Design of an Actuated Flexible Arm for Improved Vibration Properties
Bibliographic record
Abstract
In this paper, a multi-objective optimization index is introduced for improving the dynamic behavior of an actuated structurally flexible arm through geometric shape design. The improvement in the dynamic behavior is achieved by defining a vector optimization cost function. This cost function is associated with the frequency of the lowest system zero when joint angles are taken as outputs, the gain sensitivity of open-loop system modes, and the gain sensitivity of the closed-loop system modes at its transmission zeros. Moreover, a general relationship is obtained between the system pole and zero locations. In particular, it is shown that the magnitude of each system zero is smaller than a corresponding flexural mode and thus the smallest zero always occurs before the smallest pole and should therefore be considered in structural shape design. The design method is applied for finding an optimized structural shape for a single-link flexible arm. The optimized link is shown to yield superior robustness and performance characteristics in a closed-loop system when compared to the non-optimized uniform link. Thus, simpler control schemes can be utilized for the optimized flexible-link system compared to the non-optimized case.
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How this classification was reachedexpand
Full frame machine prediction
Teacher imitationNot calibrated prevalence, not ground truth. Human validation pending. The Gemma side is a direct model label for every work in the frame, read from the title-only record. The Codex side is a classifier learned from the 10,348 direct Codex labels and calibrated to design-weighted sample rates; fields without enough sample support carry no Codex call. Candidate is the union of the two sides; consensus is their intersection. These outputs are machine_predicted_unvalidated and are not human labels.
Distilled classifier scores by category (both heads)
| Category | Codex | Gemma |
|---|---|---|
| Metaresearch | 0.000 | 0.000 |
| Meta-epidemiology (narrow) | 0.000 | 0.000 |
| Meta-epidemiology (broad) | 0.000 | 0.000 |
| Bibliometrics | 0.000 | 0.000 |
| Science and technology studies | 0.000 | 0.000 |
| Scholarly communication | 0.000 | 0.000 |
| Open science | 0.000 | 0.000 |
| Research integrity | 0.000 | 0.000 |
| Insufficient payload (model declined to judge) | 0.001 | 0.000 |
Machine scores (provisional)
The two teacher heads of the student model, read on this work. A score orders the frame for review; it never asserts a category, and the validation status ships verbatim with every row.
Baseline scores from an immature model (maturity gate not passed, 7 training rounds). Scores rank; they never assert a category.
score_only:v0-immature-baseline · verbatim from the scoring run: score_only means the number may rank works, and no category label ships from itClassification
machine, unvalidatedMachine predicted; a candidate call from one source (direct Gemma or distilled Codex), not a consensus.
How this classification was reached, model by model and score by score, is at the end of the page under "How this classification was reached".