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CivilComp Proceedings
ISSN 17593433 CCP: 111
PROCEEDINGS OF THE FIFTH INTERNATIONAL CONFERENCE ON PARALLEL, DISTRIBUTED, GRID AND CLOUD COMPUTING FOR ENGINEERING Edited by:
Paper 27
Preliminary Optimization of PipeZ Reconfiguration M. Zawidzki and J. Szklarski
Institute of Fundamental Technological Research of the Polish Academy of Sciences, Warsaw, Poland M. Zawidzki, J. Szklarski, "Preliminary Optimization of PipeZ Reconfiguration", in , (Editors), "Proceedings of the
Fifth International Conference
on
Parallel, Distributed, Grid and Cloud Computing
for Engineering", CivilComp Press, Stirlingshire, UK, Paper 27, 2017. doi:10.4203/ccp.111.27
Keywords: Extremely Modular System, PipeZ, ArmZ, discrete optimization, dihedral
rotation, “snakebot”, reconfiguration.
Summary
PipeZ (PZ) is a parametric design system which comprised of a congruent modules
(PZM) allows the creation of complex threedimensional, singlebranch structures
which can be represented by mathematical knots. Once the geometrical parameters
are set for the PZM, the shape of PZ is controlled solely by relative twists of the
PZMs in a sequence. Therefore each PZM has one degree of freedom (1DOF). This
paper presents the preliminary optimization of PZ reconfiguration from a “straight
tube” to a halftorus. Here the displacement of PZMs transverse to the “bending direction”
is to be minimized. In other words, it resembles “truing” of a wheel. In the
considered case, the PZ is comprised of eight hexagonal PZMs. Thus every PZM can
have six possible positions relative to the previous module. The initial (PZI) and target
(PZT) configurations are given. Since the timesteps and relative twists are discrete,
it is a discrete optimization and has combinatorial nature. The number of possible
configurations grows astronomically with the assumed number of timesteps from one
position to another and the number of PZMs. However, the optimization algorithm
can be naturally parallelized. At first the concept of PZ is outlined, followed by the
experiment. The results are illustrated and discussed.
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