Patent ID: 8117141
Filing Date: 2012-02-14
Classification: G05B,G06F,G06N

Abstract:
1. A method for multi-objective shape control of a variable stiffness structure, comprising acts of: initializing a hierarchical hybrid Gur-game controller connected with a variable stiffness structure, where the hierarchical hybrid Gur-game controller includes a hierarchy of Gur-games being utilized, such that at each level of the hierarchy the Gur-game controller is configured to control a set of actuation and stiffness change control actions of the variable stiffness structure; utilizing the Gur-game controller to optimize an objective function that is computed by actions of a plurality of players to morph the variable stiffness structure into a desired shape, where each player is a variable that can be optimized using the Gur-game; and morphing the variable stiffness structure into the desired shape according to the optimized variables.