method Numerical experiment Summary Summary Work-in-progress Setup and result Performance index and optimization Problem and objective Binary manipulator

method Numerical experiment Summary Summary Work-in-progress Setup and result Performance index and optimization Problem and objective Binary manipulator

Lightweight – Redundant against module failures – Remote control through low- bandwidth communication paths [2]Konaka, SICE Magazine, Vol.56, No.7, pp.503-508, 2017 (in Japanese) modules = ଷON/OFF patterns

method Numerical experiment Summary Summary Work-in-progress Setup and result Performance index and optimization Problem and objective Binary manipulator

points: discrete set • Depend on ON/OFF length of each binary actuator Distribution of reachable end-effector position ON/OFF length Distribution Long Wide Short Narrow

for one connected workspace – Novel performance index for distribution uniformity – GA-based stochastic optimization [3]Sugibayashi, Konaka. IEICE Tech. Rep. ,Vol.122, no.435, MSS2022-89, pp126-131, 2023. (in Japanese)

each binary actuator – Minimize positioning error – Workspace is separated into two areas • Method – Performance index is modified • Maximum empty circle (MEC) • Kolmogorov-Smirnov (KS) statistic – GA-based stochastic optimization • Numerical experiments

method Numerical experiment Summary Summary Work-in-progress Setup and result Performance index and optimization Problem and objective Binary manipulator

method Numerical experiment Summary Summary Work-in-progress Setup and result Performance index and optimization Problem and objective Binary manipulator

Life-inspired optimization algorithm – Candidate of solution is coded as gene – Genes are evaluated by the performance index • Often called “fitness function” in GA-context – Generate new and potentially good genes by selection and genetic operation – Selection: bad genes are removed from population – Genetic Operation: crossover, mutation • Coding of gene – Length of expansion/contraction for each binary actuator

method Numerical experiment Summary Summary Work-in-progress Setup and result Performance index and optimization Problem and objective Binary manipulator

method Numerical experiment Summary Summary Work-in-progress Setup and result Performance index and optimization Problem and objective Binary manipulator

distribution for x-, y-, and z-axes • The proposed performance index worked better. • GA-based stochastic optimization can find good design for binary manipulator.