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Time domain simulation, i.e., modeling the system's evolution over time, is a crucial tool for studying and enhancing power system stability and dynamic performance. However, these simulations become computationally intractable for…
The development of the works of the author about adaptive algorithms of teaching the robotic systems with the help of operator is described here. An operator is assumed to be an experience decision-maker and sane carrier of a target which…
This paper presents the development of a real-time simulator for the validation of controlling a large vehicle manipulator. The need for this development can be justified by the lack of such a simulator: There are neither open source…
This paper introduces a simulation study of fluid actuated multi-driven closed system as spherical mobile robot called "RollRoller". Robot's mechanism design consists of two essential parts: tubes to lead a core and mechanical controlling…
Several design parameters in collective robotic systems have been investigated and developed in order to explore the cooperation among the autonomous robotic individuals in a variety of robotic swarms in the presence of different internal…
This paper investigates a fully distributed cooperation scheme for networked mobile manipulators. To achieve cooperative task allocation in a distributed way, an adaptation-based estimation law is established for each robotic agent to…
Simulations are attractive environments for training agents as they provide an abundant source of data and alleviate certain safety concerns during the training process. But the behaviours developed by agents in simulation are often…
A task-sequencing simulator in robotics manipulation to integrate simulation-for-learning and simulation-for-execution is introduced. Unlike existing machine-learning simulation where a non-decomposed simulation is used to simulate a…
Unlike computation or the numerical analysis of differential equations, simulation does not have a well established conceptual and mathematical foundation. Simulation is an arguable unique union of modeling and computation. However,…
This paper investigates the differentiable dynamic modeling of mobile manipulators to facilitate efficient motion planning and physical design of actuators, where the actuator design is parameterized by physically meaningful motor geometry…
The development of efficient and robust dynamic models is fundamental in the field of systems and control engineering. In this paper, a new formulation for the dynamic model of nonlinear mechanical systems, that can be applied to different…
In collaborative robotic applications, human and robot have to work together during a whole shift for executing a sequence of jobs. The performance of the human robot team can be enhanced by scheduling the right tasks to the human and the…
A robot simulation system is a basic need for any robotics application. With it, developers' teams of robots can test their algorithms and make initial calibrations without risk of damage to the real robots, assuring safety. However,…
This study provides a systematic description and results of a dynamical simulation model of a rotary kiln for clinker, based on first engineering principles. The model is built upon thermophysical, chemical, and transportation models for…
In robotics, simulation has the potential to reduce design time and costs, and lead to a more robust engineered solution and a safer development process. However, the use of simulators is predicated on the availability of good models. This…
The design and analysis of optimal control policies for dynamical systems can be complicated by nonlinear dependence in the state variables. Koopman operators have been used to simplify the analysis of dynamical systems by mapping the flow…
The importance of simulation at machine level in industrial environments is steadily increasing especially in the design and commissioning phase. Using models during the operation phase together with the real machine or plant is referred to…
Controlling soft continuum manipulator arms is difficult due to their infinite degrees of freedom, nonlinear material properties, and large deflections under loading. This paper presents a data-driven approach to identifying soft…
We present a novel approach to shared control of human-machine systems. Our method assumes no a priori knowledge of the system dynamics. Instead, we learn both the dynamics and information about the user's interaction from observation…
Lane change is a very demanding driving task and number of traffic accidents are induced by mistaken maneuvers. An automated lane change system has the potential to reduce driver workload and to improve driving safety. One challenge is how…