Soft-actuator recalibration | Mergen Ulziibayar

Closed simulation study

At matched recalibration cost, cycle count reproduced the P-V trigger’s performance across all 20 simulated actuators. The comparison established the simpler baseline’s effectiveness in this model.

A pressurized pneumatic actuator in Torzini et al. (2024), Figure 8. Literature photograph illustrating the actuator type.Credit: Lorenzo Torzini, Luca Puggelli, Yary Volpe, Lapo Governi and Francesco Buonamici. CC BY 4.0. Image reproduced unchanged.Full-size image Image source

results and contributions

Simulated actuators	20
Policies compared	P-V trigger and cycle-count clock
Matched-cost result	Equal performance across all 20 actuators

Repository Evidence at source commit Current roadmap Withdrawal and matched-cost audit

figures and hardware

Open any image at full size. Source links identify the retained revision.

**Closed simulation study.** Recalibration policies compared on the retained synthetic dataset. Interpret alongside the matched-cost withdrawal audit.Full-size image Image source

**Closed simulation study.** Trigger timing and its comparison with cycle-count behavior. This is synthetic actuator history.Full-size image Image source

**Closed simulation study.** Cross-talk analysis from the recalibration simulation.Full-size image Image source

design evolution

The design and analysis steps that produced the current work.

Work	Engineering question	Approach	Outcome
Initial comparison	Unequal recalibration schedules favored the P-V trigger.	Compare policies at matched recalibration cost.	The cycle-count clock matches the P-V trigger across all 20 simulated actuators.
Withdrawal	The simulation did not support the proposed advantage.	Closed v1.4 and preserved the reproducible comparison and correction.	Code, figures and the corrected comparison are preserved with the withdrawal record.

methods and scope

This completed study uses synthetic actuator traces. The v1.4 manuscript was withdrawn before release after the matched-cost comparison; its earlier advantage was not supported. The results describe recalibration in the model, rather than physical lifetime or failure warning.

project record

Evidence	Closed simulation study
Status	Complete
Timeline	May–October 2026; closed
Role	Simulation, matched-cost baseline audit and withdrawal record
Tools	Python, NumPy, SciPy, Matplotlib

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