Since an intelligent variable geometry truss (IVGT) is usually equipped with large numbers of redundant actuators for the sake of providing adaptivity, a distributed control is considered a promising approach to dealing with its motion control. In this case, a modeling approach and an integrated model is a key to constructing distributed control systems from both hardware and software. To this end, this paper proposes an object-oriented modeling approach. Through decomposing the control problem domain underlying VGTs into objects, an object model can be obtained to represent various object abstractions and the relationship among these objects. It is shown in this paper that an object model of VGTs is exactly the integrated model for their knowledge organizations as well as the control architectures. Two control schemes resulting from the object models - a hierarchical distributed control and a autonomous distributed control - are discussed in particular. To verify the concepts adressed in this paper, an experimental prototype of IVGTs was manufactured, with a two-level hierarchical distributed control system equipped. With this prototype, an experiment is carried out, simulating a self-construction of space structures with IVGTs in a null gravity space.


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    Title :

    An object oriented modeling approach to intelligent variable geometry trusses


    Additional title:

    Ein objektorientierter Modellierungsansatz für intelligente strukturvariable Stabtragwerke


    Contributors:
    Huang, S. (author) / Natori, M.C. (author) / Umetani, Y. (author) / Nakai, S. (author) / Katukura, H. (author)


    Publication date :

    1997


    Size :

    15 Seiten, 21 Bilder, 14 Quellen




    Type of media :

    Article (Journal)


    Type of material :

    Print


    Language :

    English




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