{"id":"https://openalex.org/W2759650857","doi":"https://doi.org/10.1109/ahs.2017.8046344","title":"Keynote address I: Tensegrity engineering: Integrating the design of structure, control, and signal processing","display_name":"Keynote address I: Tensegrity engineering: Integrating the design of structure, control, and signal processing","publication_year":2017,"publication_date":"2017-07-01","ids":{"openalex":"https://openalex.org/W2759650857","doi":"https://doi.org/10.1109/ahs.2017.8046344","mag":"2759650857"},"language":"en","primary_location":{"id":"doi:10.1109/ahs.2017.8046344","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ahs.2017.8046344","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 NASA/ESA Conference on Adaptive Hardware and Systems (AHS)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5091183358","display_name":"Robert E. Skelton","orcid":"https://orcid.org/0000-0001-6503-9115"},"institutions":[{"id":"https://openalex.org/I1335518801","display_name":"Texas A&M University \u2013 San Antonio","ror":"https://ror.org/0084njv03","country_code":"US","type":"education","lineage":["https://openalex.org/I1335518801"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Robert Skelton","raw_affiliation_strings":["TEES Distinguished, Texas A&M University"],"affiliations":[{"raw_affiliation_string":"TEES Distinguished, Texas A&M University","institution_ids":["https://openalex.org/I1335518801"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":["https://openalex.org/A5091183358"],"corresponding_institution_ids":["https://openalex.org/I1335518801"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.17392886,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"ix","last_page":"ix"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11870","display_name":"Structural Analysis and Optimization","score":0.996999979019165,"subfield":{"id":"https://openalex.org/subfields/2205","display_name":"Civil and Structural Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11870","display_name":"Structural Analysis and Optimization","score":0.996999979019165,"subfield":{"id":"https://openalex.org/subfields/2205","display_name":"Civil and Structural Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10996","display_name":"Computational Geometry and Mesh Generation","score":0.9362000226974487,"subfield":{"id":"https://openalex.org/subfields/1704","display_name":"Computer Graphics and Computer-Aided Design"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.6512731909751892},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.549599289894104},{"id":"https://openalex.org/keywords/control-system","display_name":"Control system","score":0.4501764476299286},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.4397553503513336},{"id":"https://openalex.org/keywords/energy","display_name":"Energy (signal processing)","score":0.43612831830978394},{"id":"https://openalex.org/keywords/signal","display_name":"SIGNAL (programming language)","score":0.4338507652282715},{"id":"https://openalex.org/keywords/tensegrity","display_name":"Tensegrity","score":0.4232103228569031},{"id":"https://openalex.org/keywords/constraint","display_name":"Constraint (computer-aided design)","score":0.4174083173274994},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3952832520008087},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.34395843744277954},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.20892995595932007},{"id":"https://openalex.org/keywords/electrical-engineering","display_name":"Electrical engineering","score":0.11491173505783081}],"concepts":[{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.6512731909751892},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.549599289894104},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.4501764476299286},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.4397553503513336},{"id":"https://openalex.org/C186370098","wikidata":"https://www.wikidata.org/wiki/Q442787","display_name":"Energy (signal processing)","level":2,"score":0.43612831830978394},{"id":"https://openalex.org/C2779843651","wikidata":"https://www.wikidata.org/wiki/Q7390335","display_name":"SIGNAL (programming language)","level":2,"score":0.4338507652282715},{"id":"https://openalex.org/C182950735","wikidata":"https://www.wikidata.org/wiki/Q1930978","display_name":"Tensegrity","level":2,"score":0.4232103228569031},{"id":"https://openalex.org/C2776036281","wikidata":"https://www.wikidata.org/wiki/Q48769818","display_name":"Constraint (computer-aided design)","level":2,"score":0.4174083173274994},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3952832520008087},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.34395843744277954},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.20892995595932007},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.11491173505783081},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.0},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C147176958","wikidata":"https://www.wikidata.org/wiki/Q77590","display_name":"Civil engineering","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/ahs.2017.8046344","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ahs.2017.8046344","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 NASA/ESA Conference on Adaptive Hardware and Systems (AHS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/7","score":0.8100000023841858,"display_name":"Affordable and clean energy"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":["https://openalex.org/W227057133","https://openalex.org/W2480265123","https://openalex.org/W2345199500","https://openalex.org/W2090167696","https://openalex.org/W2382222318","https://openalex.org/W3142983119","https://openalex.org/W2040728928","https://openalex.org/W1974778898","https://openalex.org/W3015911334","https://openalex.org/W4322731072"],"abstract_inverted_index":{"It":[0],"is":[1,197],"well-known":[2],"that":[3,7,101],"the":[4,9,13,31,48,60,67,79,87,97,109,112,119,135,145,157,164,169,175,191,220,223],"various":[5],"disciplines":[6],"design":[8,115,172],"individual":[10],"components":[11],"of":[12,34,71,111,121,156,163],"final":[14],"system":[15],"are":[16,76,83,106,166],"not":[17],"coordinated,":[18],"except":[19],"in":[20],"an":[21],"ad":[22],"hoc":[23],"way.":[24],"This":[25],"paper":[26,192,221],"takes":[27],"some":[28],"steps":[29],"toward":[30],"formal":[32],"integration":[33],"Structure,":[35],"Control,":[36],"and":[37,44,56,69,74,124,185,189,204,215],"Signal":[38],"Processing":[39],"designs.":[40],"To":[41,52],"integrate":[42,53],"structure":[43,165],"control":[45,57,80,136],"we":[46,58],"employ":[47,59],"tensegrity":[49],"structural":[50],"paradigm.":[51],"signal":[54],"processing":[55],"new":[61],"work":[62],"called":[63],"Information":[64],"Architecture,":[65],"where":[66],"precisions":[68],"locations":[70],"all":[72,84,122],"sensors":[73,123],"actuators":[75,125],"coordinated":[77,167],"with":[78,168],"design,":[81],"which":[82],"dictated":[85],"by":[86],"closed":[88,146],"loop":[89,147],"performance":[90,148,177,186,195,214],"requirements,":[91],"including":[92],"a":[93,130,140,151,181,200,205,212],"cost":[94,120,202],"constraint":[95],"on":[96],"hardware.":[98],"We":[99],"assume":[100],"sensor":[102],"or":[103],"actuator":[104],"costs":[105,226],"proportional":[107],"to":[108,173,229],"precision":[110],"instrument.":[113],"The":[114],"constraints":[116],"are:":[117],"i)":[118],"must":[126,138,149],"be":[127],"less":[128],"than":[129],"specified":[131,141,152],"budget,":[132],"$,":[133,184],"ii)":[134],"energy":[137,207,216],"satisfy":[139,150],"upper-bound,":[142,154],"U,":[143],"iii)":[144],"covariance":[153],"Y,":[155,190],"output":[158],"error,":[159],"iv)":[160],"adjustable":[161],"parameters":[162],"joint":[170],"structure/control":[171],"achieve":[174,230],"required":[176,228],"bounds,":[178],"Y.":[179],"Given":[180],"hardware":[182,225],"budget":[183,208,217],"budgets":[187],"U":[188],"shows":[193,222],"what":[194],"(Y)":[196],"achievable":[198],"for":[199,211],"fixed":[201,206,213],"$":[203,227],"U.":[209],"Alternatively,":[210],"(Y,":[218],"U)":[219],"minimum":[224],"this":[231],"performance.":[232]},"counts_by_year":[],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}