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Modular reconfigurable manipulators enable quick adaptation and versatility to address different application environments and tailor to the specific requirements of the tasks. Task performance significantly depends on the manipulator's…
In this paper, we propose a trajectory optimization for computing smooth collision free trajectories for nonholonomic curvature bounded vehicles among static and dynamic obstacles. One of the key novelties of our formulation is a hierarchal…
This paper presents a simplified model-based trajectory optimization (TO) formulation for motion planning on quadruped mobile manipulators that carry heavy payload of known mass. The proposed payload-aware formulation simultaneously plans…
Simulation-based traffic impact assessment studies of advanced technologies such as truck platooning need to be carried out to ascertain their benefits for traffic efficiency, safety and environment. To reduce uncertainty in the results of…
The transition to electric transportation demands efficient and cost-effective powertrains. Optimizing energy use is crucial for extending range and reducing expenses. However, comparing inverter and motor efficiency based on inverter…
Trajectory planning for quadrotors in cluttered environments has been challenging in recent years. While many trajectory planning frameworks have been successful, there still exists potential for improvements, particularly in enhancing the…
Despite extensive developments in motion planning of autonomous aerial vehicles (AAVs), existing frameworks faces the challenges of local minima and deadlock in complex dynamic environments, leading to increased collision risks. To address…
The problem of maximizing the probability of two trucks being coordinated to merge into a platoon on a highway is considered. Truck platooning is a promising technology that allows heavy vehicles to save fuel by driving with small…
Coal blending is a critically important process in the coal mining industry as it directly influences the number of product tonnes and the total revenue generated by a mine site. Coal blending represents a challenging and complex problem…
Industrial robots typically require very structured and predictable working environments, and explicit programming, in order to perform well. Therefore, expensive and time-consuming engineering work is a major obstruction when mediating…
Humans use tools to complete impact-aware tasks such as hammering a nail or playing tennis. The postures adopted to use these tools can significantly influence the performance of these tasks, where the force or velocity of the hand holding…
Coverage path planning is a fundamental challenge in robotics, with diverse applications in aerial surveillance, manufacturing, cleaning, inspection, agriculture, and more. The main objective is to devise a trajectory for an agent that…
Several companies and research institutes are moving their CPU-intensive applications to hybrid High Performance Computing (HPC) cloud environments. Such a shift depends on the creation of software systems that help users decide where a job…
Datacenters provide cost-effective and flexible access to scalable compute and storage resources necessary for today's cloud computing needs. A typical datacenter is made up of thousands of servers connected with a large network and usually…
Payload swing during rapid slewing of mobile cranes poses a safety risk, as it generates overturning moments that can lead to tip-over accidents of mobile cranes. Currently, to limit the risk of tip-over, mobile crane operators are forced…
The new energy system constructed by energy storage and photovoltaic power generation system can effectively solve the problem of transformer overload operation in some enterprises. It can not only reduce the cost of electricity, but also…
Optimizing resource utilization in high-performance computing (HPC) clusters is essential for maximizing both system efficiency and user satisfaction. However, traditional rigid job scheduling often results in underutilized resources and…
Precise positioning and fast traversal times are crucial in achieving high productivity and scale in machining. This paper compares two optimization-based predictive control approaches that achieve high performance. In the first approach,…
Rising electricity demand and the growing integration of renewables are intensifying congestion in transmission grids. Grid topology optimization through busbar splitting (BuS) and optimal transmission switching can alleviate grid…
This paper presents a trajectory planning method for articulated commercial vehicles, specifically tractor-semitrailers, based on Model Predictive Contouring Control (MPCC). Although MPCC has proven effective for passenger cars, it is…