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Zugl.: Kassel, Universiẗat, Diss., 2007. / Download lizenzpflichtig.

Tensegrity is the name given to a system of interconnected bars and tendons that can form a flexible self-standing structure. Its flexibility is due to the ability of the bars to move near-independent to each other, movement that can be caused by controlled tension forces in the tendons or external forces such as gravity. However, a balance of sorts must be maintained - if a tendon were to go slack, the entire structure could become unstable and collapse on itself. This thesis looks at placing a tensegrity structure in orbit around the Earth. As a spacecraft's orbit is moved further away from the Earth, the strength of the Earth's gravity field lessens. Ideally, such a flexible structure would be placed far enough away from the Earth so that the gravity field would have too weak an impact on its individual elements to cause major distortions. However, the author recognizes that altitudes below 2,000 km, where the Earth's gravity field is still very prevalent, are the most common altitudes used by orbiting spacecraft today. The goal of this thesis is to analyze the distortions of the tensegrity structure at these lower altitudes, and also look at methods for controlling these distortions. / Ph. D. / Tensegrity is the name given to a system of interconnected bars and tendons that can form a flexible self-standing structure. Its flexibility is due to the ability of the bars to move nearindependent to each other, movement that can be caused by controlled tension forces in the tendons or external forces such as gravity. However, a balance of sorts must be maintained - if a tendon were to go slack, the entire structure could become unstable and collapse on itself. This thesis looks at placing a tensegrity structure in orbit around the Earth. As a spacecraft’s orbit is moved further away from the Earth, the strength of the Earth’s gravity field lessens. Ideally, such a flexible structure would be placed far enough away from the Earth so that the gravity field would have too weak an impact on its individual elements to cause major distortions. However, the author recognizes that altitudes below 2,000 km, where the Earth’s gravity field is still very prevalent, are the most common altitudes used by orbiting spacecraft today. The goal of this thesis is to analyze the distortions of the tensegrity structure at these lower altitudes, and also look at methods for controlling these distortions.

The stiffness and frequency properties of tensegrity structures are functions of the pre-stress, topology, configuration, and axial stiffness of the elements. The tensegrity structures considered are tensegrity booms, tensegrity grids, and tensegrity power lines. A study has been carried out on the pre-stress design. It includes (i) finding the most flexible directions for different pre-stress levels, (ii) finding the pre-stress pattern which maximizes the first natural frequency. To find the optimum cross-section areas of the elements for triangular prism and Snelson tensegrity booms, an optimization approach is utilized. A constant mass criterion is considered and the genetic algorithm (GA) is used as the optimization method. The stiffness of the triangular prism and Snelson tensegrity booms are modified by introducing actuators. An optimization approach by means of a GA is employed to find the placement of the actuators and their minimum length variations. The results show that the bending stiffness improves significantly, but still an active tensegrity boom is less stiff than a passive truss boom. The GA shows high accuracy in searching the non-structural space. The tensegrity concept is employed to design a novel transmission power line .A tensegrity prism module is selected as the building block. A complete parametric study is performed to investigate the influence of several parameters such as number of modules and their dimensions on the stiffness and frequency of the structure. A general approach is suggested to design the structure considering wind and ice loads. The designed structure has more than 50 times reduction of the electromagnetic field and acceptable deflections under several loading combinations. A study on the first natural frequencies of Snelson, prisms, Micheletti, Marcus and X-frame based tensegrity booms has been carried out. The result shows that the differences in the first natural frequencies of the truss and tensegrity booms are significant and not due to the number of mechanisms or pre-stress levels. The tensegritybooms of the type Snelson with 2 bars and prism with 3 bars have higher frequencies among tensegrity booms. / <p>QC 20120904</p>

Nature encourages diversity in life forms (morphologies). The study of morphogenesis deals with understanding those processes that arise during the embryonic development of an organism. These processes control the organized spatial distribution of cells, which in turn gives rise to the characteristic form for the organism. Morphogenesis is a multi-scale modeling problem that can be studied at the molecular, cellular, and tissue levels. Here, we study the problem of morphogenesis at the cellular level by introducing an integrated biomechanical model of cells embedded in the extracellular matrix. The fundamental aspects of mechanobiology essential for studying morphogenesis at the cellular level are the cytoskeleton, extracellular matrix (ECM), and cell adhesion. Cells are modeled using tensegrity architecture. Our simulations demonstrate cellular events, such as differentiation, migration, and division using an extended tensegrity architecture that supports dynamic polymerization of the micro-filaments of the cell. Thus, our simulations add further support to the cellular tensegrity model. Viscoelastic behavior of extracellular matrix is modeled by extending one-dimensional mechanical models (by Maxwell and by Voigt) to three dimensions using finite element methods. The cell adhesion is modeled as a general Velcro-type model. We integrated the mechanics and dynamics of cell, ECM, and cell adhesion with a geometric model to create an integrated biomechanical model. In addition, the thesis discusses various computational issues, including generating the finite element mesh, mesh refinement, re-meshing, and solution mapping. As is known from a molecular level perspective, the genetic regulatory network of the organism controls this spatial distribution of cells along with some environmental factors modulating the process. The integrated biomechanical model presented here, besides generating interesting morphologies, can serve as a mesoscopic-scale platform upon which future work can correlate with the underlying genetic network.

