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Application of Nonlinear Programming to Tensegrity:
Revision History

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24Sep2012 Abandon XML format due to space limitations on Tripod.
28Jul2006 Minor edit to Index.
27Aug2008 In Index, don't ask to send comments to Journal of the IASS anymore.
26Jan2008 In Index, update Journal of the IASS link.
28Jul2006 Minor edit to Index.
26Jul2006 Fix up XHTML version so it validates. In Index, note that it displays in the Amaya browser.
21Jun2006 Add publication data to the Index. Note that the Journal solicits comments until December 2006.
23Feb2006 Remove left-over sentence fragment (section 2, paragraph 4) from PDF version. Thanks to Mark Schenk for pointing this out.
13Feb2006 Update PDF version's figures for 3- and 4-prisms.
10Feb2006 Tweak a few more things before resubmitting.
09Feb2006 Revise to take into account the latest comments from the reviewers.
23Dec2005 In the conclusions, qualify "twist angle" a little better. Update resubmittal date from November 11 to December 1 since there was a delay while I moved the whole thing to their Word template.
19Dec2005 Restate problem for alternative four-prism design using new version of algorithm. Revise text accordingly. Modify conclusions a bit to note possiblity of algebraic solution, possibilities for strut symmetry in even-order prisms and desirability of investigating relation between constraint parameters and gross skew-prism characteristics.
12Dec2005 Rework the skew prism algorithm again -- any three side member lengths can be constrained, and exactly three must be constrained to get a determinant solution. Rework the conclusion and the three-prism design using this new version of the algorithm and, for the sake of illustrating the method, choose values that are rounded versions of the values from Motro et al. In the conclusion, mention that the method appears to work for prisms where the side tendons skip one or more struts. The section on the design of the four-prism also needs to be reworked, but that will have to wait. Put a note at the beginning of the section to that effect. The solution and table values can stay the same.
(Version 3.00)
01Dec2005 Rework introduction. Misc minor edits associated with completion of first Word draft. Expand conclusion with directions for future research.
25Nov2005 Don't bother speculating on problems with Motro et al. paper (or possibly this paper) in conclusion. Give statistic to summarize stress differences in first skew four-prism validation. Break out alternative skew four-prism design into a separate section. Add skew eight-prism figure and reference it in the conclusion.
22Nov2005 Correct misstatement of nonlinear programming problem in Section 3 -- the incorrect version showed 6(c) being constrained rather than 4(c). Use Mark Schenk's comments on the second draft for further revisions: avoid shoddy explanation of difference between tensegrity and other pin-jointed structures; explain relation of Section 3 and Section 4 approaches to skew-prism design; expand conclusions; minor clarifications.
14Nov2005 Get rid of space between names and reference numbers. Reference Figure 1 when summarizing results at the end of Section 2. Shrink JPEGs inadvertently expanded in 2.00.
11Nov2005 Add more details to text. Label struts and side tendons in Figures 1, 3 and 4.
(Version 2.00)
09Nov2005 Simplify references.
07Nov2005 Add tables for coordinate data and consolidate the member data tables. Change table references accordingly. Redo the point constraints to get a better orientation.
04Nov2005 Begin implementing revisions suggested by IASS reviewers and Mark Schenk. In the Index, note that the Journal of the IASS editors have responded.
20Oct2005 In Abstract, note location of revision history.
19Oct2005 Add Index page and link this page back to that.
13Oct2005 Use Intergate link for book rather than obsolete Channel1. Remove citation of Roth81 (Roth, B. and W. Whiteley, "Tensegrity Frameworks", Transactions of the American Mathematical Society, Vol. 265, No. 2, 1981, pp. 419-446). Over the years, my recollection confused their axiomatic treatment with the nonlinear programming approach.
27May2005 Add key words. Add more detail to description of four-prism analysis. Minor edits for clarity.
20May2005 Rewrite as an article on the application of nonlinear programming to the design of floating-compression tensegrity with special attention to skew prisms. Expand references and expand and reorganize text.
24Mar2005 Indicate in the abstract and conclusion that the method used to design skew-three prisms appears to generalize to higher-order prisms.
23Mar2005 Add abstract. Reformat XML to look more like LaTeX version. In the Motro94 citation, indicate all the pages of the article rather than just one page.
22Mar2005 First draft.

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