Related papers: Sample-efficient Gear-ratio Optimization for Biome…
Taking inspiration from the natural gait transition mechanism of quadrupeds, devising a good gait transition strategy is important for quadruped robots to achieve energy-efficient locomotion on various terrains and velocities. While…
We consider the use of energy harvesters, in place of conventional batteries with fixed energy storage, for point-to-point wireless communications. In addition to the challenge of transmitting in a channel with time selective fading, energy…
A major field of industrial robot applications deals with repetitive tasks that alternate between operating points. For these so-called pick-and-place operations, parallel kinematic manipulators (PKM) are frequently employed. These tasks…
This study presents a hierarchical, network-level traffic flow control framework for mixed traffic consisting of Human-driven Vehicles (HVs), Connected and Automated Vehicles (CAVs). The framework jointly optimizes vehicle-level eco-driving…
This work focuses on the optimization of the training trajectory orientation using a robot as an advanced exercise machine (AEM) and muscle activations as biofeedback. Muscle recruitment patterns depend on trajectory parameters of the AEMs…
The abundance of materials and the development of the economy have led to the flourishing of the logistics industry, but have also caused certain pollution. The research on GVRP (Green vehicle routing problem) for planning vehicle routes…
The power system of the future will be governed by complex interactions and non-linear phenomena at small time-scales, that should be studied more and more through computationally expensive software simulations. To solve the abovementioned…
Optimal input settings vary across users due to differences in motor abilities and personal preferences, which are typically addressed by manual tuning or calibration. Although human-in-the-loop optimization has the potential to identify…
Vehicle automation technology has made significant progress, laying the groundwork for a future of fully automated vehicles. This paper delves into the operation of connected and automated vehicles (CAVs). In prior work, we developed a…
In this paper we present a novel probabilistic sampling-based motion planning algorithm called the Fast Marching Tree algorithm (FMT*). The algorithm is specifically aimed at solving complex motion planning problems in high-dimensional…
Cooperative vehicle management emerges as a promising solution to improve road traffic safety and efficiency. This paper addresses the speed planning problem for connected and autonomous vehicles (CAVs) at an unsignalized intersection with…
Vehicle Energy Consumption (VEC) estimation aims to predict the total energy required for a given trip before it starts, which is of great importance to trip planning and transportation sustainability. Existing approaches mainly focus on…
Data required to calibrate uncertain GCM parameterizations are often only available in limited regions or time periods, for example, observational data from field campaigns, or data generated in local high-resolution simulations. This…
We optimize resource allocation to enable communication security in simultaneous wireless information and power transfer (SWIPT) for internet-of-things (IoT) networks. The resource allocation algorithm design is formulated as a non-convex…
In legged locomotion, the relationship between different gait behaviors and energy consumption must consider the full-body dynamics and the robot control as a whole, which cannot be captured by simple models. This work studies the robot…
This paper presents a modeling and optimization framework to minimize the energy consumption of a fully electric powertrain by optimizing its design and control strategies whilst explicitly accounting for the thermal behavior of the…
We consider a point-to-point multiple-input-single-output (MISO) system where a receiver harvests energy from a wireless power transmitter to power itself for various applications. The transmitter performs energy beamforming by using an…
Typical legged locomotion controllers are designed or trained offline. This is in contrast to many animals, which are able to locomote at birth, and rapidly improve their locomotion skills with few real-world interactions. Such motor…
We consider the problem of maximizing the harvested power in Multiple Input Multiple Output (MIMO) Simultaneous Wireless Information and Power Transfer (SWIPT) systems with power splitting reception. Different from recently proposed…
The use of mobile robotics in radioactive source seeking has become an important part of modern radiation-safety practices, supporting timely mitigation of contamination risks and helping protect public health. However, measuring radiation…