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97 références sur: Optimisation

Bibliography

1

Angeles J.
The robust design of parallel manipulators.
In 1st Int. Colloquium, Collaborative Research Centre 562, pages 9-30, Braunschweig, 29-30 Mai 2002
Keywords: optimal design.

2

Asada H. et Granito C.
Kinematic and static characterization of wrist joints and their optimal design.
In IEEE Int. Conf. on Robotics and Automation, pages 244-250, St Louis, 25-28 Mars 1985
Keywords: spherical robot,mechanical architecture,optimal design.

3

Astanin V.O. et al.
The modeling and optimization of hexapod layout.
In 3rd Chemnitzer Parallelkinematik Seminar, pages 189-195, Chemnitz, 23-25 Avril 2002
Keywords: design,optimal design,machine-tool.

4

Astanin V.O. et Usov V.V.
Multi-objective synthesis of machining center configurations with parallel structure kinematics.
In 2nd Chemnitzer Parallelkinematik Seminar, pages 299-312, Chemnitz, 12-13 Avril 2000
Keywords: optimal design,machine-tool.

5

Badescu M. et Mavroidis C.
Workspace optimization of 3-legged UPU and UPS parallel platforms with joint constraints.
ASME J. of Mechanical Design, 126(2):291-300, Mars 2004
Keywords: optimal design,3 dof robot,wrist.

6

Badescu M., Morman J., et Mavroidis C.
Workspace optimization of 3-UPU parallel platforms with joint constraints.
In IEEE Int. Conf. on Robotics and Automation, pages 3678-3683, Washington, 11-15 Mai 2002
Keywords: optimal design,3 dof robot.

7

Bessala J.
Détermination des expressions analytiques d'espaces de travail des systèmes mécaniques, et applications.
Thèse de doctorat, Université Paris 6, 11 Septembre 1995
Keywords: workspace,optimal design.

8

Bessala J., Bidaud P., et Ben Ouezdou F.
Analysis of complex mechanical systems, design, motion, planning, optimal transmissions.
In IMACS Symp. on System Analysis and Simulation, 1995.
Keywords: workspace,statics,optimal design.

9

Bessala J., Bidaud P., et Ben Ouezdou F.
Analysis of complex mechanical systems through geometrical reachable workspace.
In IASTED Int. Conf. on Robotics and Manufacturing, Cancun, 14-17 Juin 1995
Keywords: workspace,optimal design.

10

Bhattacharya S., Hatwal H., et Ghosh A.
On the optimum design of a Stewart platform type parallel manipulators.
Robotica, 13(2):133-140, Mars- Avril, 1995
Keywords: mechanical architecture,optimal design,isotropy,stiffness.

11

Boudreau R. et Gosselin C.M.
La synthèse d'une plate-forme de Gough-Stewart pour un espace atteignable prescrit.
In 10th World Congress on the Theory of Machines and Mechanisms, pages 449-454, Oulu, 20-24 Juin 1999
Keywords: workspace,design,optimal design.

12

Carretero J. A. et al.
Kinematic analysis and optimization of a new three degree-of-freedom spatial parallel manipulator.
ASME J. of Mechanical Design, 122(1):17-24, Mars 2000
Keywords: mechanical architecture,3 dof robot,design,kinematics,optimal design.

13

Ceccarelli M.
An optimum design of parallel manipulators: formulation and experimental validation.
In 1st Int. Colloquium, Collaborative Research Centre 562, pages 47-64, Braunschweig, 29-30 Mai 2002
Keywords: optimal design.

14

Chablat D., Majou F., et Wenger P.
The optimal design of a three degree-of-freedom parallel mechanism for machining applications.
In 11th ICAR, pages 1775-1780, Coimbra, 30 Juin-3 Juillet, 2003
Keywords: 2 dof robot,machine-tool,applications,optimal design.

15

Chablat D. et Wenger P.
A new three-dof parallel mechanism: milling machine applications.
In 2nd Chemnitzer Parallelkinematik Seminar, pages 141-152, Chemnitz, 12-13 Avril 2000
Keywords: ,3 dof robot,singularity,optimal design,isotropy,workspace,machine-tool.

16

Chablat D. et Wenger P.
Architecture optimization of a 3-dof translational parallel mechanism for machining applications, the Orthoglide.
IEEE Trans. on Robotics and Automation, 19(3):403-410, Juin 2003
Keywords: 3 dof robot,mechanical architecture,optimal design.

