Related papers: Adjoint-based optimization for thrust performance …
This paper develops a framework connecting discrete adjoint gradient-error analysis with an optimization method that uses directional error tolerances, and applies it to airfoil shape optimization governed by a conservative full-potential…
A convex formulation is proposed for optimal energy management in aircraft with hybrid propulsion systems consisting of gas turbine and electric motor components. By combining a point-mass aircraft dynamical model with models of electrical…
Underactuated robots are characterized by a larger number of degrees of freedom than actuators and if they are designed with a specific mass distribution, they can be controlled by means of differential flatness theory. This structural…
This paper formulates an optimal control problem for a system of rigid bodies that are connected by ball joints and immersed in an irrotational and incompressible fluid. The rigid bodies can translate and rotate in three-dimensional space,…
We establish through numerical simulation conditions for optimal undulatory propulsion for a single fish, and for a pair of hydrodynamically interacting fish, accounting for linear and angular recoil. We first employ systematic 2D…
In topology optimization of compliant mechanisms, the specific placement of boundary conditions strongly affects the resulting material distribution and performance of the design. At the same time, the most effective locations of the loads…
We present a new framework for prioritized multi-task motion-force control of fully-actuated robots. This work is established on a careful review and comparison of the state of the art. Some control frameworks are not optimal, that is they…
We develop and apply a novel shape optimization exemplified for a two-blade rotor with respect to the figure of merit ($FM$). This topologically assisted optimization (TAO) contains two steps. First a global evolutionary optimization is…
We study a linear inviscid model of a passively flexible swimmer with distributed flexibility, calculating its propulsive performance and optimal distributions of flexibility. The frequencies of actuation and mean stiffness ratios we…
While many theoretical works concerning Adaptive Dynamic Programming (ADP) have been proposed, application results are scarce. Therefore, we design an ADP-based optimal trajectory tracking controller and apply it to a large-scale…
A deep-space exploration mission with low-thrust propulsion to rendezvous with multiple asteroids is investigated. Indirect methods, based on the optimal control theory, are implemented to optimize the fuel consumption. The application of…
Aerospace production volumes have increased over time and robotic solutions have been progressively introduced in the aeronautic assembly lines to achieve high-quality standards, high production rates, flexibility and cost reduction.…
This paper proposes an algorithmic technique for a class of optimal control problems where it is easy to compute a pointwise minimizer of the Hamiltonian associated with every applied control. The algorithm operates in the space of relaxed…
In this work, we evaluate the use of aerial drone hover constraints in a multisensor fusion of ground robot and drone data to improve the localization performance of a drone. In particular, we build upon our prior work on cooperative…
We study self propelled stokesian robots composed of assemblies of balls, in dimensions 2 and 3, and prove that they are able to control their position and orientation. This is a result of controllability, and its proof relies on applying…
With recent advances in both responsive materials and fabrication techniques it is now possible to construct integrated functional structures, composed of both structural and active materials. We investigate the robust design of such…
We study a finite-horizon stochastic control criterion for non-convex optimization in which Brownian exploration is balanced against a quadratic control cost. Rather than emphasizing the classical Hopf--Cole representation, we isolate the…
Three-dimensional experiments are presented on a school of three pitching hydrofoils. Two side-by-side leader foils maintain the same relative positions while the location of a third follower foil is varied. Force and flow measurements…
Distributed optimization advances centralized machine learning methods by enabling parallel and decentralized learning processes over a network of computing nodes. This work provides an accelerated consensus-based distributed algorithm for…
The energetic optimization problem, e.g., searching for the optimal switch- ing protocol of certain system parameters to minimize the input work, has been extensively studied by stochastic thermodynamics. In current work, we study this…