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A new approach for generating stress-constrained topological designs in continua is presented. The main novelty is in the use of elasto-plastic modeling and in optimizing the design such that it will exhibit a linear-elastic response. This…
This paper studies the aeroelasticity of a stiffened cantilever plate using composite material and novel structural layouts. A comprehensive parametric study is conducted to determine the influence of different design parameters on the…
We present a novel method for optimizing the posture of kinematically redundant torque-controlled robots to improve robustness during impacts. A rigid impact model is used as the basis for a configuration-dependent metric that quantifies…
In this paper, we present a concurrent and scalable trajectory optimization method to improve the quality of robot-assisted manufacturing. Our method simultaneously optimizes tool orientations, kinematic redundancy, and waypoint timing on…
The alternating direction method of multipliers (ADMM) has been popular for solving many signal processing problems, convex or nonconvex. In this paper, we study an asynchronous implementation of the ADMM for solving a nonconvex nonsmooth…
We use a gap function in order to compare the torsional performances of different reinforced plates under the action of external forces. Then, we address a shape optimization problem, whose target is to minimize the torsional displacements…
Joint space trajectory optimization under end-effector task constraints leads to a challenging non-convex problem. Thus, a real-time adaptation of prior computed trajectories to perturbation in task constraints often becomes intractable.…
We conduct an active flow control (AFC) study on the mass flow rate of synthetic jets on the upper and lower surfaces of a square cylinder using a deep reinforcement learning (DRL) algorithm, with a focus on investigating the influence of…
Exploiting a fluid dynamic formulation for which a probabilistic counterpart might not be available, we extend the theory of Schroedinger bridges to the case of inertial particles with losses and general, possibly singular diffusion…
We stabilize the flow past a cluster of three rotating cylinders, the fluidic pinball, with automated gradient-enriched machine learning algorithms. The control laws command the rotation speed of each cylinder in an open- and closed-loop…
Collective wind farm flow control, where wind turbines are operated in an individually suboptimal strategy to benefit the aggregate farm, has demonstrated potential to reduce wake interactions and increase farm energy production. However,…
Reconfigurable intelligent surface (RIS)-aided networks have been investigated for the purpose of improving the system performance. However, the introduced unit modulus phase shifts and coupling characteristic bring enormous challenges to…
This paper focuses on the energy-time optimal control of wheeled mobile robots undergoing point-to-point transitions in an obstacles free space. Two interchangeable models are used to arrive at the necessary conditions for optimality. The…
An efficient and accurate computational approach is proposed for optimal attitude control of a rigid body. The problem is formulated directly as a discrete time optimization problem using a Lie group variational integrator. Discrete…
The paper presents a new, robust control algorithm for position trajectory tracking in a 3D space, dedicated to underactuated airships. In order to take into account real characteristics of such vehicles, and to reflect practically…
Achieving versatile and explosive motion with robustness against dynamic uncertainties is a challenging task. Introducing parallel compliance in quadrupedal design is deemed to enhance locomotion performance, which, however, makes the…
Aerobat is a bat-inspired flapping-wing robot with a wing gait generate by the computational structure, a planar linkage of carbon fiber links driven by a single motor. This design minimizes weight but couples both wings to a shared input…
The optimal control of a globally unstable two-dimensional separated boundary layer over a bump is considered using augmented Lagrangian optimization procedures. The present strategy allows of controlling the flow from a fully developed…
A flexible sheet in uniform parallel flow is studied in order to quantify its fluid dynamic drag and fluid-elastic stability characteristics. An experimental campaign is undertaken that involves a cantilevered sheet in air flow…
The effect of flexibility on the hydrodynamic loads and on the flow structures generated on a rectangular foil when oscillating in pitch has been studied. Hydrodynamic loads were measured with a 6-axes balance, and the flow structures were…