Related papers: Semi-analytical Approach to Trajectory Optimizatio…
During loading and unloading steps, energy is consumed when cranes lift containers, while energy is often wasted when cranes drop containers. By optimizing the scheduling of cranes, it is possible to reduce energy consumption, thereby…
The decarbonisation of heavy-duty railway networks requires maximising the capacity of existing electrical infrastructure. Integrating heavy freight alongside fast passenger services exposes the hard physical limits of conventional…
The transition to electric transportation demands efficient and cost-effective powertrains. Optimizing energy use is crucial for extending range and reducing expenses. However, comparing inverter and motor efficiency based on inverter…
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…
For autonomous crane lifting, optimal trajectories of the crane are required as reference inputs to the crane controller to facilitate feedforward control. Reducing the unactuated payload motion is a crucial issue for under-actuated tower…
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…
We investigate energy-optimal control of robots with ultracapacitor based regenerative drive systems. Based on a previously introduced framework, a fairly generic model is considered for the robot and the drive system. An optimal control…
Trajectory planning in automated driving typically focuses on satisfying safety and comfort requirements within the vehicle's onboard sensor range. This paper introduces a method that leverages anticipatory road data, such as speed limits,…
Refrigerated truck trailers are currently mainly operated with environmentally harmful diesel units; an alternative is to operate the refrigeration unit with electrical energy. However, this requires a battery, the size of which can be…
Compliant robotics have seen successful applications in energy efficient locomotion and cyclic manipulation. However, exploitation of variable physical impedance for energy efficient sequential movements has not been extensively addressed.…
Electric rail transit systems are large consumers of energy. In trains with regenerative braking capability, a fraction of the energy used to power a train is regenerated during braking. This regenerated energy, if not properly captured, is…
Energy consumption optimization of a two-link planar robotic arm is considered with the system's efficiency being the target for optimization. A new formulation of thermodynamic principles within the framework of dynamical systems is used.…
In the Paris subway system, stations represent about one third of the overall energy consumption. Within stations, ventilation is among the top consuming devices; it is operated at maximum airflow all day long, for air quality reasons. In…
We look into minimizing the hydrogen fuel consumption of hydrogen hybrid trains by optimizing their operation. The powertrain considered is a fuel cell charge-sustaining hybrid. Convex optimization is utilized to compute optimal speed and…
With the growth of the construction industry and the global shortage of skilled labor, the automation of crane control has become increasingly important for safe and efficient operations. A central challenge in automatic crane control is…
Iterative trajectory optimization techniques for non-linear dynamical systems are among the most powerful and sample-efficient methods of model-based reinforcement learning and approximate optimal control. By leveraging time-variant local…
This work presents comprehensive energy management and in-depth energy footprint analysis of an electrified strong parallel commercial vehicle. We use the PS3 framework, validated real-world powertrain system models, and Pareto-optimal…
Joint space trajectory optimization under end-effector task constraints leads to a challenging non-convex problem. Thus, a real-time adaptation of prior computed trajectories to perturbation in task constraints often becomes intractable.…
The productivity and efficiency of port operations strongly depend on how fast a ship can be unloaded and loaded again. With this in mind, ship-to-shore cranes perform the critical task of transporting containers into and onto a ship and…
Scheduling and loading of chillers in a multi-chiller plant is considered. A new framework is introduced considering an extended set of independent variables for the optimization problem of energy consumption. In this way the number of…