A machine learning-based probabilistic computational framework for uncertainty quantification of actuation of clustered tensegrity structures. (English) Zbl 1527.74079
Summary: Clustered tensegrity structures integrated with continuous cables are lightweight, foldable, and deployable. Thus, they can be used as flexible manipulators or soft robots. The actuation process of such soft structure has high probabilistic sensitivity. It is essential to quantify the uncertainty of actuated responses of the tensegrity structures and to modulate their deformation accurately. In this work, we propose a comprehensive data-driven computational approach to study the uncertainty quantification (UQ) and probability propagation in clustered tensegrity structures, and we have developed a surrogate optimization model to control the flexible structure deformation. An example of clustered tensegrity beam subjected to a clustered actuation is presented to demonstrate the validity of the approach and its potential application. The three main novelties of the data-driven framework are: (1) The proposed model can avoid the difficulty of convergence in nonlinear Finite Element Analysis (FEA), by two machine learning methods, the Gauss Process Regression (GPR) and Neutral Network (NN). (2) A fast real-time prediction on uncertainty propagation can be achieved by the surrogate model, and (3) Optimization of the actuated deformation comes true by using both Sequence Quadratic Programming (SQP) and Bayesian optimization methods. The results have shown that the proposed data-driven computational approach is powerful and can be extended to other UQ models or alternative optimization objectives.
MSC:
| 74S60 | Stochastic and other probabilistic methods applied to problems in solid mechanics |
| 74S99 | Numerical and other methods in solid mechanics |
| 74P10 | Optimization of other properties in solid mechanics |
| 74K10 | Rods (beams, columns, shafts, arches, rings, etc.) |
| 68T05 | Learning and adaptive systems in artificial intelligence |
Keywords:
optimization inverse problem; Bayesian optimization; beam; clustered actuation; Gauss process regression; neutral network; sequence quadratic programmingReferences:
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