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Recently, the centroidal momentum dynamics has received substantial attention to plan dynamically consistent motions for robots with arms and legs in multi-contact scenarios. However, it is also non convex which renders any optimization…
This paper presents an algorithm to solve non-convex optimal control problems, where non-convexity can arise from nonlinear dynamics, and non-convex state and control constraints. This paper assumes that the state and control constraints…
The well-known Navier--Stokes--Fourier equations of fluid dynamics are, in general, not adequate for describing rarefied gas flows. Moreover, while the Stokes equations -- a simplified version of the Navier--Stokes--Fourier equations -- are…
This paper presents a new numerical method for the compressible Navier-Stokes equations governing the flow of an ideal isentropic gas. To approximate the continuity equation, the method utilizes a discontinuous Galerkin discretization on…
In this paper, we employ successive convexification to solve the minimum-time 6-DoF rocket powered landing problem. The contribution of this paper is the development and demonstration of a free-final-time problem formulation that can be…
A model hierarchy that is based on the one-dimensional isothermal Euler equations of fluid dynamics is used for the simulation and optimisation of gas flow through a pipeline network. Adaptive refinement strategies have the aim of bringing…
We study compressible and incompressible nonlinear elasticity variational problems in a general context. Our main result gives a sufficient condition for an equilibrium to be a global energy minimizer, in terms of convexity properties of…
We propose AEGD, a new algorithm for first-order gradient-based optimization of non-convex objective functions, based on a dynamically updated energy variable. The method is shown to be unconditionally energy stable, irrespective of the…
Dynamical low-rank approximation, as has been demonstrated recently, can be extremely efficient in solving kinetic equations. However, a major deficiency is that they do not preserve the structure of the underlying physical problem. For…
This work considers the economic dispatch problem for a single micro-gas turbine, governed by a discrete state-space model, under combined heat and power (CHP) operation and coupled with a utility. If the exact power and heat demands are…
Solving the reactive low-Mach Navier-Stokes equations with high-order adaptive methods in time is still a challenging problem, in particular due to the handling of the algebraic variables involved in the mass constraint. We focus on the…
Financial markets for Liquified Natural Gas (LNG) are an important and rapidly-growing segment of commodities markets. Like other commodities markets, there is an inherent spatial structure to LNG markets, with different price dynamics for…
A major obstacle to non-convex optimization is the problem of getting stuck in local minima. We introduce a novel metaheuristic to handle this issue, creating an alternate Hamiltonian that shares minima with the original Hamiltonian only…
This paper proposes a dynamic game-based maintenance scheduling mechanism for the asset owners of the natural gas grid and the power grid by using a bilevel approach. In the upper level, the asset owners of the natural gas grid and the…
In this work, we establish that discontinuous Galerkin methods are capable of producing reliable approximations for a broad class of nonlinear variational problems. In particular, we demonstrate that these schemes provide essential…
Demand response for electrical power networks is a mature field that has yielded numerous efficiency and resilience benefits like managing the peaks and valleys of electricity usage, reduction in peak electricity usage, to name a few.…
Subsampled natural gradient descent (SNG) has been used to enable high-precision scientific machine learning, but standard analyses based on stochastic preconditioning fail to provide insight into realistic small-sample settings. We…
For gas flows, the Navier-Stokes (NS) equations are established by mathematically expressing conservations of mass, momentum and energy. The advantage of the NS equations over the Euler equations is that the NS equations have taken into…
The problem of finding a resource residing in a network node (the \emph{resource location problem}) is a challenge in complex networks due to aspects as network size, unknown network topology, and network dynamics. The problem is especially…
This paper investigates the water network's potential ability to provide demand response services to the power grid under the framework of a distribution-level water-energy nexus (micro-WEN). In particular, the hidden controllability of…