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Batch digester blowdown operations exhibit highly nonlinear hydraulic transport dynamics due to evolving slurry consistency and rheological uncertainty. This work presents a nonlinear dynamic model and a robust Sliding Mode Control (SMC)…
The search heuristics Tabu search and Simulated annealing are commonly used meta-heuristics. The two heuristics have different ways of ensuring diversification. The heuristics can be implemented for solving the stowage planning problem. The…
This paper demonstrates a refined approach to solving dynamic optimization problems for underactuated marine surface vessels. To this end the differential flatness of a mathematical model assuming full actuation is exploited to derive an…
A steady state plane problem of an inhomogeneous half-plane subjected to a load running along the boundary at subsonic speed is analyzed. The Lame coefficients and the density of the half-plane are assumed to be power functions of depth.…
Tried-and-true flapping wing robot simulation is essential in developing flapping wing mechanisms and algorithms. This paper presents a novel application-oriented flapping wing platform, highly compatible with various mechanical designs and…
Advanced measurement techniques and high performance computing have made large data sets available for a wide range of turbulent flows that arise in engineering applications. Drawing on this abundance of data, dynamical models can be…
We develop a hierarchical control architecture for autonomous docking maneuvers of a dynamic positioning vessel and provide formal safety guarantees. At the upper-level, we treat the vessel's desired surge, sway, and yaw velocities as…
This work addresses the control and navigation of a simulated two-dimensional electric rocket. The model provides a simplified framework that neglects actuator dynamics and aerodynamic effects while capturing the complexities of…
The area of fault detection is becoming more interesting since there have been many unique designs to detect or even compensate the faults, either from sensor or actuator. This paper applies the hydraulic system with interconnected tanks by…
The large active wing deformation is a significant way to generate high aerodynamic forces required in bat flapping flight. Besides the twisting, the elementary morphing models of a bat wing are proposed, such as wing-bending in the…
A novel tool for tsunami wave modelling is presented. This tool has the potential of being used for operational purposes: indeed, the numerical code \VOLNA is able to handle the complete life-cycle of a tsunami (generation, propagation and…
Recent studies have shown that entrainment effectively describes the behaviour of natural and forced separating/reattaching flows developing behind bluff bodies, potentially paving the way to new, scalable separation control strategies. In…
This paper describes the modeling of a custom-made underwater glider capable of flexible maneuvers in constrained areas and proposes a control system. Due to the lack of external actuators, underwater gliders can be greatly influenced by…
This paper presents the analytic modeling of mobile heavy-duty manipulators with actively articulated suspension and its optimal control to maximize its static and dynamic stabilization. By adopting the screw theory formalism, we consider…
In this paper we study a mathematical model of one-dimensional swimmers performing a planar motion while fully immersed in a viscous fluid. The swimmers are assumed to be of small size, and all inertial effects are neglected. Hydrodynamic…
This paper presents sufficient conditions for optimal control of systems with dynamics given by a linear operator, in order to obtain an explicit solution to the Bellman equation that can be calculated in a distributed fashion. Further, the…
Control and planning of multi-agent systems is an active and increasingly studied topic of research, with many practical applications such as rescue missions, security, surveillance, and transportation. This thesis addresses the planning…
This paper aims to improve the reliability of optimal control using models constructed by machine learning methods. Optimal control problems based on such models are generally non-convex and difficult to solve online. In this paper, we…
This paper studies the feedback stabilization problem of the motion of a tank that contains an incompressible, Newtonian, viscous liquid. The control input is the force applied on the tank and the overall system consists of two nonlinear…
We consider the stochastic optimal control problem of McKean-Vlasov stochastic differential equation where the coefficients may depend upon the joint law of the state and control. By using feedback controls, we reformulate the problem into…