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An Object Oriented Modeling Approach to Intelligent Variable Geometry Trusses

Intelligent System Laboratory, Toyota Technological Institute (TTI), 2-12-1 Hisakata, Tempaku, Nagoya 468, Japan

M. C. Natori

The Institute of Space and Astronautical Science (ISAS), Yoshinodai, Sagamihara 229, Japan

Y. Umetani

Intelligent System Laboratory, Toyota Technological Institute (TTI), 2-12-1 Hisakata, Tempaku, Nagoya 468, Japan

Shoichi Nakai

Hiroshi Katukura

Izumi Research Institute, Shimizu Corporation, Fukoku Seimei Bldg., 2-2-2, Uchisawai-cho, Chiyoda-ku, Tokyo, 1 10 Japan

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 relationships 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 an autonomous distributed control-are discussed in particular. To verify the concepts addressed 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.

Journal of Intelligent Material Systems and Structures, Vol. 8, No. 2, 158-172 (1997)
DOI: 10.1177/1045389X9700800206


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