Emergent design of dynamical behavior

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

研究成果: Conference contribution

1 被引用数 (Scopus)

抄録

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.

本文言語English
ホスト出版物のタイトル2010 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2010
ページ373-378
ページ数6
DOI
出版ステータスPublished - 2010 12月 1
イベント2010 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2010 - Montreal, QC, Canada
継続期間: 2010 7月 62010 7月 9

出版物シリーズ

名前IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM

Other

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

ASJC Scopus subject areas

  • 制御およびシステム工学
  • ソフトウェア
  • コンピュータ サイエンスの応用
  • 電子工学および電気工学

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