17

Chablat D., Wenger P., Majou F., et Merlet J-P.
An interval analysis based study for the design and the comparison of three-degrees-of-freedom parallel kinematic machine.
Int. J. of Robotics Research, 23(6):615-624, 2004.
Keywords: 3 dof robot,optimal design.

18

Chakarov D. et Parushev P.
Synthesis of parallel manipulator with linear drive modules.
Mechanism and Machine Theory, 29(7):917-932, Octobre 1994
Keywords: design theory,structural synthesis,mechanical architecture,statics,optimal design.

19

Claudinon B. et Lievre J.
Test facility for rendez-vous and docking.
In 36th Congress of the IAF, pages 1-6, Stockholm, 7-12 Octobre 1985
Keywords: simulator,mechanical architecture,optimal design,design,force sensor,workspace,applications.

20

Company O. et Pierrot F.
Modelling and design issues of a 3-axis parallel machine-tool.
Mechanism and Machine Theory, 37(11):1325-1345, Novembre 2002
Keywords: 3 dof robot,machine-tool,optimal design,stiffness.

21

Di Gregorio R.
Dynamic performance indices for 3-dof parallel manipulators.
In ARK, pages 11-20, Caldes de Malavalla, 29 Juin-2 Juillet, 2002
Keywords: dynamics,3 dof robot,performance analysis,optimal design.

22

Du Plessis L.J. et Snyman J.A.
Design and optimum operation of a reconfigurable planar Gough-Stewart machining platform.
In 3rd Chemnitzer Parallelkinematik Seminar, pages 729-749, Chemnitz, 23-25 Avril 2002
Keywords: planar robot,modular robot,optimal design,statics.

23

Fattah A. et Jazi S.H.
Optimal design of parallel manipulators.
In ICRA, pages 645-650, Budapest, 22-25 Août 2001
Keywords: optimal design.

24

Gosselin C.
Kinematic analysis optimization and programming of parallel robotic manipulators.
Thèse de doctorat, McGill University, Montréal, 15 Juin 1988
Keywords: mechanical architecture,optimal design,planar robot,kinematics,spherical robot,workspace.

25

Gosselin C. et Angeles J.
The optimum kinematic design of a planar three-degree-of-freedom parallel manipulator.
J. of Mechanisms, Transmissions and Automation in Design, 110(1):35-41, Mars 1988
Keywords: mechanical architecture,optimal design,planar robot.

26

Gosselin C. et Angeles J.
Kinematic inversion of parallel manipulators in the presence of incompletely specified tasks.
ASME J. of Mechanical Design, 112(4):494-500, Décembre 1990
Keywords: optimal design,trajectory planning.

27

Gosselin C. et Hamel J.-F.
Development and experimentation of a fast three-degree-of-freedom spherical parallel manipulator.
In ISRAM, pages 229-234, Hawaï, 14-18 Août 1994
Keywords: spherical robot,isotropy,workspace,optimal design,mechanical architecture,3 dof robot,wrist.

28

Gosselin C., Perreault T., et Vaillancourt C.
Smaps: a computer-aided design package for the analysis and optimization of a spherical parallel manipulators.
In ISRAM, pages 115-120, Hawaï, 14-18 Août 1994
Keywords: spherical robot,optimal design,mechanical architecture,CAD,workspace,singularity,design,3 dof robot,wrist.

29

Han C-S., Hudgens J.C., Tesar D., et Traver A.E.
Modeling, synthesis, analysis and design of high resolution micromanipulator to enhance robot accuracy.
In IEEE Int. Conf. on Intelligent Robot and Systems (IROS), pages 1153-1162, Osaka, 3-5 Novembre 1991
Keywords: kinematics,dynamics,optimal design,design,6 dof robot,mechanical architecture,accuracy.

30

Han C-S, Tesar D., et Traver A.
The optimum design of a 6 dof fully parallel micromanipulator for enhanced robot accuracy.
In ASME Design Automation Conf., pages 357-363, Montréal, 17-20 Septembre 1989
Keywords: mechanical architecture,6 dof robot,optimal design,design,accuracy.

