Self-Diagnosis and Self-Repair of an Active Tensegrity Structure
Publication: Journal of Structural Engineering
Volume 133, Issue 12
Abstract
This paper focuses on the study of tensegrity active control in situations of partially defined loading and damage events. Self-diagnosis and self-repair methodologies are proposed and validated experimentally on a full-scale active tensegrity structure. Self-diagnosis involves load identification and damage location. The response of the structure to a load and damage is measured and compared with the response of the structure to candidate solutions for load and damage. Self-diagnosis solutions result in sets of candidate solutions for loads and damage. These solutions are employed to compute control commands of shape control and self-repair for the structure. Self-repairing control commands increase stiffness and decrease stresses with respect to the damaged state. Self-repairing control commands are computed using a multiobjective approach. The application of a control command results in self-stress modifications by changing the length of active struts. The proposed methodologies are attractive for tensegrity active control in situations of partially defined loading and damage events.
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Acknowledgments
The writers would like to thank the Swiss National Foundation for supporting this work. They also thank B. Domer, P. Kripakaran, and B. Rebora for discussions and advice. B. Domer also improved control and implemented the case-based reasoning study. E. Fest built the structure and the control system. B. Raphael provided support during programming of the control system. They are also grateful to Y. Robert-Nicoud for his advice, Passera & Pedretti SA (Lugano, Switzerland), Lust-Tec GmbH (Zürich, Switzerland), and P. Gallay for their contributions.
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Information & Authors
Information
Published In
Journal of Structural Engineering
Volume 133 • Issue 12 • December 2007
Pages: 1752 - 1761
Copyright
© 2007 ASCE.
History
Received: Apr 18, 2006
Accepted: Mar 27, 2007
Published online: Dec 1, 2007
Published in print: Dec 2007
Notes
Note. Associate Editor: Michael D. Symans
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