Shape optimization of tensegrity systems

In the following article a method for force finding of tensegrity systems, and geometry optimization of those systems w.r.t. objective as prescribed target forces in elements is proposed. Such systems are composed of struts and cables, and therefore differ from pure tensile nets or compressive systems often optimized by force density method. The formulation represents a method of local optimization, based on nonlinear least squares, in which geometry of initial system, chosen based on experience or known examples, is modified with purpose of reducing the residual given by difference between achieved forces in members and those specified by user.