A fingerprint method for variability and robustness analysis of stochastically controlled cellular actuator arrays

MacNair, David L.; Ueda, Jun

Title:

A fingerprint method for variability and robustness analysis of stochastically controlled cellular actuator arrays

dc.contributor.author	MacNair, David L.
dc.contributor.author	Ueda, Jun
dc.contributor.corporatename	Georgia Institute of Technology. School of Mechanical Engineering
dc.contributor.corporatename	Georgia Institute of Technology. Center for Robotics and Intelligent Machines	en_US
dc.date.accessioned	2011-03-15T19:12:53Z
dc.date.available	2011-03-15T19:12:53Z
dc.date.issued	2011
dc.description.abstract	This paper presents a “Fingerprint Method” for modeling and subsequently characterizing stochastically controlled actuator arrays. The actuator arrays are built from small actuator cells with structural elasticity. These cells are controlled using a bistable stochastic process wherein all cells are given a common input probability (control) value which they use to determine whether to actuate or relax. Arranging the cells in different networks gives different actuator array properties, which must be found before the actuator arrays can be applied to manipulators. The fingerprint method is used to describe and automatically generate every possible stochastic actuator array topology for a given number of cells, and to calculate actuator array properties such as: travel, required actuator strength/displacement, force range, force variance, and robustness for any array topology. The properties of several illustrative examples are shown and a discussion covers the importance of the properties, and trends between actuator array layouts and their properties. Finally, results from a validation experiment using a stochastically controlled solenoid array are presented.	en_US
dc.identifier.citation	David MacNair and Jun Ueda, "A Fingerprint Method for Variability and Robustness Analysis of Stochastically Controlled Cellular Actuator Arrays," The International Journal of Robotics Research, accepted.	en_US
dc.identifier.issn	0278-3649
dc.identifier.uri	http://hdl.handle.net/1853/37409
dc.language.iso	en_US	en_US
dc.publisher	Georgia Institute of Technology	en_US
dc.publisher.original	SAGE Publications
dc.subject	Stochastic control	en_US
dc.subject	Force variability	en_US
dc.subject	Cellular	en_US
dc.subject	Control system	en_US
dc.subject	Muscle	en_US
dc.subject	Compliant actuator	en_US
dc.subject	Actuator array	en_US
dc.subject	Topology	en_US
dc.title	A fingerprint method for variability and robustness analysis of stochastically controlled cellular actuator arrays	en_US
dc.type	Text
dc.type.genre	Pre-print
dspace.entity.type	Publication
local.contributor.author	Ueda, Jun
local.contributor.corporatename	Institute for Robotics and Intelligent Machines (IRIM)
local.contributor.corporatename	Biorobotics and Human Modeling Lab
relation.isAuthorOfPublication	7ff601c5-b262-4830-8a06-b75c55f5f1c8
relation.isOrgUnitOfPublication	66259949-abfd-45c2-9dcc-5a6f2c013bcf
relation.isOrgUnitOfPublication	4b66d00b-b98a-41d9-8840-90db5ad3f880