Related papers: Optimal parameters uncoupling vibration modes of o…
This paper present a novel dual-speed actuator adapted to robotics. In many applications, robots have to bear large loads while moving slowly and also have to move quickly through the air with almost no load. This lead to conflicting…
A recently proposed method for computer simulations in the isothermal-isobaric (NPT) ensemble, based on Langevin-type equations of motion for the particle coordinates and the ``piston'' degree of freedom, is re-derived by straightforward…
In this article, a theoretical justification of one type of skew-symmetric optimal translational motion (moving in the minimal acceptable time) of a flexible object carried by a robot from its initial to its final position of absolute…
In many mechatronic applications, controller input costs are negligible and time optimality is of great importance to maximize the productivity by executing fast positioning maneuvers. As a result, the obtained control input has mostly a…
Generalizable manipulation requires that robots be able to interact with novel objects and environment. This requirement makes manipulation extremely challenging as a robot has to reason about complex frictional interaction with uncertainty…
Inverter-based resources (IBRs) are required to provide dynamic voltage support (DVS) during voltage dips to enhance the low-voltage ride-through capability. In this paper, we develop a model-free control method to achieve the optimal DVS…
Continuous optimization based motion planners require specifying a maneuver class before calculating the optimal trajectory for that class. In traffic, the intentions of other participants are often unclear, presenting multiple maneuver…
We solve optimal stopping problems for an oscillating Brownian motion, i.e. a diffusion with positive piecewise constant volatility changing at the point $x=0$. Let $\sigma_1$ and $\sigma_2$ denote the volatilities on the negative and…
In this paper, we investigate the optimal control problem for systems driven by mixed fractional Brownian motion (including a fractional Brownian motion with Hurst parameter $H>1/2$ and the standard Brownian motion). By using Malliavin…
An impedance-based control scheme is introduced for cooperative manipulators grasping a rigid load. The position and orientation of the load are to be maintained close to a desired trajectory, trading off tracking accuracy by low energy…
We investigate the dynamics of a single deformable self-propelled particle which undergoes a spinning motion in a two-dimensional space. Equations of motion are derived from the symmetry argument for three kinds of variables. One is a…
The optimal control of a mechanical system is of crucial importance in many realms. Typical examples are the determination of a time-minimal path in vehicle dynamics, a minimal energy trajectory in space mission design, or optimal motion…
Optimal entrainment of a quantum nonlinear oscillator to a periodically modulated weak harmonic drive is studied in the semiclassical regime. By using the semiclassical phase reduction theory recently developed for quantum nonlinear…
Valveless pumping assists in fluid transport in various organisms and engineering systems. In a previous work, to study the actuator impact effects on valveless pumping, we constructed a piecewise-linear lumped-parameter model for a…
We study the problem of controlling oscillations in closed loop by combining positive and negative feedback in a mixed configuration. We develop a complete design procedure to set the relative strength of the two feedback loops to achieve…
Modern combustion engines incorporate a number of actuators and sensors that can be used to control and optimize the performance and emissions. We describe a semi-automatic method to simultaneously measure and calibrate the actuator…
We consider the optimal experimental design problem for an uncertain Kuramoto model, which consists of N interacting oscillators described by coupled ordinary differential equations. The objective is to design experiments that can…
The KDamper is a novel passive vibration isolation and damping concept, based essentially on the optimal combination of appropriate stiffness elements, which include a negative stiffness el-ement. Among others, KDamper can provide…
The investigation of optimal processes has a long history in the field of thermodynamics. It is well known that finite-time processes that minimize dissipation often exhibit discontinuities. We use a combination of numerical and analytical…
This work features the optimization of a Permanent Magnet Synchronous Motor using 2D nonlinear simulations in an Isogeometric Analysis framework. The rotor and stator designs are optimized for both geometric parameters and surface shapes…