1. Variable Geometry Truss Design and Evolution
Literature Review and Extension
By Ira Dunn
Computer Science 447
Advanced Topics in Artificial Intelligence

2. Presentation Overview
Review of Variable Geometry Trusses
Current Research
Proposed Motion Methodology
Evolutionary Experiment
Results

3. Variable Geometry Truss
Space Frame Links
Serial interconnection
Lightweight
“Hollow” structure to allow cabling
Simple stress models

4. Current Research Estimation of Kinematics
Simultaneous Optimization of Actuator Placement
Distributed Control
Computational Issues

5. Proposed Motion Methodology
“Follow the Leader”
Obstacle-rich workspace
Transverse motion is avoided
Two paths needed to be obstacle free

6. Evolutionary Strategy
Trial solutions tested over 2 variables:
Retraction
Deflection Angle transfer function factor
Good solutions pooled
Best solution selected after 75 generations

7. Results End goal found within .25 inches every trial
Simple Obstacle avoidance implemented
ES operated and solution found within and average of .29 seconds per generation