31

Hay A.M. et Snyman J.A.
The optimal synthesis of parallel manipulators for desired workspace.
In ARK, pages 337-346, Caldes de Malavalla, 29 Juin-2 Juillet, 2002
Keywords: planar robot,isotropy,optimal design,workspace.

32

Hebsacker M. et Epfl A.
Die auslegung des kinematik des hexaglide- Methodik für die auslegung paralleler werkzeugmaschinen.
In New machine concepts for handling and manufacturing devices on the basis of parallel structures, pages 51-66, Braunschweig, 10-11 Novembre 1998
Keywords: 6 dof robot,optimal design.

33

Hong K.S. et Kim J-G.
Manipulability analysis of a parallel machine tool: application to optimal link length design.
J. of Robotic Systems, 17(8):403-415, 2000.
Keywords: mechanical architecture,optimal design,isotropy,machine-tool.

34

Huang T. et al.
Conceptual design and dimensional synthesis of a novel 2-DOF translational parallel robot for pick-and-place operations.
ASME J. of Mechanical Design, 126(3):449-455, Mai 2004
Keywords: 2 dof robot,optimal design.

35

Huang T. et al.
Optimal kinematic design of 2-dof parallel manipulators with well-shaped workspace bounded by a specific conditioning index.
IEEE Trans. on Robotics and Automation, 20(3):538-543, Juin 2004
Keywords: 2 dof robot,design,optimal design.

36

Hwang T-S., Lin C-L., et Tsai R-C.
Analysis and design for a parallel manipulator using linear motors.
Int. J. of Robotics and Automation, 18(3):97-109, 2003.
Keywords: mechanical architecture,6 dof robot,optimal design,workspace,singularity.

37

Kang B.H. et al.
Analysis and design of parallel mechanisms with flexure joints.
In IEEE Int. Conf. on Robotics and Automation, pages 4097-4102, New Orleans, 28-30 Avril 2004
Keywords: passive joints,optimal design.

38

Khatib O. et Bowling A.
Optimization of the inertial and acceleration characterics of manipulators.
In IEEE Int. Conf. on Robotics and Automation, pages 2883-2889, Minneapolis, 24-26 Avril 1996
Keywords: optimal design,3 dof robot,dynamics.

39

Kim H.S. et Tsai L-W.
Design optimization of Cartesian parallel manipulator.
ASME J. of Mechanical Design, 125(1):43-51, Mars 2003
Keywords: mechanical architecture,3 dof robot,optimal design.

40

Kim S-G. et Ryu J.
Optimal design of 6 dof parallel manipulators using three point coordinates.
In IEEE Int. Conf. on Intelligent Robots and Systems (IROS), pages 2178-2182, Maui, Hawaii, 29 Octobre-3 Novembre, 2001
Keywords: inverse jacobian,design,optimal design.

41

Kim S-G. et Ryu J.
New dimensionally homogeneous jacobian matrix formulation by three end-effector points for optimal design of parallel manipulators.
IEEE Trans. on Robotics and Automation, 19(4):731-736, Octobre 2003
Keywords: jacobian,optimal design.

42

Kosinka A., Galicki M., et Kedzior K.
Designing and optimization of parameters of Delta-4 parallel manipulator for a given workspace.
J. of Robotic Systems, 20(9):539-548, 2003.
Keywords: design,workspace,3 dof robot,optimal design.

43

Kurtz R.L.
Kinematic and optimization of a parallel robotic wrist mechanism with redundancy.
Rapport de Recherche TR-CIM-90-2, Université McGill, Montréal, Janvier 1990
Keywords: redundant robot,mechanical architecture,optimal design.

44

Kurtz R.L. et Hayward V.
Multiple-goal kinematic optimization of a parallel spherical mechanism with actuator redundancy.
IEEE Trans. on Robotics and Automation, 8(5):644-651, Octobre 1992
Keywords: redundant robot,optimal design,mechanical architecture.

45

Lee J-H. et Hong K-S.
Kinematic optimal design of a Paramill: a multi-SP device.
J. of Robotic Systems, 21(6):345-359, 2004.
Keywords: applications,redundant robot,optimal design.

46

Leguay S.
Conception et optimisation de mécanismes parallèles à mobilités restreintes.
Thèse de doctorat, ENSAE, Toulouse, 23 Juin 1998
Keywords: design,optimal design,mechanical architecture,3 dof robot,wrist,mobility.