学位授与大学：京都大学 ; 取得学位: 博士(工学) ; 学位授与年月日: 2007-09-25 ; 学位の種類: 新制・課程博士 ; 学位記番号: 工博第2856号 ; 請求記号: 新制/工/1420 ; 整理番号: 25541 / Kyoto University (京都大学) / 0048 / 新制・課程博士 / 博士(工学) / 甲第13385号 / 工博第2856号 / 新制||工||1420(附属図書館) / 25541 / UT51-2007-Q786 / 京都大学大学院工学研究科建築学専攻 / (主査)教授 加藤 直樹, 教授 上谷 宏二, 准教授 大﨑 純 / 学位規則第4条第1項該当

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Tensegrity structures consist of isolated compression members (rigid bars) suspended by a continuous network of tension members (cables). Tensegrity structures can be used as variable geometry truss (VGT) mechanisms by actuating links to change their length. This paper will present a new method of position finding for tensegrity structures that can be used for actuation as VGT mechanisms. Tensegrity structures are difficult to understand and mathematically model. This difficulty is primarily because tensegrity structures only exist in specific stable tensegrity positions. Previous work has focused on analysis based on statics, dynamics, and virtual work approaches. This work considers tensegrity structures from a kinematic viewpoint. The kinematic approach leads to a better understanding of the conditions under which tensegrity structures exist in the stable positions. The primary understanding that comes from this kinematic analysis is that stable positions for tensegrity structures exist only on the boundaries of nonassembly of the structure. This understanding also allows the tensegrity positions to be easily found. This paper presents a method of position finding based on kinematic constraints and applies that method to several example tensegrity structures. / Master of Science

The 2012 Decadal Survey has stated that there is a critical role for a Venus In-situ Explore (VISE) missions to a variety of important sites, specifically the Tessera terrain. This work aims to answer the Decadal Survey's call by developing a new comprehensive Entry, Descent, Landing, and Locomotion (EDLL) vehicle for in-situ exploration of Venus, especially in the Tessera regions. TANDEM, the Tension Adjustable Network for Deploying Entry Membrane, is a new planetary probe concept in which all of EDLL is achieved by a single multifunctional tensegrity structure. The concept uses same fundamental concept as the ADEPT (Adaptable Deployable Entry and Placement Technology) deployable heat shield but replaces the standard internal structure with the structure from the tensegrity-actuated rover to provide a combined aeroshell and rover design. The tensegrity system implemented by TANDEM reduces the mass of the overall system while enabling surface locomotion and mitigating risk associated with landing in the rough terrain of Venus's Tessera regions, which is otherwise nearly inaccessible to surface missions. TANDEM was compared to other state-of-the-art lander designs for an in-situ mission to Venus. It was shown that TANDEM provides the same scientific experimentation capabilities that were proposed for the VITaL mission, with a combined mass reduction for the aeroshell and lander of 52% (1445 kg), while eliminating the identified risks associated with entry loads and very rough terrain. Additionally, TANDEM provides locomotion when on the surface as well as a host of other maneuvers during entry and descent, which was not present in the VITaL design. Based on its unique multifunctional infrastructure and excellent crashworthiness for impact on rough surfaces, TANDEM presents a robust system to address some of the Decadal Survey's most pressing questions about Venus. / Ph. D. / NASA has proposed the possibility of performing a robotic mission to Venus in this upcoming decade. This could be NASA’s first attempt to design a robot that is capable of landing on the surface of our solar systems hottest planet. Venus presents a great exploration opportunity, as it is our closest planetary neighbor. Venus is similar to Earth in both size and location in the solar system, yet it is profoundly different in many other aspects regarding habitability. There is a significant scientific interest in exploring the mysteries of the greenhouse gases and runaway climate change present in the Venusian atmosphere. Understanding Venus’ atmosphere will help us to increase our knowledge of Earth’s atmosphere. Exploring the difference in these two planets will greatly further our intuition of other planetary systems and will aid in our search for life in the universe. Yet, exploring Venus presents a number of severe engineering challenges: the extreme temperature and pressure at the planet's surface, the highly corrosive atmosphere, and lack of terrain resolution caused by the dense permanent cloud layer. In order to address these engineering challenges, a new ultra-lightweight planetary probe has been invented. TANDEM, the Tension Adjustable Network for Deploying Entry Membrane, is unique in its design as it has combined all of the subsystems in needs to safely land on the surface into a single lightweight, multifunctional structure. This enables the design to be nearly 1.5 metric tons lighter than the same mission that was proposed in 2010 using the current state-of-the-art technologies. Based on this and other unique capabilities that are provided, TANDEM presents a robust system to address some of NASA’s most pressing questions about Venus.