Multi-DOF single-layer truss structures controlby means of a Finite State Strategy

In this paper a general procedure for the design and control of adaptive structural envelopes, mainly targeted to civil applications, is proposed. The procedure is applicable to any multi degree of freedom envelope which can be associated to a pin-jointed single-layer framework with a mixed triangular and quadrilateral pattern. The main idea is to avoid the issue of real-time controlling such an envelope by defining a set of optimal finite states during the design phase. A first part of the procedure works basically as a meta-heuristic optimization process, which aims at discovering new optimal configurations of the adaptive envelope according to a pre-defined purpose. Then the compatibility of the resulting configurations is ensured directly all along the optimization process by a gradient-based method. A topology optimization process is finally introduced to control the number of degrees of freedom of the framework, thus limiting the number of required actuators without compromising the ability of the structure to achieve optimal configurations. Considerations about the actuation process are also exposed.