47

Leguay-Durand S. et Reboulet C.
Optimal design of a redundant spherical parallel manipulator.
Robotica, 15(4):399-405, Juillet- Août, 1997
Keywords: mechanical architecture,design,redundant robot,spherical robot,isotropy,optimal design.

48

Li T. et Payandeh S.
Design of spherical parallel mechanisms for application to laparoscopic surgery.
Robotica, 20(2):133-138, Mars 2002
Keywords: applications,spherical robot,optimal design,medical.

49

Lou Y. et al.
A general approach for optimal kinematic design of parallel manipulators.
In IEEE Int. Conf. on Robotics and Automation, pages 3659-3664, New Orleans, 28-30 Avril 2004
Keywords: design,optimal design.

50

Lou Y.J., Liu G.F., et Li Z.X.
Optimal design of parallel manipulators via LMI approach.
In IEEE Int. Conf. on Robotics and Automation, pages 1869-1874, Taipei, 14-19 Septembre 2003
Keywords: design,optimal design,planar robot.

51

Ma O. et Angeles J.
Optimum architecture design of platform manipulator.
In ICAR, pages 1131-1135, Pise, 19-22 Juin 1991
Keywords: optimal design,mechanical architecture,design.

52

Majou F.
Analyse cinétostatique des machines parallèles à translations.
Thèse de doctorat, Ecole Centrale, Nantes, 24 Septembre 2004
Keywords: 3 dof robot,performance analysis,stiffness,optimal design.

53

Majou F., Wenger P., et Chablat D.
Design of 2-dof parallel mechanisms for machining applications.
In ARK, pages 319-328, Caldes de Malavalla, 29 Juin-2 Juillet, 2002
Keywords: 2 dof robot,machine-tool,isotropy,optimal design.

54

Masory O. et Wang J.
Workspace evaluation of Stewart platforms.
In 22nd Biennial Mechanisms Conf., pages 337-346, Scottsdale, 13-16 Septembre 1992
Keywords: workspace,optimal design.

55

Masuda T. et al.
Mechanism configuration evaluation of a linear-actuated parallel mechanism using manipulability.
In IEEE Int. Conf. on Robotics and Automation, pages 489-495, Washington, 11-15 Mai 2002
Keywords: performance analysis,optimal design.

56

Mendes Lopes A. et Gomes de Almeida F.
Manipulability optimization of a parallel structure robotic manipulator.
In 2nd Portugese Automatic Control Conf., Porto, Septembre 1996
Keywords: optimal design,design,isotropy.

57

Merlet J-P.
Les Robots parallèles.
Hermès, Paris, 1990.

58

Merlet J-P.
Les Robots parallèles.
Hermès, Paris, 1997.

59

Merlet J-P.
Optimal design for the micro robot MIPS.
In IEEE Int. Conf. on Robotics and Automation, Washington, 11-15 Mai 2002
Keywords: optimal design,micro robot.

60

Merlet J-P.
Finding the extrema of the leg lengths of a Gough-type parallel robot when the platform is moving in a given 6D workspace.
In 10th World Congress on the Theory of Machines and Mechanisms, pages 86-91, Oulu, 20-24 Juin 1999
Keywords: design,performance analysis,inverse kinematics,optimal design.

61

Merlet J-P.
Les robots parallèles, 21 Juin 1993
Habilitation à diriger les recherches, UNSA, Nice.

62

Merlet J-P.
The need for a systematic methodology for the evaluation and optimal design of parallel manipulators.
In 3rd Chemnitzer Parallelkinematik Seminar, pages 49-62, Chemnitz, 23-25 Avril 2002
Keywords: optimal design.

63

Merlet J-P.
A general methodology for certified evaluation of the performances of parallel robots.
In 1st Int. Colloquium, Collaborative Research Centre 562, pages 97-106, Braunschweig, 29-30 Mai 2002
Keywords: optimal design.

64

Miller K.
Maximization of workspace volume of 3-DOF spatial parallel manipulators.
ASME J. of Mechanical Design, 124(2):347-350, Juin 2002
Keywords: workspace,optimal design,3 dof robot.

65

Miller K.
Optimal design and modeling of spatial parallel manipulators.
Int. J. of Robotics Research, 23(2):127-140, Février 2004
Keywords: optimal design,dynamics.

