DATE: 11-05-2021 (dd-mm-yyyy)
LICENSE:
	MIT License

	Copyright (c) 2021 Alvaro Detailleur

	Permission is hereby granted, free of charge, to any person obtaining a copy
	of this software and associated documentation files (the "Software"), to deal
	in the Software without restriction, including without limitation the rights
	to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
	copies of the Software, and to permit persons to whom the Software is
	furnished to do so, subject to the following conditions:

	The above copyright notice and this permission notice shall be included in all
	copies or substantial portions of the Software.

	THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
	IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
	FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
	AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
	LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
	OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
	SOFTWARE.

AUTHORS: 
    A. Detailleur (a.detailleur@student.tudelft.nl)
    S.A. Umans (s.a.umans@student.tudelft.nl)
    H.J.L. van Even (h.j.l.vaneven@student.tudelft.nl)

DEPENDENCIES:
Compiler: MATLAB R2020a
Add-ons (with minimum version):
    Symbolic Math Toolbox V8.7
    Optimization Toolbox V9.1

SUMMARY OF PURPOSE:
    This code is used to determine the most robust configuration for a self-reinforcing drum brake,
    utelizing electroadhesive clutches. The design is described in detail in the conference paper 
    "Feasibility Analysis of a Self-Reinforcing Electroadhesive Rotational Clutch" presented on AIM 2021. DOI:___

HOW TO USE:
    The simplest way to use this code is to open 'main.m' and to input your parameters and constraints
    in lines 22 through 48. These lines also include some options for the generated figures. The symbols for 
    parameters are included in the paper.

    Figure 1 displays a contour plot representing all possible configuration in the parameter space P+ that 
	obtain the desired amplification factor. The red marker in this plot represents the configuration most 
	resistant to pertubations caused by manufacturing tolerances or environmental disturbances, which is found
	via the constrained optimization presented in the aforementioned paper.

    The second figure is a probability density histogram of the Monte Carlo analysis on the most robust 
    configuration. The overlay on this histogram is the most likelihood fit of a normal distribution, using the 
	sample mean and standard deviation estimators. This figure is acts as a verification of the behavior of the  
	clutch when subject to perturbations.

FILE DESCRIPTIONS:
    The call tree is as follows: 'main.m' calls functions from the dir 'Calculations'. Functions in 'Calculations' 
    call functions from the dir 'Functions'.

    main.m: 
		Calculates an optimal design geometry given the dimension of the
		clutch. It also plots the first-order approximation of the objective
		function value over the parameter space P+.
		
		Performs a Monte Carlo simulation for the geometry returned by the
		constrained optimization.

    ConstrainedOptimization.m: 
		This function completes the constrained optimization as described in the
		methods section of the paper

    MonteCarlo.m: 
		This function performs a monte carlo simulation on the geometry p_T2

    All functions in the dir 'Functions' are named after the variable they return.