Related papers: Energetically efficient, mediated mechanical syste…
A sizable part of the fleet of heavy-duty machinery in the construction equipment industry uses the conventional valve-controlled load-sensing hydraulics. Rigorous climate actions towards reducing CO$_{2}$ emissions has sparked the…
Forestry machines are heavy vehicles performing complex manipulation tasks in unstructured production forest environments. Together with the complex dynamics of the on-board hydraulically actuated cranes, the rough forest terrains have…
An impedance-based control scheme is introduced for cooperative manipulators grasping a rigid load. The position and orientation of the load are to be maintained close to a desired trajectory, trading off tracking accuracy by low energy…
Boom cranes are among the most used cranes to lift heavy loads. Although fairly simple mechanically, from the control viewpoint this kind of crane is a nonlinear underactuated system which presents several challenges, especially when…
Many techniques originally developed in the context of deterministic control theory have been recently applied to the quest for optimal protocols in stochastic processes. Given a system subject to environmental fluctuations, one may ask…
This thesis focuses on developing advanced control methods for two industrial systems in discrete-time aiming to enhance their performance in delivering the control objectives as well as considering the practical aspects. The first part…
E-powertrain of future electric vehicles could consist of energy generation units (e.g., fuel cells and photovoltaic modules), energy storage systems (e.g., batteries and supercapacitors), energy conversion units (e.g., bidirectional DC/DC…
Electrical weapons and combat systems integrated into ships create challenges for their power systems. The main challenge is operation under high-power ramp rate loads, such as rail-guns and radar systems. When operated, these load devices…
Dry friction has been proposed as a rectifying mechanism allowing mass transport over a vibrating surface, even when vibrations are horizontal and unbiased. It has been suggested that the drift velocity will always saturate when the energy…
The control design of an airborne wind energy system with rigid aircraft, vertical take-off and landing, and pumping operation is described. A hierarchical control structure is implemented, in order to address all operational phases:…
This paper addresses the trade-off between time- and energy-efficiency for the problem of loading and unloading a ship. Container height constraints and energy consumption and regeneration are dealt with. We build upon a previous work that…
The increasing share of volatile renewable electricity production motivates demand response. Substantial potential for demand response is offered by flexible processes and their local multi-energy supply systems. Simultaneous optimization…
Information processing machines at the nanoscales are unavoidably affected by thermal fluctuations. Efficient design requires understanding how nanomachines can operate at minimal energy dissipation. In this letter we focus on mechanical…
Introduction of renewable generation leads to significant reduction of inertia in power system, which deteriorates the quality of frequency control. This paper suggests a new control scheme utilizing controllable load to deal with low…
Quantum coherence inherently affects the dynamics and the performances of a quantum machine. Coherent control can, at least in principle, enhance the work extraction and boost the velocity of evolution in an open quantum system. Using…
This paper presents a scheme to enhance payload manipulation using a robot collaborating with an overhead crane. In the current industrial practice, when the crane's payload has to be accurately manipulated and located in a desired…
In this paper, we devise methods for the multi- objective control of humanoid robots, a.k.a. prioritized whole- body controllers, that achieve efficiency and robustness in the algorithmic computations. We use a form of whole-body…
This paper focuses on the design of hierarchical control architectures for autonomous systems with energy constraints. We focus on systems where energy storage limitations and slow recharge rates drastically affect the way the autonomous…
This paper presents a new active power control algorithm designed to maximize the power reserve of the individual turbines in a farm, in order to improve the tracking accuracy of a power reference signal. The control architecture is based…
Controlling large-scale particle or robot systems is challenging because of their high dimensionality. We use a centralized stochastic approach that allows for optimal control at the cost of a central element instead of a decentralized…