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In this paper we study the problem of designing periodic orbits for a special class of hybrid systems, namely mechanical systems with underactuated continuous dynamics and impulse events. We approach the problem by means of optimal control.…
In this paper, we propose a novel approach for controlling surface water waves and their interaction with floating bodies. We consider a floating target rigid body surrounded by a control region where we design three control strategies of…
In this article, we apply a new methodology for precision tuning to the N-body problem. Our technique, implemented in a tool named POP, makes it possible to optimize the numerical data types of a program performing floating-point…
Thanks to the computational power of modern cluster machines, numerical simulations can provide, with an unprecedented level of details, new insights into fluid mechanics. However, taking full advantage of this hardware remains challenging…
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…
In this paper, we look into the minimum obstacle displacement (MOD) planning problem from a mobile robot motion planning perspective. This problem finds an optimal path to goal by displacing movable obstacles when no path exists due to…
In this paper, we present a neural network approach to address the dynamic unbalanced optimal transport problem on surfaces with point cloud representation. For surfaces with point cloud representation, traditional method is difficult to…
Let $P$ be a set of points in the plane and let $m$ be an integer. The goal of Max Cover by Unit Disks problem is to place $m$ unit disks whose union covers the maximum number of points from~$P$. We are interested in the dynamic version of…
Base placement optimization (BPO) is a fundamental capability for mobile manipulation and has been researched for decades. However, it is still very challenging for some reasons. First, compared with humans, current robots are extremely…
Division algorithms have been developed to reduce latency and to improve the efficiency of the processors. Floating point division is considered as a high latency operation. This papers looks into one such division algorithm, examines the…
This paper introduces a general modeling framework for a multi-type maximal covering location problem in which the position of facilities in different metric spaces are simultaneously decided to maximize the demand generated by a set of…
The optimal power flow (OPF) problem minimizes power system operating cost subject to both engineering and network constraints. With the potential to find global solutions, significant research interest has focused on convex relaxations of…
Optimal power flow (OPF) is one of the key electric power system optimization problems. "Moment" relaxations from the Lasserre hierarchy for polynomial optimization globally solve many OPF problems. Previous work illustrates the ability of…
Linear optimal gains are computed for the subcritical two-dimensional separated boundary-layer flow past a bump. Very large optimal gain values are found, making it possible for small-amplitude noise to be strongly amplified and to…
We investigate optimal control of linear port-Hamiltonian systems with control constraints, in which one aims to perform a state transition with minimal energy supply. Decomposing the state space into dissipative and non-dissipative (i.e.…
In this paper we consider a distributed optimization scenario in which a set of processors aims at cooperatively solving a class of min-max optimization problems. This set-up is motivated by peak-demand minimization problems in smart grids.…
Memcomputing is a novel paradigm of computation that utilizes dynamical elements with memory to both store and process information on the same physical location. Its building blocks can be fabricated in hardware with standard electronic…
We study optimization problems for partially hinged rectangular plates, modeling bridge roadways, in the presence of real and artificial obstacles. Real obstacles represent structural constraints to avoid, while artificial ones are…
Rearranging densely packed tabletop objects is challenging when parallel-gripper picks are infeasible without sufficient clearance around an object. This work studies the problem characteristics for practically motivated settings with…
Optimal power flow (OPF) is a central problem in the operation of electric power systems. An OPF problem optimizes a specified objective function subject to constraints imposed by both the non-linear power flow equations and engineering…