66

Ming A. et Higuchi T.
Study on multiple degree of freedom positioning mechanisms using wires, Part 1, Concept, Design and Control.
Int. J. Japan Soc. Prec. Eng., 28(2):131-138, Juin 1994
Keywords: wire robot,mechanical architecture,control,optimal design.

67

Molinari-Tosatti L. et al.
An integrated tool for parallel kinematic machin design.
In 2nd Chemnitzer Parallelkinematik Seminar, pages 57-71, Chemnitz, 12-13 Avril 2000
Keywords: optimal design,3 dof robot,machine-tool.

68

Monsarrat B. et Gosselin C.M.
Workspace analysis and optimal design of a 3-leg 6-DOF parallel platform mechanism.
IEEE Trans. on Robotics and Automation, 19(6):954-966, Décembre 2003
Keywords: workspace,optimal design,balancing,6 dof robot.

69

Nagai K. et al.
Development of parallel manipulator "NINJA" with ultra-high-acceleration.
In IEEE Int. Conf. on Robotics and Automation, pages 3678-3685, Taipei, 14-19 Septembre 2003
Keywords: mechanical architecture,6 dof robot,optimal design,dynamics.

70

Ottaviano E.
Progettazione ottimizzata di manipulatori paralleli.
Thèse de doctorat, University of Cassino, Cassino, Novembre 2001
Keywords: ,3 dof robot,optimal design,mechanical architecture.

71

Ottaviano E. et Ceccarelli M.
Optimal design of CAPAMAN (Cassino parallel manipulator) with prescribed workspace.
In F.C. Park C.C. Iurascu, editor, Computational Kinematics, pages 35-44. EJCK, 20-22 Mai 2001
Keywords: design,optimal design,workspace.

72

Ottaviano E. et Ceccarelli M.
Optimal design of CAPAMAN (Cassino parallel manipulator) with a specific orientation workspace.
Robotica, 20(2):159-166, Mars 2002
Keywords: workspace,design,optimal design.

73

Pittens K.H. et Podhorodeski R.P.
A family of Stewart platforms with optimal dexterity.
J. of Robotic Systems, 10(4):463-479, Juin 1993
Keywords: optimal design,design,isotropy.

74

Ramachandran S. et al.
A finite element approach to the design and dynamic analysis of platform type manipulators.
Finite elements in Analysis and Design, 10:335-350, 1992.
Keywords: mechanical architecture,optimal design,statics,design.

75

Ryu J. et Cha J.
Volumetric error analysis and architecture optimization for accuracy of HexaSlide type parallel manipulators.
Mechanism and Machine Theory, 38(3):227-240, 2003.
Keywords: optimal design,accuracy,design.

76

Schönherr J. et Weidermann F.
Bewertung und optimale auslegung von bewegunssystem mit parallelkinematik.
In New machine concepts for handling and manufacturing devices on the basis of parallel structures, pages 35-49, Braunschweig, 10-11 Novembre 1998
Keywords: 3 dof robot,6 dof robot,isotropy,planar robot,optimal design.

77

Smith III W.F. et Nguyen C.C.
Mechanical analysis and design of a six-degree-of-freedom robotic wrist for Space assembly.
In Proc. 23th South Eastern Symp. on System, pages 177-181, Columbia, 10-12 Mars 1991
Keywords: mechanical architecture,optimal design,design.

78

Snyman J.A. et Smit W.J.
The optimal design of a planar parallel platform for prescribed machining tasks.
Multibody System Dynamics, 8:103-115, 2002.
Keywords: design,planar robot,machine-tool,optimal design.

79

Stamper R.C., Tsai C-W., et Walsh G.C.
Optimization of a three dof translational platform for well-conditionned workspace.
In IEEE Int. Conf. on Robotics and Automation, pages 3250-3255, Albuquerque, 21-28 Avril 1997
Keywords: isotropy,design,optimal design,3 dof robot.

80

Sternheim F.
Tridimensionnal computer simulation of a parallel robot. Results for the Delta 4 machine.
In 18th Int. Symp. on Industrial Robot, pages 333-340, Lausanne, 26-28 Avril 1988
Keywords: mechanical architecture,CAD,optimal design,design,workspace.

81

Stock M. et Miller K.
Optimal kinematic design of spatial parallel manipulators: application to linear Delta robot.
ASME J. of Mechanical Design, 125(2):292-301, Juin 2003
Keywords: design,optimal design.

