Related papers: Mechanical Optimization of Skateboard Pumping
A complete mechatronic design of a minimal configuration brachiation robot is presented. The robot consists of a single rigid rod with gripper mechanisms attached to both ends. The grippers are used to hang the robot on a horizontal bar on…
Planning whole-body motions while taking into account the terrain conditions is a challenging problem for legged robots since the terrain model might produce many local minima. Our coupled planning method uses stochastic and…
We use optimal control theory to obtain shortcuts to adiabaticity which maximize population transfer in a three-level STIRAP system, for a given finite duration of the process and specified dissipation rate at the intermediate state. We fix…
We formulate the theory for steering an active particle with optimal travel time between two locations and apply it to the Mexican hat potential without brim. For small heights the particle can cross the potential barrier, while for large…
Recently, the mapping approach to surface hopping (MASH) was proposed as a method to simulate the non-adiabatic dynamics of two-level systems. It was shown that the method possesses many desirable qualities, both theoretically and through…
The aim of ramp metering is to improve the highway traffic conditions by an appropriate regulation of the inflow from the on-ramps to the highway mainstream. Our presentation rests on several improvements: 1) Our simulation techniques do…
This paper presents a mathematical model for determining the movement of the bearing in an internal gear pump. The paper also performs simulation calculations to find the movement trajectory of the shaft with the given input data.
This paper considers the motion control of a particle and a spinning disc on rotating earth. The equations of motion are derived using Lagrangian mechanics. Trajectory planning is studied as an optimization problem using the method referred…
This paper presents a novel algorithm, based on model predictive control (MPC), for the optimal guidance of a launch vehicle upper stage. The proposed strategy not only maximizes the performance of the vehicle and its robustness to external…
The shaking force balancing is a well-known problem in the design of high-speed robotic systems because the variable dynamic loads cause noises, wear and fatigue of mechanical structures. Different solutions, for full or partial shaking…
We consider a type of optimal switching problems with non-uniform execution delays and ramping. Such problems frequently occur in the operation of economical and engineering systems. We first provide a solution to the problem by applying a…
An optimal control problem for longitudinal motions of a thin elastic rod is considered. We suppose that a normal force, which changes piecewise constantly along the rod's length, is applied to the cross-section so that the positions of…
Controlling the shape and position of moving and pinned droplets on a solid surface is an important feature often found in microfluidic applications. However, automating them, e.g., for high-throughput applications, does rarely involve…
In this paper we study the problem of designing periodic orbits for a special class of hybrid systems, namely mechanical systems with underactuated continuous dynamics and impulse events. We approach the problem by means of optimal control.…
We propose a method for performing autonomous docking of marine vessels using numerical optimal control. The task is framed as a dynamic positioning problem, with the addition of spatial constraints that ensure collision avoidance. The…
We study self propelled stokesian robots composed of assemblies of balls, in dimensions 2 and 3, and prove that they are able to control their position and orientation. This is a result of controllability, and its proof relies on applying…
We present efficient theoretical tools for describing the optical pumping of atoms by light propagating at arbitrary directions with respect to an external magnetic field, at buffer-gas pressures that are small enough for velocity-selective…
To maintain full autonomy, autonomous robotic systems must have the ability to self-repair. Self-repairing via compensatory mechanisms appears in nature: for example, some fish can lose even 76% of their propulsive surface without loss of…
Adiabatic pumping is characterized by a geometric contribution to the pumped charge, which can be non-zero even in the absence of a bias. However, as the driving speed is increased, non-adiabatic excitations gradually reduce the pumped…
Research on mobile manipulation systems that physically interact with humans has expanded rapidly in recent years, opening the way to tasks which could not be performed using fixed-base manipulators. Within this context, developing suitable…