuoka, Y. (2010). Emergent design of dynamical behavior. In 2010 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2010 (pp. 373-378). [5695749] (IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM). https://doi.org/10.1109/AIM.2010.5695749