82

Stoughton R. et Arai T.
Kinematic optimization of a chopsticks-type micromanipulator, 1991.
Keywords: mechanical architecture,optimal design,micro robot,design.

83

Stoughton R. et Arai T.
Kinematic optimization of a chopsticks-type micro-manipulator.
In Japan/USA Symp. on Flexible Automation, pages 151-157, San Fransisco, 13-15 Juillet 1993
Keywords: mechanical architecture,optimal design,micro robot.

84

Stoughton R. et Arai T.
A modified Stewart platform manipulator with improved dexterity.
IEEE Trans. on Robotics and Automation, 9(2):166-173, Avril 1993
Keywords: optimal design,mechanical architecture,isotropy,inverse kinematics,inverse jacobian,actuators,piezo-electric.

85

Stoughton R. et Kokkinis T.
Some properties of a new kinematic structure for robot manipulators.
In ASME Design Automation Conf., pages 73-79, Boston, 28 Juin 1987
Keywords: mechanical architecture,optimal design,singularity,3 dof robot.

86

Su X.S. et al.
A real coded genetic optimal kinematic design of a Stewart fine tuning platform for a large radio telescope.
J. of Robotic Systems, 18(9):507-516, 2001.
Keywords: applications,optimal design.

87

Takeda Y. et al.
An in-parallel actuated manipulator with redundant actuators for gross and fine motion.
In IEEE Int. Conf. on Robotics and Automation, pages 749-754, New Orleans, 28-30 Avril 2004
Keywords: redundant robot,6 dof robot,optimal design.

88

Tsai L-W. et Joshi S.
Kinematics and optimization of a spatial 3-UPU parallel manipulator.
ASME J. of Mechanical Design, 112(4):439-446, Décembre 2000
Keywords: 3 dof robot,kinematics,isotropy,optimal design.

89

Weck M. et Giesler M.
Task oriented multi-objective-optimization of parallel kinematics for machine-tools.
In 3rd Chemnitzer Parallelkinematik Seminar, pages 187-211, Chemnitz, 23-25 Avril 2002
Keywords: machine-tool,optimal design,2 dof robot.

90

Weule H. et al.
Computer-aided optimization of the static and dynamic properties of parallel kinematics.
In 3rd Chemnitzer Parallelkinematik Seminar, pages 527-546, Chemnitz, 23-25 Avril 2002
Keywords: ,optimal design.

91

Williams II R.L. et Hexter E.R.
Maximizing kinematic motion for a 3-dof VGT module.
ASME J. of Mechanical Design, 120:333-336, Juin 1998
Keywords: 3 dof robot,workspace,optimal design.

92

Wu K.C et Sutter T.R.
Structural analysis of three space crane articulated truss joint concepts.
Rapport de Recherche TM-4373, NASA Research Center, Langley, Mai 1992
Keywords: truss,crane,applications,statics,optimal design,dynamics,vibration,hardware.

93

Yi B-J., Cox D., et Tesar D.
Analysis and design criteria for a redundantly actuated 4-legged six degree-of-freedom paralllel manipulator.
In IEEE Int. Conf. on Robotics and Automation, pages 3286-3293, Seoul, 21-26 Mai 2001
Keywords: mechanical architecture,design,optimal design.

94

Yoon W-K. et al.
Stiffness analysis and design of a compact modified Delta parallel mechanism.
Robotica, 22(5):463-475, Septembre 2004
Keywords: stiffness,hardware,optimal design.

95

Zanganeh K.E. et Angeles J.
Kinematic isotropy and the optimum design of parallel manipulators.
Int. J. of Robotics Research, 16(2):185-197, Avril 1997
Keywords: isotropy,design,optimal design.

96

Zhang D. et al.
Optimum design of parallel kinematic toolheads with genetic algorithm.
Robotica, 22:77-84, 2004.
Keywords: 3 dof robot,stiffness,performance analysis,optimal design.

97

Zhang D. et al.
Design optimization of parallel kinematic toolheads with genetic algorithms.
In 3rd Chemnitzer Parallelkinematik Seminar, pages 941-956, Chemnitz, 23-25 Avril 2002
Keywords: machine-tool,3 dof robot,stiffness,optimal design.

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