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Thermostatically controlled loads and electric vehicles offer flexibility to reduce power peaks in low-voltage distribution networks. This flexibility can be maximized if the devices are coordinated centrally, given some level of…
This paper addresses the dimensional synthesis of an adaptive mechanism of contact points ie a leg mechanism of a piping inspection robot operating in an irradiated area as a nuclear power plant. This studied mechanism is the leading part…
The layout optimization of the heat conduction is essential during design in engineering, especially for thermal sensible products. When the optimization algorithm iteratively evaluates different loading cases, the traditional numerical…
Model merging combines expert models for multitask performance but faces challenges from parameter interference. This has sparked recent interest in controllable model merging, giving users the ability to explicitly balance performance…
Bearing-based distributed formation control is attractive because it can be implemented using vision-based measurements to achieve a desired formation. Gradient-descent-based controllers using bearing measurements have been shown to have…
This paper studies the problem of steering a linear time-invariant system subject to state and input constraints towards a goal location that may be inferred only through partial observations. We assume mixed-observable settings, where the…
Algorithms for simulating complex physical systems or solving difficult optimization problems often resort to an annealing process. Rather than simulating the system at the temperature of interest, an annealing algorithm starts at a…
Robotic systems are typically composed of various subsystems, such as localization and navigation, each encompassing numerous configurable components (e.g., selecting different planning algorithms). Once an algorithm has been selected for a…
This work provides a complete framework for the simulation, co-optimization, and sim-to-real transfer of the design and control of soft legged robots. The compliance of soft robots provides a form of "mechanical intelligence" -- the ability…
We consider the problem of coordinating a collection of switched subsystems under both local and global constraints for safe operation of the system. Although an invariant set can be leveraged to construct a safety-guaranteed controller for…
We study the optimal control of district heating networks using a reduced order model based on a system theoretic description close to the underlying Euler equations. In the presented scenarios, the central task is to limit the maximal…
We present a novel formulation of structural design optimization problems specifically tailored to be solved by quantum annealing (QA). Structural design optimization aims to find the best, i.e., material-efficient yet high-performance,…
Optimal control theory is a versatile tool that presents a route to significantly improving figures of merit for quantum information tasks. We combine it here with the geometric theory for local equivalence classes of two-qubit operations…
The use of quantum annealers in black-box optimization to obtain the desired properties of a product with a small number of trials has attracted attention. However, the application of this technique to engineering design problems is still…
We consider the problem of controlling switched-mode power converters using model predictive control. Model predictive control requires solving optimization problems in real time, limiting its application to systems with small numbers of…
Autonomous vehicles usually consume a large amount of computational power for their operations, especially for the tasks of sensing and perception with artificial intelligence algorithms. Such a computation may not only cost a significant…
Modern commercial Heating, Ventilation, and Air Conditioning (HVAC) devices form a complex and interconnected thermodynamic system with the building and outside weather conditions, and current setpoint control policies are not fully…
Offshore wind farms have emerged as a popular renewable energy source that can generate substantial electric power with a low environmental impact. However, integrating these farms into the grid poses significant complexities. To address…
In this paper, we establish a decentralized optimal control framework for connected and automated vehicles (CAVs) crossing multiple adjacent, multi-lane signal-free intersections to minimize energy consumption and improve traffic…
Simulated annealing (SA) was inspired from annealing in metallurgy, a technique involving heating and controlled cooling of a material to increase the size of its crystals and reduce their defects, both are attributes of the material that…