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A novel, model free, approach to experimental closed-loop flow control is implemented on a separated flow. Feedback control laws are generated using genetic programming where they are optimized using replication, mutation and cross-over of…
This paper presents a novel synthesis method for designing an optimal and robust guidance law for a non-throttleable upper stage of a launch vehicle, using a convex approach. In the unperturbed scenario, a combination of lossless and…
In this paper, a method is presented for lowering the energy consumption and/or increasing the speed of a standard manipulator spray painting a surface. The approach is based on the observation that a small angle between the spray direction…
This paper introduces a full system modeling strategy for a syringe pump and soft pneumatic actuators(SPAs). The soft actuator is conceptualized as a beam structure, utilizing a second-order bending model. The equation of natural frequency…
The controlled motion of a rolling ball actuated by internal point masses that move along arbitrarily-shaped rails fixed within the ball is considered. Application of the variational Pontryagin's minimum principle yields the ball's…
A skier's motion was analyzed by a simple model consist of point mass $m$ and a single rod connected to a single ski plate. We studied the conditions for the stable ski turn as functions of the linear velocity and the radius of the turn.…
Motion planning for underwater vehicles must consider the effect of ocean currents. We present an efficient method to compute reachability and cost between sample points in sampling-based motion planning that supports long-range planning…
Various microswimmers move along circles rather than straight lines due to their swimming mechanisms, body shapes or hydrodynamic effects. Here, we adopt the concepts of stochastic thermodynamics to analyze circle swimmers confined in a…
Sampling-based methods are widely adopted solutions for robot motion planning. The methods are straightforward to implement, effective in practice for many robotic systems. It is often possible to prove that they have desirable properties,…
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…
The biomechanics of the human body gives subjects a high degree of freedom in how they can execute movement. Nevertheless, subjects exhibit regularity in their movement patterns. One way to account for this regularity is to suppose that…
This paper describes a new nonlinear dynamic model for a natural circulation boiler. The model is based on physical principles, i.e. mass, energy and momentum balances. A systematic approach is followed leading to new insights into the…
Being able to fall safely is a necessary motor skill for humanoids performing highly dynamic tasks, such as running and jumping. We propose a new method to learn a policy that minimizes the maximal impulse during the fall. The optimization…
Sampling-based motion planning algorithms have been continuously developed for more than two decades. Apart from mobile robots, they are also widely used in manipulator motion planning. Hence, these methods play a key role in collaborative…
Online approximation of the optimal station keeping strategy for a fully actuated six degrees-of-freedom marine craft subject to an irrotational ocean current is considered. An approximate solution to the optimal control problem is obtained…
Autonomous active Brownian ratchets rectify active Brownian particle motion solely by means of a spatially modulated but stationary activity, without external forces. We argue that such ratcheting requires at least a two-dimensional…
A great advantage of legged robots is their ability to operate on particularly difficult and obstructed terrain, which demands dynamic, robust, and precise movements. The study of obstacle courses provides invaluable insights into the…
We investigate optimal reachability and grasping problems for a planar soft manipulator, from both a theoretical and numerical point of view. The underlying control model describes the evolution of the symmetry axis of the device, which is…
This article presents a new boundary integral approach for finding optimal shapes of peristaltic pumps that transport a viscous fluid. Formulas for computing the shape derivatives of the standard cost functionals and constraints are…
Balancing oneself using the spine is a physiological alignment of the body posture in the most efficient manner by the muscular forces for mammals. For this reason, we can see many disabled quadruped animals can still stand or walk even…